+ python -m lidar_slam --no-model /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/2ebe2e34-2dd4-4ae1-892e-b7f820598c99 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 0.001346184 Adjusted end_distance from 9.223372036854776e+18 to 231.381346184 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.001346184 meters Centerline goodness [0,1] 0.7672476195779275 Centerline is valid? [0, False] SLAMing on 0.031346184 meters Centerline goodness [0,1] 0.7535893804326697 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99999855e-01 -4.57125789e-04 -2.84422808e-04 1.27199369e-03] [ 4.57324438e-04 9.99999651e-01 6.98756498e-04 -3.02228035e-03] [ 2.84103290e-04 -6.98886470e-04 9.99999715e-01 -5.84346602e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.061346184 meters Centerline goodness [0,1] 0.7413969429779707 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999807e-01 -3.20388596e-04 -5.32091863e-04 2.77039058e-03] [ 3.21130771e-04 9.99998975e-01 1.39532496e-03 -5.20298203e-03] [ 5.31644272e-04 -1.39549556e-03 9.99998885e-01 -1.40894372e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.091346184 meters Centerline goodness [0,1] 0.7399004482578445 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999704e-01 -3.41653902e-04 -6.89676488e-04 4.10465625e-03] [ 3.43043587e-04 9.99997909e-01 2.01586892e-03 -7.78589571e-03] [ 6.88986316e-04 -2.01610491e-03 9.99997730e-01 -2.17614062e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.121346184 meters Centerline goodness [0,1] 0.7348643006263048 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99999582e-01 -7.10990886e-04 -5.74473274e-04 4.59296983e-03] [ 7.12346414e-04 9.99996955e-01 2.36285392e-03 -1.05045980e-02] [ 5.72791557e-04 -2.36326215e-03 9.99997043e-01 -2.63352012e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.151346184 meters Centerline goodness [0,1] 0.7173438182612495 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99988068e-01 -4.62954518e-03 -1.55950981e-03 8.48131603e-03] [ 4.62824058e-03 9.99988938e-01 -8.39118515e-04 -1.32970198e-02] [ 1.56337730e-03 8.31890716e-04 9.99998432e-01 -2.84004547e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.181346184 meters Centerline goodness [0,1] 0.7126152340032088 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99988915e-01 -4.31761015e-03 -1.87813004e-03 1.07044659e-02] [ 4.31784410e-03 9.99990671e-01 1.20528328e-04 -1.72220934e-02] [ 1.87759213e-03 -1.28636465e-04 9.99998229e-01 -3.71739985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.211346184 meters Centerline goodness [0,1] 0.7137931970573066 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.00 [[ 9.99987819e-01 -4.56364638e-03 -1.88005044e-03 1.16935874e-02] [ 4.56469344e-03 9.99989429e-01 5.53016888e-04 -2.03132904e-02] [ 1.87750679e-03 -5.61592006e-04 9.99998080e-01 -4.10731350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.241346184 meters Centerline goodness [0,1] 0.7114463987951158 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.02, Z:-0.00 [[ 0.99996457 -0.00763126 -0.00355421 0.01852139] [ 0.0076229 0.99996816 -0.00236075 -0.02392271] [ 0.00357211 0.00233357 0.9999909 -0.00434003] [ 0. 0. 0. 1. ]] SLAMing on 0.271346184 meters Centerline goodness [0,1] 0.7072752138585718 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 0.99996598 -0.00717083 -0.00407647 0.02160247] [ 0.00716611 0.99997364 -0.00116973 -0.02796339] [ 0.00408475 0.00114047 0.99999101 -0.00562415] [ 0. 0. 0. 1. ]] SLAMing on 0.30134618399999996 meters Centerline goodness [0,1] 0.7141637086658303 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.03, Z:-0.01 [[ 9.99965234e-01 -7.00420663e-03 -4.52460315e-03 2.42034975e-02] [ 7.00370985e-03 9.99975466e-01 -1.25630192e-04 -3.16730837e-02] [ 4.52537208e-03 9.39368171e-05 9.99989756e-01 -6.67910771e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33134618399999993 meters Centerline goodness [0,1] 0.709775751471134 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.03, Z:-0.01 [[ 0.99992059 -0.01093865 -0.00625764 0.02988492] [ 0.01091924 0.99993549 -0.00312677 -0.03355415] [ 0.00629144 0.00305819 0.99997553 -0.00611873] [ 0. 0. 0. 1. ]] SLAMing on 0.36134618399999996 meters Centerline goodness [0,1] 0.7193232131562302 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.04, Z:-0.01 [[ 0.9999167 -0.0108959 -0.00691938 0.03277814] [ 0.01088236 0.9999388 -0.00199124 -0.03703146] [ 0.00694066 0.00191577 0.99997408 -0.00688974] [ 0. 0. 0. 1. ]] SLAMing on 0.391346184 meters Centerline goodness [0,1] 0.7191624465377451 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.01 [[ 9.99911229e-01 -1.11305865e-02 -7.32418460e-03 3.51250557e-02] [ 1.11237480e-02 9.99937655e-01 -9.73756111e-04 -4.03822294e-02] [ 7.33456645e-03 8.92197286e-04 9.99972704e-01 -7.80896656e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42134618399999996 meters Centerline goodness [0,1] 0.7208245160279019 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.04, Z:-0.01 [[ 9.99904860e-01 -1.13101475e-02 -7.89633537e-03 3.77695441e-02] [ 1.13104244e-02 9.99936035e-01 -9.60076955e-06 -4.41111648e-02] [ 7.89593887e-03 -7.97110478e-05 9.99968823e-01 -8.43265501e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45134618399999993 meters Centerline goodness [0,1] 0.7250374502815229 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.01 [[ 0.99982459 -0.01542343 -0.010626 0.046644 ] [ 0.01539639 0.99987803 -0.00262142 -0.04835699] [ 0.01066513 0.00245736 0.99994011 -0.00844369] [ 0. 0. 0. 1. ]] SLAMing on 0.48134618399999995 meters Centerline goodness [0,1] 0.7249049624987157 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.05, Z:-0.01 [[ 0.99980969 -0.01577574 -0.01147673 0.05009767] [ 0.01576053 0.99987479 -0.00141452 -0.05242065] [ 0.01149761 0.00123337 0.99993314 -0.00971033] [ 0. 0. 0. 1. ]] SLAMing on 0.511346184 meters Centerline goodness [0,1] 0.723899692937564 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.06, Z:-0.01 [[ 9.99791908e-01 -1.62702921e-02 -1.23052374e-02 5.33444719e-02] [ 1.62678498e-02 9.99867625e-01 -2.98549548e-04 -5.58362429e-02] [ 1.23084660e-02 9.83076680e-05 9.99924243e-01 -1.08825053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.541346184 meters Centerline goodness [0,1] 0.7327294470878604 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.01 [[ 0.99977522 -0.01662298 -0.0131599 0.05666314] [ 0.01663823 0.99986102 0.00104974 -0.05954051] [ 0.01314062 -0.00126846 0.99991285 -0.01201329] [ 0. 0. 0. 1. ]] SLAMing on 0.5713461839999999 meters Centerline goodness [0,1] 0.7417383431416931 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.06, Z:-0.01 [[ 0.99966928 -0.02098543 -0.01486391 0.06299625] [ 0.02096432 0.99977898 -0.00157454 -0.06303709] [ 0.01489367 0.00126241 0.99988829 -0.0120929 ] [ 0. 0. 0. 1. ]] SLAMing on 0.601346184 meters Centerline goodness [0,1] 0.7496056288654631 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.01 [[ 9.99645469e-01 -2.15373283e-02 -1.56550199e-02 6.64368403e-02] [ 2.15295836e-02 9.99767992e-01 -6.63097343e-04 -6.68798518e-02] [ 1.56656691e-02 3.25816195e-04 9.99877233e-01 -1.34672846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.631346184 meters Centerline goodness [0,1] 0.7586473093109545 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.01 [[ 9.99617210e-01 -2.20708142e-02 -1.66826936e-02 7.03982523e-02] [ 2.20798115e-02 9.99756148e-01 3.55303006e-04 -7.06141126e-02] [ 1.66707837e-02 -7.23517731e-04 9.99860771e-01 -1.47793365e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6613461839999999 meters Centerline goodness [0,1] 0.7698471400394478 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.07, Z:-0.02 [[ 0.99948904 -0.02554049 -0.01921814 0.07940758] [ 0.02551115 0.99967297 -0.00177026 -0.0734355 ] [ 0.01925707 0.00127908 0.99981375 -0.01527934] [ 0. 0. 0. 1. ]] SLAMing on 0.6913461839999999 meters Centerline goodness [0,1] 0.7766787234566078 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.08, Z:-0.02 [[ 9.99475453e-01 -2.57849165e-02 -1.95948008e-02 8.23047158e-02] [ 2.57793837e-02 9.99667513e-01 -5.34946481e-04 -7.58868190e-02] [ 1.96020793e-02 2.95239889e-05 9.99807860e-01 -1.71031103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.721346184 meters Centerline goodness [0,1] 0.7835692940773037 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.08, Z:-0.02 [[ 9.99451173e-01 -2.61052802e-02 -2.03927995e-02 8.60900157e-02] [ 2.61204879e-02 9.99658687e-01 4.79686745e-04 -7.81941816e-02] [ 2.03733169e-02 -1.01209335e-03 9.99791930e-01 -1.86893373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.751346184 meters Centerline goodness [0,1] 0.7835692940773037 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.08, Z:-0.02 [[ 9.99451173e-01 -2.61052802e-02 -2.03927995e-02 8.60900157e-02] [ 2.61204879e-02 9.99658687e-01 4.79686745e-04 -7.81941816e-02] [ 2.03733169e-02 -1.01209335e-03 9.99791930e-01 -1.86893373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.781346184 meters Centerline goodness [0,1] 0.7879260740235041 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.08, Z:-0.02 [[ 0.99943628 -0.02642902 -0.02070354 0.08855751] [ 0.0264648 0.99964869 0.00145626 -0.08048996] [ 0.02065778 -0.00200336 0.9997846 -0.01992522] [ 0. 0. 0. 1. ]] SLAMing on 0.8113461839999999 meters Centerline goodness [0,1] 0.7941212135910557 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.08, Z:-0.02 [[ 9.99299337e-01 -2.98401673e-02 -2.25920081e-02 9.63914390e-02] [ 2.98216573e-02 9.99554567e-01 -1.15585457e-03 -8.25577149e-02] [ 2.26164357e-02 4.81313581e-04 9.99744100e-01 -2.04712959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8413461839999999 meters Centerline goodness [0,1] 0.7840382387022016 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.09, Z:-0.02 [[ 9.99273442e-01 -3.01547120e-02 -2.33083882e-02 1.00544969e-01] [ 3.01594141e-02 9.99545090e-01 -1.49851288e-04 -8.54060399e-02] [ 2.33023037e-02 -5.53224918e-04 9.99728311e-01 -2.28363360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.871346184 meters Centerline goodness [0,1] 0.7793290719469409 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:-0.02 [[ 0.99914597 -0.03348954 -0.02420304 0.10553152] [ 0.03342593 0.99943661 -0.00302804 -0.0854384 ] [ 0.02429081 0.00221645 0.99970248 -0.0247789 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9013461839999999 meters Centerline goodness [0,1] 0.7769297028281572 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.09, Z:-0.03 [[ 0.99900725 -0.03674847 -0.02518064 0.11045928] [ 0.0366169 0.99931331 -0.00566683 -0.08537787] [ 0.0253716 0.00473917 0.99966686 -0.02644465] [ 0. 0. 0. 1. ]] SLAMing on 0.9313461839999999 meters Centerline goodness [0,1] 0.7821430275273127 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.09, Z:-0.03 [[ 9.99019629e-01 -3.96432665e-02 -1.97025925e-02 1.27075274e-01] [ 3.96665909e-02 9.99212655e-01 7.94278599e-04 -8.83099005e-02] [ 1.96555919e-02 -1.57503459e-03 9.99805570e-01 -3.15564133e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9613461839999999 meters Centerline goodness [0,1] 0.7874304200961035 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.09, Z:-0.04 [[ 0.99889926 -0.04480289 -0.01389129 0.14494974] [ 0.0448749 0.99898052 0.00491605 -0.0899334 ] [ 0.01365687 -0.00553401 0.99989143 -0.03558482] [ 0. 0. 0. 1. ]] SLAMing on 0.991346184 meters Centerline goodness [0,1] 0.7904396073410158 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:-0.04 [[ 0.99888477 -0.04501991 -0.0142274 0.14766191] [ 0.0451044 0.99896616 0.00567408 -0.09122235] [ 0.01395725 -0.00630947 0.99988269 -0.03693889] [ 0. 0. 0. 1. ]] SLAMing on 1.021346184 meters Centerline goodness [0,1] 0.7874281931869223 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.09, Z:-0.04 [[ 0.99874292 -0.04782283 -0.01501837 0.15198238] [ 0.04787397 0.99884868 0.00306405 -0.09025201] [ 0.01485455 -0.00377919 0.99988252 -0.03848155] [ 0. 0. 0. 1. ]] SLAMing on 1.051346184 meters Centerline goodness [0,1] 0.7870975350866848 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.09, Z:-0.04 [[ 0.99874022 -0.04774285 -0.01544651 0.15513957] [ 0.04780999 0.99884841 0.00400714 -0.09213388] [ 0.01523741 -0.00474059 0.99987267 -0.04013057] [ 0. 0. 0. 1. ]] SLAMing on 1.081346184 meters Centerline goodness [0,1] 0.7897446748483566 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.04 [[ 0.99879142 -0.04768285 -0.01191834 0.17128302] [ 0.04766361 0.99886165 -0.00189337 -0.09132614] [ 0.01199505 0.00132301 0.99992718 -0.0418993 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1113461839999998 meters Centerline goodness [0,1] 0.7924550448377858 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.09, Z:-0.04 [[ 9.98795548e-01 -4.74781636e-02 -1.23805508e-02 1.74212042e-01] [ 4.74718242e-02 9.98872253e-01 -8.05588913e-04 -9.21455967e-02] [ 1.24048365e-02 2.16891289e-04 9.99923034e-01 -4.33852084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1413461839999999 meters Centerline goodness [0,1] 0.7950231672037067 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.09, Z:-0.05 [[ 9.98804888e-01 -4.71112997e-02 -1.30123624e-02 1.77526156e-01] [ 4.71198375e-02 9.98889182e-01 3.50159134e-04 -9.26540327e-02] [ 1.29814115e-02 -9.62881055e-04 9.99915274e-01 -4.51551731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.171346184 meters Centerline goodness [0,1] 0.7924369157236241 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.10, Z:-0.05 [[ 0.99879406 -0.04701349 -0.01414745 0.18299842] [ 0.0470448 0.998891 0.00188796 -0.09529904] [ 0.014043 -0.00255125 0.99989814 -0.04708838] [ 0. 0. 0. 1. ]] SLAMing on 1.201346184 meters Centerline goodness [0,1] 0.7906424581005587 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.10, Z:-0.05 [[ 9.98735834e-01 -4.80446022e-02 -1.47800512e-02 1.88116088e-01] [ 4.80597360e-02 9.98844238e-01 6.70260547e-04 -9.54445317e-02] [ 1.47307666e-02 -1.37973858e-03 9.99890544e-01 -4.97853771e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.231346184 meters Centerline goodness [0,1] 0.7915347364499907 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.10, Z:-0.05 [[ 0.99876012 -0.04737758 -0.01528336 0.19133908] [ 0.04741566 0.99887296 0.00213882 -0.09752886] [ 0.01516481 -0.00286084 0.99988092 -0.05185286] [ 0. 0. 0. 1. ]] SLAMing on 1.261346184 meters Centerline goodness [0,1] 0.7885564645083544 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.10, Z:-0.05 [[ 0.99877492 -0.0467596 -0.0161923 0.19523383] [ 0.04681974 0.99889772 0.00335487 -0.09918844] [ 0.01601758 -0.00410888 0.99986327 -0.05356084] [ 0. 0. 0. 1. ]] SLAMing on 1.291346184 meters Centerline goodness [0,1] 0.7904443932765369 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.06 [[ 9.98935288e-01 -4.41415185e-02 -1.34095545e-02 2.08473702e-01] [ 4.41522512e-02 9.99024686e-01 5.05240700e-04 -1.01256274e-01] [ 1.33741739e-02 -1.09676478e-03 9.99909960e-01 -5.50392374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3213461839999998 meters Centerline goodness [0,1] 0.7853768175771754 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.10, Z:-0.06 [[ 0.99895366 -0.04349909 -0.01412137 0.21191663] [ 0.04353288 0.9990498 0.00209408 -0.1042139 ] [ 0.01401686 -0.00270663 0.9998981 -0.05678907] [ 0. 0. 0. 1. ]] SLAMing on 1.3513461839999998 meters Centerline goodness [0,1] 0.7907141713004279 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:-0.06 [[ 0.99895157 -0.04325217 -0.01500058 0.21527186] [ 0.04330904 0.99905564 0.00348697 -0.1078005 ] [ 0.01483559 -0.00413298 0.9998814 -0.05818654] [ 0. 0. 0. 1. ]] SLAMing on 1.3813461839999999 meters Centerline goodness [0,1] 0.7962609170305677 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.11, Z:-0.06 [[ 0.99881095 -0.04608823 -0.0158921 0.21942933] [ 0.04611125 0.99893572 0.00108468 -0.10954775] [ 0.0158252 -0.0018162 0.99987312 -0.05976745] [ 0. 0. 0. 1. ]] SLAMing on 1.411346184 meters Centerline goodness [0,1] 0.8044653719641328 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:-0.06 [[ 9.98663185e-01 -4.85969321e-02 -1.76119799e-02 2.26664597e-01] [ 4.85983965e-02 9.98818340e-01 -3.45088244e-04 -1.17353502e-01] [ 1.76079387e-02 -5.11287055e-04 9.99844838e-01 -6.03258467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.441346184 meters Centerline goodness [0,1] 0.807521628042494 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.12, Z:-0.06 [[ 0.9986446 -0.04859152 -0.01865013 0.23025011] [ 0.04862465 0.99881624 0.00132689 -0.12277647] [ 0.01856358 -0.00223195 0.99982519 -0.06215128] [ 0. 0. 0. 1. ]] SLAMing on 1.471346184 meters Centerline goodness [0,1] 0.8098836431723954 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.13, Z:-0.06 [[ 9.98489778e-01 -5.13060763e-02 -1.96430768e-02 2.34415948e-01] [ 5.12962768e-02 9.98682976e-01 -1.00274085e-03 -1.25463804e-01] [ 1.96686531e-02 -6.39021551e-06 9.99806553e-01 -6.34552565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.501346184 meters Centerline goodness [0,1] 0.8171729874026519 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.13, Z:-0.06 [[ 9.98341996e-01 -5.37655933e-02 -2.05552696e-02 2.39894333e-01] [ 5.37379265e-02 9.98553273e-01 -1.89636510e-03 -1.32380783e-01] [ 2.06274909e-02 7.88623359e-04 9.99786920e-01 -6.45940085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.531346184 meters Centerline goodness [0,1] 0.8192084177159461 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.14, Z:-0.07 [[ 9.98360600e-01 -5.30830606e-02 -2.14079757e-02 2.43141195e-01] [ 5.30999185e-02 9.98589180e-01 2.19380483e-04 -1.37427724e-01] [ 2.13661275e-02 -1.35578259e-03 9.99770799e-01 -6.61807173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.561346184 meters Centerline goodness [0,1] 0.8300978344509179 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.14, Z:-0.07 [[ 0.99837056 -0.05243122 -0.02252105 0.24694305] [ 0.05249924 0.99861799 0.00243909 -0.1434429 ] [ 0.02236204 -0.00361746 0.99974339 -0.06814687] [ 0. 0. 0. 1. ]] SLAMing on 1.5913461839999998 meters Centerline goodness [0,1] 0.8232059869526324 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.15, Z:-0.07 [[ 9.98209738e-01 -5.49219454e-02 -2.36833192e-02 2.51560262e-01] [ 5.49479198e-02 9.98489122e-01 4.46881424e-04 -1.47855947e-01] [ 2.36229929e-02 -1.74743051e-03 9.99719411e-01 -6.96241111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6213461839999999 meters Centerline goodness [0,1] 0.8316133246244285 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.15, Z:-0.07 [[ 9.98045437e-01 -5.73760122e-02 -2.47648773e-02 2.56227557e-01] [ 5.73590573e-02 9.98352639e-01 -1.39503112e-03 -1.52367514e-01] [ 2.48041219e-02 -2.81855692e-05 9.99692330e-01 -7.16159603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6513461839999999 meters Centerline goodness [0,1] 0.8330984235748206 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.16, Z:-0.07 [[ 9.98062449e-01 -5.64755961e-02 -2.61123347e-02 2.60663563e-01] [ 5.65189765e-02 9.98401096e-01 9.25656978e-04 -1.59014159e-01] [ 2.60183066e-02 -2.39970590e-03 9.99658586e-01 -7.36784922e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.681346184 meters Centerline goodness [0,1] 0.8498501735400004 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:-0.08 [[ 0.99797919 -0.05720204 -0.02766698 0.2681432 ] [ 0.05725923 0.99835853 0.00127879 -0.16928957] [ 0.02754842 -0.0028604 0.99961638 -0.07560859] [ 0. 0. 0. 1. ]] SLAMing on 1.711346184 meters Centerline goodness [0,1] 0.8382695720975986 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.17, Z:-0.08 [[ 9.97836062e-01 -5.90229252e-02 -2.89739154e-02 2.73158948e-01] [ 5.90396902e-02 9.98255598e-01 -2.77266971e-04 -1.73924825e-01] [ 2.89397383e-02 -1.43394401e-03 9.99580130e-01 -7.70912767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.741346184 meters Centerline goodness [0,1] 0.8466557216264046 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.18, Z:-0.08 [[ 0.99785698 -0.05809337 -0.03010996 0.27720964] [ 0.05818315 0.99830369 0.0021135 -0.18162059] [ 0.02993611 -0.00386087 0.99954436 -0.07912876] [ 0. 0. 0. 1. ]] SLAMing on 1.771346184 meters Centerline goodness [0,1] 0.8545951906357352 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.19, Z:-0.08 [[ 9.97671609e-01 -5.97479952e-02 -3.28867523e-02 2.89215860e-01] [ 5.97770960e-02 9.98211746e-01 -9.84923855e-05 -1.94874348e-01] [ 3.28338271e-02 -1.86761149e-03 9.99459080e-01 -8.09086607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8013461839999998 meters Centerline goodness [0,1] 0.8612826804298164 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.20, Z:-0.08 [[ 9.97500503e-01 -6.19936746e-02 -3.39047413e-02 2.93554204e-01] [ 6.19840772e-02 9.98076245e-01 -1.33508790e-03 -2.01174511e-01] [ 3.39222839e-02 -7.69803253e-04 9.99424177e-01 -8.26711417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8313461839999998 meters Centerline goodness [0,1] 0.8637716650129832 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.21, Z:-0.08 [[ 9.97329246e-01 -6.41170387e-02 -3.49768502e-02 2.98059434e-01] [ 6.40694374e-02 9.97942358e-01 -2.48121713e-03 -2.07903626e-01] [ 3.50639687e-02 2.33643298e-04 9.99385043e-01 -8.43156008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8613461839999998 meters Centerline goodness [0,1] 0.8846537914037436 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.22, Z:-0.09 [[ 9.97364864e-01 -6.31146827e-02 -3.57751915e-02 3.01471732e-01] [ 6.31791842e-02 9.98001972e-01 6.74228782e-04 -2.17973136e-01] [ 3.56611579e-02 -2.93269951e-03 9.99359636e-01 -8.64626499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8913461839999999 meters Centerline goodness [0,1] 0.8814669286182056 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.24, Z:-0.09 [[ 0.9971342 -0.06833181 -0.03246763 0.32341676] [ 0.06849544 0.9976436 0.00395329 -0.23621944] [ 0.03212099 -0.00616584 0.99946497 -0.09018084] [ 0. 0. 0. 1. ]] SLAMing on 1.921346184 meters Centerline goodness [0,1] 0.8843501550011599 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.25, Z:-0.09 [[ 0.99695065 -0.07046863 -0.03351989 0.32787436] [ 0.07061742 0.9974981 0.00327421 -0.24505005] [ 0.0332053 -0.00563132 0.99943269 -0.09177837] [ 0. 0. 0. 1. ]] SLAMing on 1.951346184 meters Centerline goodness [0,1] 0.8855351752960298 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.25, Z:-0.09 [[ 0.99676729 -0.07253242 -0.03455458 0.33250486] [ 0.07267458 0.99735156 0.0028745 -0.2543993 ] [ 0.03425457 -0.00537645 0.99939868 -0.09376642] [ 0. 0. 0. 1. ]] SLAMing on 1.981346184 meters Centerline goodness [0,1] 0.8847782576635416 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.26, Z:-0.10 [[ 0.99658577 -0.0743062 -0.03599153 0.33819173] [ 0.07444488 0.99722193 0.00252657 -0.26408448] [ 0.03570381 -0.00519733 0.9993489 -0.09585037] [ 0. 0. 0. 1. ]] SLAMing on 2.0113461839999998 meters Centerline goodness [0,1] 0.8787063128233167 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.10 [[ 0.99616987 -0.07670673 -0.04197228 0.35535973] [ 0.07693998 0.99702783 0.003968 -0.28505036] [ 0.04154316 -0.00718215 0.9991109 -0.10001989] [ 0. 0. 0. 1. ]] SLAMing on 2.041346184 meters Centerline goodness [0,1] 0.8810802839748046 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.29, Z:-0.10 [[ 0.99597567 -0.07862333 -0.04302134 0.36046554] [ 0.07886012 0.99687832 0.00383228 -0.29466373] [ 0.04258574 -0.00720953 0.9990668 -0.10255048] [ 0. 0. 0. 1. ]] SLAMing on 2.071346184 meters Centerline goodness [0,1] 0.8767887205387206 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.30, Z:-0.10 [[ 0.99576681 -0.08065497 -0.04408222 0.36543207] [ 0.08088993 0.99671665 0.00356962 -0.30415917] [ 0.04364958 -0.00712032 0.99902153 -0.10493659] [ 0. 0. 0. 1. ]] SLAMing on 2.101346184 meters Centerline goodness [0,1] 0.8768785883147585 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.31, Z:-0.11 [[ 0.99555047 -0.08282211 -0.04494184 0.36983681] [ 0.08304989 0.99654018 0.00322197 -0.31329969] [ 0.0445195 -0.00694005 0.99898441 -0.10709452] [ 0. 0. 0. 1. ]] SLAMing on 2.131346184 meters Centerline goodness [0,1] 0.8674441697830175 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.32, Z:-0.11 [[ 0.99532363 -0.08503456 -0.0458256 0.37434456] [ 0.08524992 0.99635577 0.00276237 -0.32209538] [ 0.04542371 -0.00665608 0.99894564 -0.10935756] [ 0. 0. 0. 1. ]] SLAMing on 2.161346184 meters Centerline goodness [0,1] 0.8481060606060606 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.34, Z:-0.11 [[ 9.94751701e-01 -8.89702509e-02 -5.05306693e-02 3.91578750e-01] [ 8.90907718e-02 9.96023502e-01 1.33302551e-04 -3.39438908e-01] [ 5.03178742e-02 -4.63441927e-03 9.98722501e-01 -1.14722415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.191346184 meters Centerline goodness [0,1] 0.8365885416666666 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.35, Z:-0.12 [[ 9.94493902e-01 -9.12077286e-02 -5.16045461e-02 3.96854212e-01] [ 9.12987889e-02 9.95823366e-01 -5.94879632e-04 -3.47255268e-01] [ 5.14432705e-02 -4.11982840e-03 9.98667421e-01 -1.17450626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2213461839999997 meters Centerline goodness [0,1] 0.821089748971539 Centerline is valid? [False, False] Translation: X:0.40, Y:-0.35, Z:-0.12 [[ 0.99423407 -0.09352315 -0.05245982 0.40171834] [ 0.09356339 0.99561188 -0.00169349 -0.35377487] [ 0.052388 -0.00322459 0.9986216 -0.12014183] [ 0. 0. 0. 1. ]] SLAMing on 2.251346184 meters Centerline goodness [0,1] 0.8061829147424137 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.36, Z:-0.12 [[ 0.9939579 -0.09597633 -0.05325635 0.40640496] [ 0.09594304 0.99538172 -0.00318733 -0.35872781] [ 0.0533163 -0.0019415 0.99857579 -0.12284678] [ 0. 0. 0. 1. ]] SLAMing on 2.2813461839999998 meters Centerline goodness [0,1] 0.7890285569662969 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.37, Z:-0.13 [[ 9.93631813e-01 -9.74353846e-02 -5.65876867e-02 4.16792493e-01] [ 9.75833613e-02 9.95227344e-01 -1.48915219e-04 -3.70053282e-01] [ 5.63321227e-02 -5.37404978e-03 9.98397622e-01 -1.30489491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.311346184 meters Centerline goodness [0,1] 0.7754014062336027 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.37, Z:-0.13 [[ 0.9933471 -0.09984764 -0.05737582 0.42148177] [ 0.0998967 0.99499576 -0.00201984 -0.37343492] [ 0.05729037 -0.00372525 0.99835061 -0.13312489] [ 0. 0. 0. 1. ]] SLAMing on 2.341346184 meters Centerline goodness [0,1] 0.7620889748549323 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.14 [[ 9.93342124e-01 -9.93676708e-02 -5.82879967e-02 4.25783830e-01] [ 9.95201023e-02 9.95035510e-01 -2.89101490e-04 -3.79292853e-01] [ 5.80273538e-02 -5.51365070e-03 9.98299768e-01 -1.35847457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.371346184 meters Centerline goodness [0,1] 0.7497215157947834 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.38, Z:-0.14 [[ 0.99302942 -0.10207387 -0.05893639 0.43010645] [ 0.10211086 0.99477015 -0.00239157 -0.38259597] [ 0.05887228 -0.00364314 0.99825888 -0.13838352] [ 0. 0. 0. 1. ]] SLAMing on 2.401346184 meters Centerline goodness [0,1] 0.7261739896764446 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.14 [[ 9.92354775e-01 -1.08136424e-01 -5.94854103e-02 4.36221767e-01] [ 1.07906598e-01 9.94135884e-01 -7.07184341e-03 -3.88363720e-01] [ 5.99013047e-02 5.98909326e-04 9.98204125e-01 -1.42180941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4313461839999997 meters Centerline goodness [0,1] 0.7195970005445939 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.39, Z:-0.14 [[ 9.92345740e-01 -1.07739743e-01 -6.03496500e-02 4.39680984e-01] [ 1.07594821e-01 9.94178742e-01 -5.65538256e-03 -3.92443911e-01] [ 6.06076486e-02 -8.81214996e-04 9.98161278e-01 -1.44155230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.461346184 meters Centerline goodness [0,1] 0.7141036356038446 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.40, Z:-0.15 [[ 0.99234672 -0.10729826 -0.06111528 0.44261638] [ 0.10722775 0.99422456 -0.0044417 -0.39544366] [ 0.0612389 -0.00214554 0.99812083 -0.14570172] [ 0. 0. 0. 1. ]] SLAMing on 2.4913461839999997 meters Centerline goodness [0,1] 0.7044983133943724 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.15 [[ 0.99234619 -0.10692425 -0.06177573 0.44525959] [ 0.10692233 0.99426174 -0.00334642 -0.39818144] [ 0.06177906 -0.0032844 0.99808445 -0.14721909] [ 0. 0. 0. 1. ]] SLAMing on 2.521346184 meters Centerline goodness [0,1] 0.6921128117082975 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.15 [[ 0.99199001 -0.10970481 -0.06261526 0.45101095] [ 0.10959071 0.99396286 -0.00526432 -0.40000186] [ 0.06281476 -0.0016399 0.99802386 -0.15122533] [ 0. 0. 0. 1. ]] SLAMing on 2.551346184 meters Centerline goodness [0,1] 0.6879639337387293 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.40, Z:-0.15 [[ 0.9919847 -0.10946643 -0.06311464 0.45326931] [ 0.10939766 0.99398763 -0.00455485 -0.40144459] [ 0.06323377 -0.00238625 0.99799589 -0.15269459] [ 0. 0. 0. 1. ]] SLAMing on 2.581346184 meters Centerline goodness [0,1] 0.680205806073789 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.40, Z:-0.15 [[ 0.99196124 -0.10931568 -0.06374145 0.45549965] [ 0.10928737 0.99400238 -0.00394107 -0.40309394] [ 0.06378997 -0.00305675 0.99795866 -0.15376186] [ 0. 0. 0. 1. ]] SLAMing on 2.611346184 meters Centerline goodness [0,1] 0.6727872824883541 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.16 [[ 0.9919517 -0.10904998 -0.06434228 0.45793035] [ 0.10907992 0.99402828 -0.00305791 -0.4058312 ] [ 0.06429151 -0.00398515 0.9979232 -0.1551102 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6413461839999997 meters Centerline goodness [0,1] 0.6550200046083914 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.16 [[ 0.9915528 -0.11223347 -0.06501298 0.46321225] [ 0.11210643 0.99368037 -0.00561044 -0.40738941] [ 0.0652318 -0.00172533 0.99786865 -0.15886086] [ 0. 0. 0. 1. ]] SLAMing on 2.671346184 meters Centerline goodness [0,1] 0.6550200046083914 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.41, Z:-0.16 [[ 0.9915528 -0.11223347 -0.06501298 0.46321225] [ 0.11210643 0.99368037 -0.00561044 -0.40738941] [ 0.0652318 -0.00172533 0.99786865 -0.15886086] [ 0. 0. 0. 1. ]] SLAMing on 2.7013461839999997 meters Centerline goodness [0,1] 0.6466070754123128 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.41, Z:-0.16 [[ 0.99151687 -0.1123167 -0.06541595 0.46523116] [ 0.11220596 0.99367043 -0.00537612 -0.4077662 ] [ 0.06560573 -0.00200955 0.9978436 -0.16035859] [ 0. 0. 0. 1. ]] SLAMing on 2.731346184 meters Centerline goodness [0,1] 0.6415050833245991 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.41, Z:-0.16 [[ 0.991488 -0.11222864 -0.06600209 0.46805334] [ 0.11215368 0.99367903 -0.00485159 -0.40854578] [ 0.06612938 -0.00259209 0.99780769 -0.16232066] [ 0. 0. 0. 1. ]] SLAMing on 2.7613461839999998 meters Centerline goodness [0,1] 0.6307235342104713 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.41, Z:-0.17 [[ 0.99137066 -0.11287511 -0.06665896 0.47193294] [ 0.11279129 0.99360596 -0.00503169 -0.40889471] [ 0.06680069 -0.00253028 0.99776313 -0.16502817] [ 0. 0. 0. 1. ]] SLAMing on 2.791346184 meters Centerline goodness [0,1] 0.615917388129759 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.17 [[ 9.90940059e-01 -1.16458029e-01 -6.68978894e-02 4.75904037e-01] [ 1.16146397e-01 9.93195371e-01 -8.54223431e-03 -4.06804541e-01] [ 6.74374858e-02 6.94893322e-04 9.97723260e-01 -1.68207802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.821346184 meters Centerline goodness [0,1] 0.6081457439011622 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.17 [[ 9.90890305e-01 -1.16789867e-01 -6.70561679e-02 4.76824840e-01] [ 1.16468438e-01 9.93156320e-01 -8.69641538e-03 -4.06926435e-01] [ 6.76129101e-02 8.07266583e-04 9.97711302e-01 -1.68917198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.851346184 meters Centerline goodness [0,1] 0.6008239058154368 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.17 [[ 9.90870237e-01 -1.16710648e-01 -6.74892401e-02 4.78834119e-01] [ 1.16408067e-01 9.93165845e-01 -8.41230624e-03 -4.07388776e-01] [ 6.80098139e-02 4.79211882e-04 9.97684537e-01 -1.70277234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.881346184 meters Centerline goodness [0,1] 0.5943502824858757 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.41, Z:-0.17 [[ 9.90857358e-01 -1.16633708e-01 -6.78105770e-02 4.80686133e-01] [ 1.16337162e-01 9.93174935e-01 -8.31939800e-03 -4.06972214e-01] [ 6.83180877e-02 3.54446662e-04 9.97663527e-01 -1.71750956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9113461839999997 meters Centerline goodness [0,1] 0.586578952881775 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.40, Z:-0.18 [[ 0.9907666 -0.11715923 -0.0682294 0.48467047] [ 0.11680582 0.99311253 -0.00916024 -0.40354844] [ 0.06883268 0.00110607 0.99762761 -0.17548077] [ 0. 0. 0. 1. ]] SLAMing on 2.941346184 meters Centerline goodness [0,1] 0.584399565144673 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.18 [[ 9.90813434e-01 -1.16453455e-01 -6.87555979e-02 4.87592704e-01] [ 1.16123467e-01 9.93195885e-01 -8.79057498e-03 -4.01582873e-01] [ 6.93114697e-02 7.25681350e-04 9.97594804e-01 -1.77710794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9713461839999997 meters Centerline goodness [0,1] 0.5830931796349663 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.18 [[ 9.90887219e-01 -1.15482766e-01 -6.93271209e-02 4.90663537e-01] [ 1.15184594e-01 9.93309456e-01 -8.29663112e-03 -3.98795063e-01] [ 6.98214027e-02 2.35609490e-04 9.97559480e-01 -1.80096135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.001346184 meters Centerline goodness [0,1] 0.5846095749590903 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.40, Z:-0.18 [[ 0.99121485 -0.11231808 -0.06984103 0.49145504] [ 0.11223582 0.99366844 -0.00511338 -0.39802963] [ 0.06997315 -0.00277021 0.99754503 -0.18097103] [ 0. 0. 0. 1. ]] SLAMing on 3.0313461839999998 meters Centerline goodness [0,1] 0.5808623075955207 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.39, Z:-0.18 [[ 0.99145469 -0.10970733 -0.07058261 0.49575381] [ 0.10975799 0.99395328 -0.00317201 -0.39421608] [ 0.07050381 -0.0046021 0.99750089 -0.18499268] [ 0. 0. 0. 1. ]] SLAMing on 3.061346184 meters Centerline goodness [0,1] 0.5808936179143318 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.39, Z:-0.19 [[ 0.99156918 -0.10823436 -0.07124529 0.49896621] [ 0.10834509 0.99411064 -0.00231981 -0.39153883] [ 0.07107678 -0.00541882 0.99745613 -0.18734357] [ 0. 0. 0. 1. ]] SLAMing on 3.091346184 meters Centerline goodness [0,1] 0.5827368332668612 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.39, Z:-0.19 [[ 9.91899098e-01 -1.04739440e-01 -7.18737014e-02 5.00776577e-01] [ 1.05064004e-01 9.94465187e-01 7.39679125e-04 -3.89195151e-01] [ 7.13984203e-02 -8.28502587e-03 9.97413467e-01 -1.88963390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.121346184 meters Centerline goodness [0,1] 0.5853453529176911 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.38, Z:-0.19 [[ 0.99225955 -0.10061751 -0.07278122 0.50462661] [ 0.10114529 0.99486518 0.00359326 -0.38323865] [ 0.07204596 -0.01092693 0.99734146 -0.19235188] [ 0. 0. 0. 1. ]] SLAMing on 3.151346184 meters Centerline goodness [0,1] 0.579574539504049 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.38, Z:-0.19 [[ 0.99233262 -0.09947542 -0.07335271 0.50776775] [ 0.10003939 0.99497525 0.0040458 -0.37993362] [ 0.07258167 -0.01135294 0.99729786 -0.19477088] [ 0. 0. 0. 1. ]] SLAMing on 3.1813461839999997 meters Centerline goodness [0,1] 0.5780631376081447 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.38, Z:-0.20 [[ 0.99236723 -0.09875209 -0.07386005 0.51072 ] [ 0.09933257 0.99504535 0.00421851 -0.37684341] [ 0.07307752 -0.01152302 0.99725969 -0.19713326] [ 0. 0. 0. 1. ]] SLAMing on 3.211346184 meters Centerline goodness [0,1] 0.5751921659471412 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.37, Z:-0.20 [[ 0.99236669 -0.09844589 -0.07427486 0.51297372] [ 0.09901481 0.99507789 0.00400773 -0.37386101] [ 0.07351473 -0.01133145 0.99722975 -0.19887625] [ 0. 0. 0. 1. ]] SLAMing on 3.2413461839999997 meters Centerline goodness [0,1] 0.5646843588341675 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:-0.20 [[ 0.99252876 -0.09605445 -0.07523433 0.5176598 ] [ 0.0967781 0.99528775 0.00602421 -0.37006064] [ 0.07430115 -0.01326023 0.99714768 -0.20275664] [ 0. 0. 0. 1. ]] SLAMing on 3.271346184 meters Centerline goodness [0,1] 0.5595028134710675 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:-0.20 [[ 0.99252128 -0.09579063 -0.07566808 0.52014103] [ 0.09652231 0.99531235 0.00606395 -0.3684338 ] [ 0.07473251 -0.01332225 0.99711462 -0.20466438] [ 0. 0. 0. 1. ]] SLAMing on 3.301346184 meters Centerline goodness [0,1] 0.5531950696226495 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:-0.21 [[ 0.99250392 -0.09571469 -0.07599121 0.52184607] [ 0.09645513 0.99531848 0.0061257 -0.36797327] [ 0.07504913 -0.01340952 0.99708967 -0.20597275] [ 0. 0. 0. 1. ]] SLAMing on 3.331346184 meters Centerline goodness [0,1] 0.5459382163060165 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.37, Z:-0.21 [[ 0.99248846 -0.0956192 -0.07631271 0.52343588] [ 0.09636944 0.99532632 0.00620143 -0.36775594] [ 0.07536308 -0.01350906 0.99706465 -0.20708186] [ 0. 0. 0. 1. ]] SLAMing on 3.361346184 meters Centerline goodness [0,1] 0.5953218838900011 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.21 [[ 0.992488 -0.09531196 -0.07670197 0.52549419] [ 0.09607139 0.99535473 0.00626437 -0.36695832] [ 0.0757486 -0.01358618 0.99703439 -0.20859054] [ 0. 0. 0. 1. ]] SLAMing on 3.3913461839999997 meters Centerline goodness [0,1] 0.5397995283018868 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.37, Z:-0.21 [[ 0.99248654 -0.09507658 -0.07701236 0.52670041] [ 0.09583693 0.99537755 0.0062299 -0.36611609] [ 0.07606405 -0.01356372 0.99701067 -0.2091975 ] [ 0. 0. 0. 1. ]] SLAMing on 3.421346184 meters Centerline goodness [0,1] 0.5936124044072724 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99249947 -0.09466796 -0.07734839 0.52783389] [ 0.09542262 0.99541809 0.00611121 -0.36442075] [ 0.07641546 -0.01344616 0.9969854 -0.20962732] [ 0. 0. 0. 1. ]] SLAMing on 3.4513461839999997 meters Centerline goodness [0,1] 0.5883742512444107 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99253003 -0.09398182 -0.07779178 0.52946186] [ 0.09475348 0.99548096 0.00628029 -0.36312504] [ 0.07685 -0.01360442 0.99694985 -0.21043257] [ 0. 0. 0. 1. ]] SLAMing on 3.481346184 meters Centerline goodness [0,1] 0.5940589875771148 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99256727 -0.09322132 -0.07823049 0.53109564] [ 0.09401792 0.99554893 0.00655413 -0.3623975 ] [ 0.07727129 -0.01386049 0.99691375 -0.21118413] [ 0. 0. 0. 1. ]] SLAMing on 3.5113461839999998 meters Centerline goodness [0,1] 0.5962959834438485 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99296237 -0.08826315 -0.07896426 0.53217651] [ 0.08940248 0.99593479 0.01100448 -0.36290659] [ 0.07767197 -0.01798663 0.99681671 -0.21144992] [ 0. 0. 0. 1. ]] SLAMing on 3.541346184 meters Centerline goodness [0,1] 0.6008474218980564 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99298809 -0.0874885 -0.07950108 0.53357737] [ 0.08864329 0.9960015 0.01110741 -0.36146377] [ 0.07821143 -0.01807676 0.99677289 -0.21155106] [ 0. 0. 0. 1. ]] SLAMing on 3.571346184 meters Centerline goodness [0,1] 0.6021414542459504 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 0.99301879 -0.08710492 -0.07953872 0.53312265] [ 0.08823903 0.99604023 0.01085022 -0.35984372] [ 0.07827866 -0.01779289 0.99677272 -0.21067174] [ 0. 0. 0. 1. ]] SLAMing on 3.6013461839999996 meters Centerline goodness [0,1] 0.6111946462229187 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.21 [[ 0.99393976 -0.08305124 -0.07201553 0.51575743] [ 0.08371145 0.99647079 0.00619325 -0.35970046] [ 0.07124702 -0.01218424 0.99738428 -0.20608762] [ 0. 0. 0. 1. ]] SLAMing on 3.631346184 meters Centerline goodness [0,1] 0.6175479495602416 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 0.99390854 -0.08308436 -0.07240726 0.52147285] [ 0.08315047 0.99653478 -0.00210595 -0.35751214] [ 0.07233132 -0.00392758 0.99737293 -0.19891042] [ 0. 0. 0. 1. ]] SLAMing on 3.6613461839999997 meters Centerline goodness [0,1] 0.6181660643716055 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 0.99480649 -0.08308858 -0.05879068 0.5234456 ] [ 0.08307695 0.99653962 -0.00264622 -0.35922409] [ 0.05880711 -0.00225168 0.99826682 -0.2017114 ] [ 0. 0. 0. 1. ]] SLAMing on 3.691346184 meters Centerline goodness [0,1] 0.6244044972368672 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.20 [[ 0.99558507 -0.08222981 -0.04526185 0.52564518] [ 0.0821929 0.99661284 -0.00267899 -0.3602614 ] [ 0.04532883 -0.00105304 0.99897157 -0.20491682] [ 0. 0. 0. 1. ]] SLAMing on 3.7213461839999997 meters Centerline goodness [0,1] 0.6343874354415375 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 9.96229580e-01 -8.10121504e-02 -3.10428023e-02 5.23190116e-01] [ 8.10016719e-02 9.96712686e-01 -1.59703863e-03 -3.60206517e-01] [ 3.10701344e-02 -9.23501764e-04 9.99516780e-01 -2.04198816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.751346184 meters Centerline goodness [0,1] 0.6353353311104546 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.36, Z:-0.21 [[ 9.96657028e-01 -7.98046837e-02 -1.74922921e-02 5.25418873e-01] [ 7.98033654e-02 9.96810325e-01 -7.74491608e-04 -3.59685604e-01] [ 1.74983054e-02 -6.24041275e-04 9.99846698e-01 -2.08098944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7813461839999998 meters Centerline goodness [0,1] 0.6407533813677158 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.21 [[ 9.96645701e-01 -7.99334042e-02 -1.75498607e-02 5.24643488e-01] [ 7.99266777e-02 9.96800154e-01 -1.08547480e-03 -3.59104827e-01] [ 1.75804695e-02 -3.20868264e-04 9.99845400e-01 -2.06667834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.811346184 meters Centerline goodness [0,1] 0.6422128810122304 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.21 [[ 9.96626052e-01 -8.02079112e-02 -1.74127209e-02 5.23406699e-01] [ 8.01945717e-02 9.96778153e-01 -1.46411587e-03 -3.58714387e-01] [ 1.74740534e-02 6.27703279e-05 9.99847315e-01 -2.05240213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.841346184 meters Centerline goodness [0,1] 0.6411804441442202 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 9.96575876e-01 -8.08656704e-02 -1.72414285e-02 5.21511773e-01] [ 8.08401481e-02 9.96724710e-01 -2.17327711e-03 -3.58030872e-01] [ 1.73607013e-02 7.72035913e-04 9.99848994e-01 -2.02967789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8713461839999996 meters Centerline goodness [0,1] 0.6392070020035854 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 0.99654824 -0.0812115 -0.01721326 0.52077036] [ 0.08117865 0.99669618 -0.00259958 -0.35738899] [ 0.01736751 0.00119326 0.99984846 -0.20193825] [ 0. 0. 0. 1. ]] SLAMing on 3.901346184 meters Centerline goodness [0,1] 0.6397043294614573 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 0.99651546 -0.08163473 -0.01710873 0.51950355] [ 0.08159212 0.99666075 -0.00317536 -0.3565323 ] [ 0.01731082 0.00176836 0.99984859 -0.20040197] [ 0. 0. 0. 1. ]] SLAMing on 3.9313461839999997 meters Centerline goodness [0,1] 0.6370482880830327 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.36, Z:-0.20 [[ 0.99647202 -0.08218664 -0.01699589 0.51806302] [ 0.08213198 0.99661387 -0.00389076 -0.355421 ] [ 0.01725811 0.00248113 0.99984799 -0.19859633] [ 0. 0. 0. 1. ]] SLAMing on 3.961346184 meters Centerline goodness [0,1] 0.6438058236026943 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.19 [[ 0.99633744 -0.08387225 -0.0166478 0.51461289] [ 0.08378518 0.9964666 -0.00586127 -0.35305508] [ 0.01708058 0.00444496 0.99984424 -0.19459217] [ 0. 0. 0. 1. ]] SLAMing on 3.9913461839999997 meters Centerline goodness [0,1] 0.6331021944103843 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.19 [[ 0.99629848 -0.08433904 -0.01662093 0.51386527] [ 0.08424247 0.99642455 -0.00642834 -0.35190207] [ 0.01710366 0.00500435 0.9998412 -0.1935715 ] [ 0. 0. 0. 1. ]] SLAMing on 4.0213461839999995 meters Centerline goodness [0,1] 0.6323196889330318 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.19 [[ 0.99620784 -0.08541246 -0.01657265 0.51298983] [ 0.08529392 0.99632582 -0.00773343 -0.34853971] [ 0.01717229 0.00629055 0.99983276 -0.19246745] [ 0. 0. 0. 1. ]] SLAMing on 4.051346184 meters Centerline goodness [0,1] 0.6263926401080351 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.19 [[ 0.99616864 -0.08587309 -0.01654854 0.51252044] [ 0.08574329 0.99628184 -0.00840106 -0.34662331] [ 0.01720844 0.00694995 0.99982777 -0.19188958] [ 0. 0. 0. 1. ]] SLAMing on 4.081346184 meters Centerline goodness [0,1] 0.6294706118736914 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:-0.19 [[ 0.99612434 -0.08639662 -0.01649027 0.51179284] [ 0.08625551 0.99623162 -0.00908604 -0.3448154 ] [ 0.01721313 0.00762845 0.99982274 -0.1910008 ] [ 0. 0. 0. 1. ]] SLAMing on 4.111346183999999 meters Centerline goodness [0,1] 0.61738781204422 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:-0.19 [[ 0.99608261 -0.08688534 -0.0164432 0.51102562] [ 0.08673756 0.99618592 -0.00949792 -0.34443787] [ 0.01720571 0.00803447 0.99981969 -0.19002083] [ 0. 0. 0. 1. ]] SLAMing on 4.141346184 meters Centerline goodness [0,1] 0.6073159425175945 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 0.99561656 -0.09310831 -0.00886079 0.52131155] [ 0.09305716 0.99564257 -0.00602051 -0.34675216] [ 0.00938273 0.00516956 0.99994262 -0.19305774] [ 0. 0. 0. 1. ]] SLAMing on 4.171346184 meters Centerline goodness [0,1] 0.5998689273180837 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 0.99555501 -0.09379149 -0.00856627 0.52019972] [ 0.09373744 0.99557568 -0.00650754 -0.34666805] [ 0.00913873 0.00567563 0.99994213 -0.19229293] [ 0. 0. 0. 1. ]] SLAMing on 4.201346184 meters Centerline goodness [0,1] 0.5955871464534281 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 0.99551164 -0.09425003 -0.00857385 0.51972141] [ 0.09419031 0.99552874 -0.00712141 -0.3452858 ] [ 0.00920671 0.00628187 0.99993789 -0.19153893] [ 0. 0. 0. 1. ]] SLAMing on 4.2313461839999995 meters Centerline goodness [0,1] 0.6097473457584904 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 0.99579884 -0.09114012 -0.00883992 0.51898418] [ 0.09111361 0.99583485 -0.00335708 -0.34623584] [ 0.00910906 0.00253754 0.99995529 -0.19094249] [ 0. 0. 0. 1. ]] SLAMing on 4.261346184 meters Centerline goodness [0,1] 0.6059129992799357 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 9.96022741e-01 -8.86678085e-02 -8.75893749e-03 5.16718607e-01] [ 8.86658328e-02 9.96061239e-01 -6.14389982e-04 -3.46170606e-01] [ 8.77891475e-03 -1.64672093e-04 9.99961451e-01 -1.89109808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.291346184 meters Centerline goodness [0,1] 0.6876124743293883 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.19 [[ 0.99631373 -0.08532255 -0.00888846 0.51552138] [ 0.08534916 0.99634756 0.00265807 -0.34577604] [ 0.0086292 -0.0034069 0.99995696 -0.18803432] [ 0. 0. 0. 1. ]] SLAMing on 4.321346184 meters Centerline goodness [0,1] 0.6121821855531234 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99633284 -0.08507144 -0.00915025 0.51625998] [ 0.08509787 0.99636936 0.00253867 -0.34457995] [ 0.00890106 -0.00330802 0.99995491 -0.18829438] [ 0. 0. 0. 1. ]] SLAMing on 4.351346184 meters Centerline goodness [0,1] 0.6113321963236688 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99633804 -0.08498889 -0.00934845 0.51654903] [ 0.08501404 0.99637704 0.00232647 -0.34355814] [ 0.00911686 -0.0031127 0.9999536 -0.18810037] [ 0. 0. 0. 1. ]] SLAMing on 4.381346184 meters Centerline goodness [0,1] 0.6009468700683851 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99634204 -0.08492395 -0.00951092 0.51661295] [ 0.08494863 0.99638286 0.00222142 -0.34303656] [ 0.00928787 -0.00302123 0.9999523 -0.1876756 ] [ 0. 0. 0. 1. ]] SLAMing on 4.411346184 meters Centerline goodness [0,1] 0.6801261295579117 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99634973 -0.08482393 -0.0095974 0.51654909] [ 0.0848493 0.99639122 0.00226731 -0.34306459] [ 0.00937044 -0.00307337 0.99995137 -0.1873034 ] [ 0. 0. 0. 1. ]] SLAMing on 4.4413461839999995 meters Centerline goodness [0,1] 0.6073797940228722 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99637504 -0.08449849 -0.00983755 0.51713335] [ 0.08452904 0.99641727 0.0027309 -0.34377399] [ 0.00957155 -0.00355256 0.99994788 -0.18741579] [ 0. 0. 0. 1. ]] SLAMing on 4.471346184 meters Centerline goodness [0,1] 0.6830594157835734 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99638518 -0.08435662 -0.01002623 0.5172698 ] [ 0.0843897 0.99642854 0.00292255 -0.34413138] [ 0.00974388 -0.00375809 0.99994547 -0.18704053] [ 0. 0. 0. 1. ]] SLAMing on 4.501346184 meters Centerline goodness [0,1] 0.6740354889255918 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99640005 -0.08416742 -0.01013871 0.51728314] [ 0.08420311 0.99644365 0.00314543 -0.34459423] [ 0.00983791 -0.00398782 0.99994365 -0.18668343] [ 0. 0. 0. 1. ]] SLAMing on 4.531346184 meters Centerline goodness [0,1] 0.6757418946034428 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99641105 -0.08402002 -0.0102785 0.51664387] [ 0.0840565 0.99645595 0.00316922 -0.34452734] [ 0.0099758 -0.00402182 0.99994215 -0.18521993] [ 0. 0. 0. 1. ]] SLAMing on 4.561346184 meters Centerline goodness [0,1] 0.6757418946034428 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.34, Z:-0.19 [[ 0.99641105 -0.08402002 -0.0102785 0.51664387] [ 0.0840565 0.99645595 0.00316922 -0.34452734] [ 0.0099758 -0.00402182 0.99994215 -0.18521993] [ 0. 0. 0. 1. ]] SLAMing on 4.591346184 meters Centerline goodness [0,1] 0.6839362936399114 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.18 [[ 0.99640743 -0.08406001 -0.01030326 0.51608295] [ 0.08409698 0.99645241 0.00320922 -0.34502905] [ 0.00999694 -0.00406416 0.99994177 -0.18426004] [ 0. 0. 0. 1. ]] SLAMing on 4.621346184 meters Centerline goodness [0,1] 0.6767487808979318 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.18 [[ 0.99640701 -0.08406765 -0.01028098 0.51575875] [ 0.08410859 0.99645003 0.00361632 -0.34685124] [ 0.00994047 -0.00446805 0.99994061 -0.18381758] [ 0. 0. 0. 1. ]] SLAMing on 4.651346183999999 meters Centerline goodness [0,1] 0.675578460244005 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.35, Z:-0.18 [[ 0.99639257 -0.08425242 -0.01016792 0.51516585] [ 0.08429631 0.99643283 0.00396762 -0.34899946] [ 0.00979737 -0.00481043 0.99994043 -0.1832531 ] [ 0. 0. 0. 1. ]] SLAMing on 4.681346184 meters Centerline goodness [0,1] 0.6716408459622609 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 9.96023413e-01 -8.85382362e-02 -9.91668487e-03 5.14898563e-01] [ 8.85404083e-02 9.96072561e-01 -2.20641379e-04 -3.49234426e-01] [ 9.89727290e-03 -6.58263348e-04 9.99950804e-01 -1.82439998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.711346184 meters Centerline goodness [0,1] 0.6714099545989575 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 9.96010184e-01 -8.86809043e-02 -9.97045159e-03 5.14928705e-01] [ 8.86853264e-02 9.96059693e-01 1.39666074e-06 -3.50112666e-01] [ 9.93104109e-03 -8.85623841e-04 9.99950294e-01 -1.82341626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.741346184 meters Centerline goodness [0,1] 0.6672639123102867 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 9.95990792e-01 -8.89058719e-02 -9.90397012e-03 5.14524186e-01] [ 8.89099243e-02 9.96039670e-01 -3.12413172e-05 -3.50539674e-01] [ 9.86752467e-03 -8.49445169e-04 9.99950954e-01 -1.81948198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7713461839999995 meters Centerline goodness [0,1] 0.6609265660568249 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 9.95979811e-01 -8.90294410e-02 -9.89823302e-03 5.14241632e-01] [ 8.90343412e-02 9.96028555e-01 5.46344070e-05 -3.51275452e-01] [ 9.85405867e-03 -9.35697422e-04 9.99951010e-01 -1.81522771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.801346184 meters Centerline goodness [0,1] 0.6554858072834104 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 9.95962907e-01 -8.92246310e-02 -9.84141107e-03 5.13693205e-01] [ 8.92256026e-02 9.96011383e-01 -3.41169008e-04 -3.50561980e-01] [ 9.83259813e-03 -5.38314156e-04 9.99951514e-01 -1.80834871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.831346184 meters Centerline goodness [0,1] 0.6653663679493937 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 0.99628026 -0.08559197 -0.00998282 0.51315647] [ 0.08563157 0.99632034 0.00360797 -0.3509553 ] [ 0.00963727 -0.0044494 0.99994366 -0.1807601 ] [ 0. 0. 0. 1. ]] SLAMing on 4.861346183999999 meters Centerline goodness [0,1] 0.65715609273336 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 0.99657474 -0.0820649 -0.01020539 0.51242466] [ 0.08214088 0.99659426 0.00726287 -0.35089297] [ 0.0095746 -0.00807627 0.99992155 -0.18013381] [ 0. 0. 0. 1. ]] SLAMing on 4.891346184 meters Centerline goodness [0,1] 0.6665684582684457 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 0.99682342 -0.07900853 -0.01003646 0.50963773] [ 0.07910661 0.99681815 0.00978318 -0.34876546] [ 0.00923157 -0.01054605 0.99990177 -0.17755487] [ 0. 0. 0. 1. ]] SLAMing on 4.921346184 meters Centerline goodness [0,1] 0.6909537107556909 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.35, Z:-0.18 [[ 0.99702619 -0.07642634 -0.00988863 0.50719432] [ 0.07654663 0.99698866 0.01241859 -0.34790139] [ 0.00890975 -0.0131386 0.99987399 -0.17554846] [ 0. 0. 0. 1. ]] SLAMing on 4.951346184 meters Centerline goodness [0,1] 0.6897639119557677 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:-0.18 [[ 0.99701968 -0.07648063 -0.01012246 0.50750974] [ 0.07659641 0.99699479 0.01159219 -0.34437903] [ 0.00920546 -0.01233299 0.99988157 -0.17524009] [ 0. 0. 0. 1. ]] SLAMing on 4.9813461839999995 meters Centerline goodness [0,1] 0.6935331130705613 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:-0.17 [[ 0.99695687 -0.0773243 -0.00989658 0.5058212 ] [ 0.07742189 0.99694937 0.00988926 -0.34009689] [ 0.00910171 -0.01062538 0.99990213 -0.17340935] [ 0. 0. 0. 1. ]] SLAMing on 5.011346184 meters Centerline goodness [0,1] 0.688392107472712 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.34, Z:-0.17 [[ 0.99693044 -0.07767548 -0.00980877 0.50537027] [ 0.07776902 0.99692571 0.00954537 -0.34005364] [ 0.00903717 -0.01027889 0.99990633 -0.17297278] [ 0. 0. 0. 1. ]] SLAMing on 5.041346184 meters Centerline goodness [0,1] 0.6996493303477123 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99689646 -0.07812709 -0.00967488 0.50477165] [ 0.07821534 0.9968949 0.00910582 -0.33986804] [ 0.00893343 -0.00983429 0.99991174 -0.17249667] [ 0. 0. 0. 1. ]] SLAMing on 5.071346183999999 meters Centerline goodness [0,1] 0.6574239902235519 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99687223 -0.0784488 -0.00956782 0.50449165] [ 0.07853352 0.99687241 0.00882488 -0.33984562] [ 0.00884559 -0.00954867 0.99991529 -0.17232681] [ 0. 0. 0. 1. ]] SLAMing on 5.101346184 meters Centerline goodness [0,1] 0.6745518505255619 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99679383 -0.07949066 -0.0091264 0.50311105] [ 0.07956306 0.99679881 0.00786481 -0.33847176] [ 0.008472 -0.00856572 0.99992742 -0.17167404] [ 0. 0. 0. 1. ]] SLAMing on 5.131346184 meters Centerline goodness [0,1] 0.6703656998738966 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99676084 -0.07991979 -0.00898119 0.5025208 ] [ 0.07998669 0.9967688 0.00735404 -0.33726265] [ 0.00836444 -0.00804859 0.99993263 -0.17125636] [ 0. 0. 0. 1. ]] SLAMing on 5.161346184 meters Centerline goodness [0,1] 0.6688023864042183 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99672514 -0.08037627 -0.00886801 0.5018512 ] [ 0.08043778 0.99673635 0.00681231 -0.33602681] [ 0.00829152 -0.00750332 0.99993747 -0.1705969 ] [ 0. 0. 0. 1. ]] SLAMing on 5.1913461839999995 meters Centerline goodness [0,1] 0.6659653699690729 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99670375 -0.08064865 -0.00879912 0.50142005] [ 0.0807071 0.99671665 0.00650256 -0.33546304] [ 0.00824581 -0.00719128 0.99994014 -0.1701411 ] [ 0. 0. 0. 1. ]] SLAMing on 5.221346184 meters Centerline goodness [0,1] 0.6362697576396206 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99665377 -0.08127583 -0.0086892 0.50091203] [ 0.08133094 0.99666794 0.00618824 -0.33563559] [ 0.0081573 -0.00687423 0.9999431 -0.16978915] [ 0. 0. 0. 1. ]] SLAMing on 5.251346184 meters Centerline goodness [0,1] 0.660706415664547 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99665585 -0.08123288 -0.00885126 0.50146843] [ 0.08129182 0.99666905 0.00651546 -0.33659196] [ 0.00829251 -0.0072132 0.9999396 -0.17010984] [ 0. 0. 0. 1. ]] SLAMing on 5.281346183999999 meters Centerline goodness [0,1] 0.6503175871787321 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.9966249 -0.08163283 -0.00865394 0.50072184] [ 0.0816895 0.99663721 0.00641052 -0.33743404] [ 0.00810153 -0.00709582 0.99994201 -0.1696073 ] [ 0. 0. 0. 1. ]] SLAMing on 5.311346184 meters Centerline goodness [0,1] 0.6589139150695859 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99657285 -0.08228982 -0.00842212 0.49990274] [ 0.08234309 0.99658484 0.00618646 -0.33807238] [ 0.00788427 -0.00685876 0.9999454 -0.16915094] [ 0. 0. 0. 1. ]] SLAMing on 5.341346184 meters Centerline goodness [0,1] 0.6353880656452391 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.34, Z:-0.17 [[ 0.99655715 -0.08246934 -0.00852398 0.49994948] [ 0.08251969 0.99657294 0.00573383 -0.33635169] [ 0.00802191 -0.00641749 0.99994723 -0.16889236] [ 0. 0. 0. 1. ]] SLAMing on 5.371346184 meters Centerline goodness [0,1] 0.6561247310013081 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99654893 -0.08255522 -0.00865291 0.50006006] [ 0.08260139 0.99656951 0.00512152 -0.33393231] [ 0.00820041 -0.00581859 0.99994945 -0.1685917 ] [ 0. 0. 0. 1. ]] SLAMing on 5.401346183999999 meters Centerline goodness [0,1] 0.6523202341137124 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99655105 -0.08250545 -0.00888008 0.50045668] [ 0.08254913 0.99657606 0.00466955 -0.3321601 ] [ 0.00846441 -0.00538649 0.99994967 -0.16832413] [ 0. 0. 0. 1. ]] SLAMing on 5.431346184 meters Centerline goodness [0,1] 0.6500094128474909 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99654845 -0.0825526 -0.00873265 0.49947795] [ 0.08258827 0.99657648 0.00380646 -0.32981853] [ 0.00838852 -0.00451454 0.99995462 -0.16711271] [ 0. 0. 0. 1. ]] SLAMing on 5.461346184 meters Centerline goodness [0,1] 0.6558601925491838 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99656537 -0.08233449 -0.00885983 0.49966491] [ 0.08236869 0.99659554 0.00356655 -0.32869536] [ 0.00853601 -0.00428407 0.99995439 -0.16690731] [ 0. 0. 0. 1. ]] SLAMing on 5.491346184 meters Centerline goodness [0,1] 0.6642038537424961 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99686856 -0.07856367 -0.00898983 0.49915929] [ 0.07863251 0.99687487 0.00757812 -0.32973987] [ 0.00836637 -0.00826129 0.99993088 -0.1667937 ] [ 0. 0. 0. 1. ]] SLAMing on 5.5213461839999995 meters Centerline goodness [0,1] 0.6759734252796232 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.33, Z:-0.17 [[ 0.99694149 -0.07758214 -0.0094164 0.50110075] [ 0.07765724 0.99694889 0.00789097 -0.32774455] [ 0.00877547 -0.00859809 0.99992453 -0.16816997] [ 0. 0. 0. 1. ]] SLAMing on 5.551346184 meters Centerline goodness [0,1] 0.6778312748586979 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.32, Z:-0.17 [[ 0.99726839 -0.0731514 -0.01022858 0.50300954] [ 0.07326789 0.99724577 0.01151948 -0.32419992] [ 0.00935775 -0.01223744 0.99988133 -0.16944084] [ 0. 0. 0. 1. ]] SLAMing on 5.581346184 meters Centerline goodness [0,1] 0.6914860128853539 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.32, Z:-0.17 [[ 0.99753677 -0.06936697 -0.01042178 0.50265156] [ 0.06952069 0.99746481 0.01519314 -0.3233938 ] [ 0.00934146 -0.01588024 0.99983026 -0.16926945] [ 0. 0. 0. 1. ]] SLAMing on 5.611346183999999 meters Centerline goodness [0,1] 0.6974054917791515 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.32, Z:-0.17 [[ 0.99756033 -0.06900327 -0.01058029 0.50311732] [ 0.06915433 0.99749845 0.01464625 -0.32056981] [ 0.00954319 -0.0153422 0.99983676 -0.16927687] [ 0. 0. 0. 1. ]] SLAMing on 5.641346184 meters Centerline goodness [0,1] 0.6941996525233919 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.32, Z:-0.17 [[ 0.99755227 -0.06909238 -0.01075737 0.50329898] [ 0.06923241 0.99751269 0.01324003 -0.31602455] [ 0.00981583 -0.01395238 0.99985448 -0.16871044] [ 0. 0. 0. 1. ]] SLAMing on 5.671346184 meters Centerline goodness [0,1] 0.6956585570469799 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.31, Z:-0.17 [[ 0.99751843 -0.06958741 -0.0107042 0.50282996] [ 0.06971708 0.99749147 0.01225947 -0.31347666] [ 0.00982425 -0.01297531 0.99986755 -0.16817167] [ 0. 0. 0. 1. ]] SLAMing on 5.701346184 meters Centerline goodness [0,1] 0.6943845171019836 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.31, Z:-0.17 [[ 0.99747909 -0.07014698 -0.01071771 0.50262363] [ 0.07026613 0.99746566 0.01117748 -0.31040442] [ 0.00990649 -0.01190239 0.99988009 -0.1678344 ] [ 0. 0. 0. 1. ]] SLAMing on 5.7313461839999995 meters Centerline goodness [0,1] 0.6844170285978053 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.30, Z:-0.17 [[ 0.99737952 -0.07161075 -0.01029535 0.50114124] [ 0.07170348 0.99738594 0.00893876 -0.30422081] [ 0.00962833 -0.00965354 0.99990705 -0.16710343] [ 0. 0. 0. 1. ]] SLAMing on 5.761346184 meters Centerline goodness [0,1] 0.6822880771881461 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.30, Z:-0.17 [[ 0.99733799 -0.07218239 -0.01032614 0.50102194] [ 0.07226614 0.99735346 0.00798027 -0.30154303] [ 0.00972278 -0.00870525 0.99991484 -0.16681028] [ 0. 0. 0. 1. ]] SLAMing on 5.791346184 meters Centerline goodness [0,1] 0.6791627420198849 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.30, Z:-0.17 [[ 0.99729824 -0.07274459 -0.01021991 0.50070114] [ 0.07281849 0.99732026 0.00705429 -0.29903868] [ 0.00967936 -0.00777943 0.99992289 -0.16665112] [ 0. 0. 0. 1. ]] SLAMing on 5.821346183999999 meters Centerline goodness [0,1] 0.6601029547166652 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.30, Z:-0.17 [[ 0.99727293 -0.07310093 -0.01014667 0.50096808] [ 0.07316867 0.99729858 0.00647261 -0.29728233] [ 0.00964611 -0.00719738 0.99992757 -0.16724772] [ 0. 0. 0. 1. ]] SLAMing on 5.851346184 meters Centerline goodness [0,1] 0.6704757121031373 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.30, Z:-0.17 [[ 0.99725626 -0.07333428 -0.01010112 0.50151344] [ 0.07339785 0.99728425 0.00607249 -0.29588296] [ 0.00962836 -0.00679723 0.99993054 -0.16814886] [ 0. 0. 0. 1. ]] SLAMing on 5.881346184 meters Centerline goodness [0,1] 0.6507243956411006 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.29, Z:-0.17 [[ 0.99726888 -0.07311218 -0.01045889 0.5039417 ] [ 0.07317258 0.99730406 0.00551276 -0.29016374] [ 0.01002765 -0.00626301 0.99993011 -0.17062901] [ 0. 0. 0. 1. ]] SLAMing on 5.911346184 meters Centerline goodness [0,1] 0.6547019311502938 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.29, Z:-0.17 [[ 0.99725867 -0.07322417 -0.01064763 0.50477267] [ 0.07327615 0.99730119 0.00457581 -0.28602595] [ 0.01028383 -0.00534348 0.99993284 -0.17118365] [ 0. 0. 0. 1. ]] SLAMing on 5.9413461839999995 meters Centerline goodness [0,1] 0.682691098159252 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.28, Z:-0.17 [[ 0.99749743 -0.06987503 -0.01078706 0.50447055] [ 0.0699624 0.99751798 0.00794589 -0.28470498] [ 0.01020506 -0.00868069 0.99991025 -0.17136988] [ 0. 0. 0. 1. ]] SLAMing on 5.971346184 meters Centerline goodness [0,1] 0.6711496564437741 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.28, Z:-0.17 [[ 0.99772439 -0.06652936 -0.01094933 0.50417205] [ 0.06664295 0.99772312 0.01035787 -0.27993848] [ 0.0102353 -0.011064 0.99988641 -0.17121503] [ 0. 0. 0. 1. ]] SLAMing on 6.001346184 meters Centerline goodness [0,1] 0.6761413658659288 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.28, Z:-0.17 [[ 0.99773611 -0.0663358 -0.01105473 0.50469978] [ 0.06644203 0.99774471 0.00953654 -0.27620412] [ 0.01039719 -0.01024945 0.99989342 -0.17137641] [ 0. 0. 0. 1. ]] SLAMing on 6.031346183999999 meters Centerline goodness [0,1] 0.6951925497105462 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.17 [[ 0.9977437 -0.06617205 -0.01134771 0.50557748] [ 0.06627293 0.99776311 0.00875668 -0.27241641] [ 0.01074288 -0.00948897 0.99989727 -0.1715865 ] [ 0. 0. 0. 1. ]] SLAMing on 6.061346184 meters Centerline goodness [0,1] 0.7042058137335268 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.27, Z:-0.17 [[ 0.99797608 -0.06253061 -0.01156101 0.50571333] [ 0.06266453 0.99796713 0.01160838 -0.26859761] [ 0.01081163 -0.01230935 0.99986579 -0.17198352] [ 0. 0. 0. 1. ]] SLAMing on 6.091346184 meters Centerline goodness [0,1] 0.7046984087049499 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.17 [[ 0.99795992 -0.06276263 -0.01169852 0.50596336] [ 0.06288598 0.99796556 0.01049283 -0.26490071] [ 0.01101616 -0.0112071 0.99987651 -0.17175916] [ 0. 0. 0. 1. ]] SLAMing on 6.121346184 meters Centerline goodness [0,1] 0.7035718772245718 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.17 [[ 0.99794902 -0.06290857 -0.01184339 0.50629015] [ 0.06302319 0.99796621 0.00956715 -0.26146793] [ 0.01121744 -0.01029394 0.9998841 -0.17166577] [ 0. 0. 0. 1. ]] SLAMing on 6.151346183999999 meters Centerline goodness [0,1] 0.6975396758753883 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.17 [[ 0.99792836 -0.06323963 -0.01182112 0.50584935] [ 0.06334295 0.99795494 0.00857955 -0.25855609] [ 0.01125438 -0.00931056 0.99989332 -0.17097014] [ 0. 0. 0. 1. ]] SLAMing on 6.181346184 meters Centerline goodness [0,1] 0.707439573087789 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.26, Z:-0.17 [[ 0.99789959 -0.06369976 -0.01177887 0.50551556] [ 0.06379089 0.99793489 0.00752911 -0.25562312] [ 0.01127494 -0.00826468 0.99990228 -0.17045288] [ 0. 0. 0. 1. ]] SLAMing on 6.211346184 meters Centerline goodness [0,1] 0.702076777847703 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.99787718 -0.0640633 -0.01170551 0.50544876] [ 0.06414822 0.99791563 0.00702843 -0.25419203] [ 0.01123084 -0.00776439 0.99990679 -0.1705832 ] [ 0. 0. 0. 1. ]] SLAMing on 6.241346184 meters Centerline goodness [0,1] 0.7004487502096963 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.9978617 -0.06429514 -0.01175409 0.50589301] [ 0.06437723 0.99790284 0.00674427 -0.25288314] [ 0.01129582 -0.00748654 0.99990817 -0.17109903] [ 0. 0. 0. 1. ]] SLAMing on 6.2713461839999995 meters Centerline goodness [0,1] 0.6991543251430494 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.99781546 -0.06503665 -0.01159963 0.50603449] [ 0.06510923 0.99786015 0.00599312 -0.2506854 ] [ 0.01118503 -0.00673527 0.99991476 -0.17194261] [ 0. 0. 0. 1. ]] SLAMing on 6.301346184 meters Centerline goodness [0,1] 0.6840714090918627 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.99782215 -0.06491878 -0.01168366 0.50676473] [ 0.0649922 0.99786763 0.00601785 -0.25012073] [ 0.01126807 -0.00676409 0.99991364 -0.17266899] [ 0. 0. 0. 1. ]] SLAMing on 6.331346184 meters Centerline goodness [0,1] 0.6842226890756302 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.99781383 -0.06504445 -0.0116955 0.50671342] [ 0.06511188 0.99786293 0.00547945 -0.24843165] [ 0.0113141 -0.00622899 0.99991659 -0.17242846] [ 0. 0. 0. 1. ]] SLAMing on 6.361346183999999 meters Centerline goodness [0,1] 0.6746524199146036 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.25, Z:-0.17 [[ 0.99781541 -0.0650031 -0.01178989 0.50668252] [ 0.06506406 0.99786924 0.00486245 -0.24614094] [ 0.0114487 -0.00561893 0.99991867 -0.17187703] [ 0. 0. 0. 1. ]] SLAMing on 6.391346184 meters Centerline goodness [0,1] 0.6900077687026267 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.17 [[ 0.9980403 -0.06142303 -0.01194871 0.50572918] [ 0.06151385 0.99807889 0.00738745 -0.24164784] [ 0.011472 -0.00810799 0.99990132 -0.17057936] [ 0. 0. 0. 1. ]] SLAMing on 6.421346184 meters Centerline goodness [0,1] 0.693227258452842 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.17 [[ 0.99808537 -0.06057835 -0.0124846 0.50755797] [ 0.06067139 0.99813173 0.00721322 -0.23802643] [ 0.01202431 -0.00795686 0.99989605 -0.17122689] [ 0. 0. 0. 1. ]] SLAMing on 6.451346184 meters Centerline goodness [0,1] 0.72450523131224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.17 [[ 0.99830796 -0.05677105 -0.01258051 0.50710367] [ 0.05690788 0.99832103 0.01079859 -0.23698293] [ 0.01194634 -0.01149625 0.99986255 -0.17106025] [ 0. 0. 0. 1. ]] SLAMing on 6.4813461839999995 meters Centerline goodness [0,1] 0.72450523131224 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.24, Z:-0.17 [[ 0.99830796 -0.05677105 -0.01258051 0.50710367] [ 0.05690788 0.99832103 0.01079859 -0.23698293] [ 0.01194634 -0.01149625 0.99986255 -0.17106025] [ 0. 0. 0. 1. ]] SLAMing on 6.511346184 meters Centerline goodness [0,1] 0.7352491784749984 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.23, Z:-0.17 [[ 0.99854699 -0.05223494 -0.01324436 0.50917324] [ 0.0524201 0.9985264 0.01404108 -0.23189298] [ 0.0124914 -0.01471495 0.9998137 -0.17241885] [ 0. 0. 0. 1. ]] SLAMing on 6.541346184 meters Centerline goodness [0,1] 0.75293722020219 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.23, Z:-0.17 [[ 0.99856133 -0.051892 -0.01350855 0.51021863] [ 0.05207066 0.99855578 0.01322839 -0.22752739] [ 0.0128026 -0.01391276 0.99982125 -0.17277301] [ 0. 0. 0. 1. ]] SLAMing on 6.571346183999999 meters Centerline goodness [0,1] 0.7589956047191436 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.17 [[ 0.99855806 -0.05189827 -0.01372488 0.51095366] [ 0.05206542 0.99857018 0.01211531 -0.22309265] [ 0.01307649 -0.01281243 0.99983241 -0.17290365] [ 0. 0. 0. 1. ]] SLAMing on 6.601346184 meters Centerline goodness [0,1] 0.7684673129087201 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.22, Z:-0.18 [[ 0.99866906 -0.04960458 -0.01412401 0.51336759] [ 0.04979238 0.99867143 0.01327032 -0.21664119] [ 0.01344698 -0.01395592 0.99981219 -0.17518582] [ 0. 0. 0. 1. ]] SLAMing on 6.631346184 meters Centerline goodness [0,1] 0.7633054993252362 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.18 [[ 0.99865359 -0.0498837 -0.01423472 0.5139454 ] [ 0.05005931 0.99867101 0.01225873 -0.21311002] [ 0.01360429 -0.01295481 0.99982353 -0.1755841 ] [ 0. 0. 0. 1. ]] SLAMing on 6.661346184 meters Centerline goodness [0,1] 0.7640532388365078 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.18 [[ 0.99863311 -0.05021395 -0.01450732 0.51460527] [ 0.0503781 0.99866764 0.01117987 -0.20955323] [ 0.01392661 -0.01189544 0.99983226 -0.17559968] [ 0. 0. 0. 1. ]] SLAMing on 6.6913461839999995 meters Centerline goodness [0,1] 0.7636398200367531 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.21, Z:-0.18 [[ 0.99860515 -0.05073333 -0.01462464 0.51463638] [ 0.05087929 0.99865686 0.00978649 -0.20527961] [ 0.0141085 -0.01051693 0.99984516 -0.17511341] [ 0. 0. 0. 1. ]] SLAMing on 6.721346184 meters Centerline goodness [0,1] 0.7622516133154431 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.20, Z:-0.17 [[ 0.99872034 -0.04852828 -0.01423722 0.51200764] [ 0.04868356 0.99875618 0.01077049 -0.19726699] [ 0.01369684 -0.01144983 0.99984064 -0.17309422] [ 0. 0. 0. 1. ]] SLAMing on 6.751346184 meters Centerline goodness [0,1] 0.7611742018427256 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.17 [[ 0.99869509 -0.04899174 -0.01441979 0.51203716] [ 0.04912807 0.99874959 0.00925692 -0.19211149] [ 0.01394825 -0.00995326 0.99985318 -0.17236575] [ 0. 0. 0. 1. ]] SLAMing on 6.781346183999999 meters Centerline goodness [0,1] 0.7604166666666666 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.19, Z:-0.17 [[ 0.99868891 -0.04895651 -0.01495751 0.51360003] [ 0.04908428 0.99876017 0.00829792 -0.18748082] [ 0.01453273 -0.00902122 0.9998537 -0.17272783] [ 0. 0. 0. 1. ]] SLAMing on 6.811346184 meters Centerline goodness [0,1] 0.7593937821593808 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.18, Z:-0.17 [[ 0.99882189 -0.04620659 -0.01482505 0.51273039] [ 0.04635462 0.99887696 0.00980173 -0.17997375] [ 0.01435549 -0.01047739 0.99984206 -0.1723317 ] [ 0. 0. 0. 1. ]] SLAMing on 6.841346184 meters Centerline goodness [0,1] 0.7566812491878546 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.17 [[ 0.9987897 -0.0468242 -0.01505432 0.51253913] [ 0.04694885 0.99886497 0.00803584 -0.17487918] [ 0.01466096 -0.00873289 0.99985439 -0.17102893] [ 0. 0. 0. 1. ]] SLAMing on 6.871346184 meters Centerline goodness [0,1] 0.7566729547475011 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.17 [[ 0.9987759 -0.04705077 -0.01526225 0.51294688] [ 0.04716303 0.99886211 0.00708082 -0.17142922] [ 0.01491173 -0.00779197 0.99985845 -0.17077161] [ 0. 0. 0. 1. ]] SLAMing on 6.901346183999999 meters Centerline goodness [0,1] 0.754787686006231 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.17 [[ 0.99875523 -0.04749093 -0.01525097 0.51276354] [ 0.04758727 0.99884896 0.00601682 -0.16813194] [ 0.01494767 -0.00673508 0.99986559 -0.17042692] [ 0. 0. 0. 1. ]] SLAMing on 6.931346184 meters Centerline goodness [0,1] 0.7643263342082239 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.17 [[ 0.99871032 -0.04844984 -0.01517578 0.51179498] [ 0.04850914 0.99881638 0.00356373 -0.16128434] [ 0.01498515 -0.0042953 0.99987849 -0.1686464 ] [ 0. 0. 0. 1. ]] SLAMing on 6.961346184 meters Centerline goodness [0,1] 0.7629910724078177 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.17 [[ 0.99869442 -0.04874711 -0.01527019 0.51190212] [ 0.04879309 0.99880538 0.00265342 -0.15792705] [ 0.0151226 -0.00339504 0.99987988 -0.16835791] [ 0. 0. 0. 1. ]] SLAMing on 6.991346183999999 meters Centerline goodness [0,1] 0.7613087395696091 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.16, Z:-0.17 [[ 0.99868165 -0.04897504 -0.01537574 0.51200855] [ 0.04900997 0.99879648 0.00190275 -0.15508942] [ 0.01526405 -0.00265381 0.99987998 -0.16805261] [ 0. 0. 0. 1. ]] SLAMing on 7.0213461839999995 meters Centerline goodness [0,1] 0.755721491662812 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.17 [[ 9.98634482e-01 -4.99810176e-02 -1.52009747e-02 5.10804039e-01] [ 4.99852831e-02 9.98749949e-01 -9.94355077e-05 -1.49114555e-01] [ 1.51869426e-02 -6.60525298e-04 9.99884454e-01 -1.66540438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.051346184 meters Centerline goodness [0,1] 0.7513180825483665 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.17 [[ 0.99877429 -0.04717412 -0.01498395 0.50920991] [ 0.04722704 0.99887906 0.00319806 -0.14879098] [ 0.01481629 -0.00390179 0.99988262 -0.166058 ] [ 0. 0. 0. 1. ]] SLAMing on 7.081346184 meters Centerline goodness [0,1] 0.7494324318367167 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.15, Z:-0.17 [[ 0.99876936 -0.04721037 -0.01519689 0.50997352] [ 0.047258 0.99887882 0.00279002 -0.14634045] [ 0.01504813 -0.00350476 0.99988063 -0.16641629] [ 0. 0. 0. 1. ]] SLAMing on 7.111346183999999 meters Centerline goodness [0,1] 0.7421401724519124 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.17 [[ 0.99876736 -0.04718252 -0.01541327 0.51091309] [ 0.04722706 0.99888095 0.00253854 -0.14465763] [ 0.01527624 -0.00326334 0.99987799 -0.16703551] [ 0. 0. 0. 1. ]] SLAMing on 7.141346184 meters Centerline goodness [0,1] 0.7451041411963456 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.17 [[ 0.99876436 -0.04722355 -0.01548193 0.51212946] [ 0.04726463 0.99887976 0.00229814 -0.14271416] [ 0.01535606 -0.00302705 0.99987751 -0.16866387] [ 0. 0. 0. 1. ]] SLAMing on 7.171346184 meters Centerline goodness [0,1] 0.7381873998932194 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.17 [[ 0.99876964 -0.04704192 -0.01569268 0.51328628] [ 0.04708415 0.9988882 0.00233222 -0.14144676] [ 0.01556552 -0.00306823 0.99987414 -0.16962575] [ 0. 0. 0. 1. ]] SLAMing on 7.201346183999999 meters Centerline goodness [0,1] 0.7290932607823023 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.14, Z:-0.17 [[ 0.99876588 -0.04707675 -0.01582712 0.51386815] [ 0.0471144 0.99888747 0.00201429 -0.13945324] [ 0.01571469 -0.00275749 0.99987271 -0.16996423] [ 0. 0. 0. 1. ]] SLAMing on 7.2313461839999995 meters Centerline goodness [0,1] 0.7318779048981051 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.17 [[ 0.99876026 -0.04711381 -0.01606937 0.51509169] [ 0.04714855 0.99888629 0.00178935 -0.13696506] [ 0.01596717 -0.00254478 0.99986928 -0.17106814] [ 0. 0. 0. 1. ]] SLAMing on 7.261346184 meters Centerline goodness [0,1] 0.7264507754627039 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.14, Z:-0.17 [[ 0.99875804 -0.04710793 -0.0162241 0.51569526] [ 0.04714157 0.99888678 0.00169703 -0.1360494 ] [ 0.0161261 -0.00245975 0.99986694 -0.17145672] [ 0. 0. 0. 1. ]] SLAMing on 7.291346184 meters Centerline goodness [0,1] 0.7256475005028045 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99875789 -0.04705721 -0.01637993 0.51640686] [ 0.04709053 0.99888926 0.00165437 -0.13487773] [ 0.01628389 -0.00242366 0.99986447 -0.17195325] [ 0. 0. 0. 1. ]] SLAMing on 7.321346183999999 meters Centerline goodness [0,1] 0.7220840893309142 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99875687 -0.0470325 -0.01651236 0.51700758] [ 0.04706516 0.99889055 0.00159443 -0.13370074] [ 0.01641905 -0.00236961 0.99986239 -0.17239594] [ 0. 0. 0. 1. ]] SLAMing on 7.351346184 meters Centerline goodness [0,1] 0.7123949485416385 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99875048 -0.04713091 -0.01661803 0.51771297] [ 0.04715779 0.9988867 0.00122944 -0.13129975] [ 0.01654158 -0.00201158 0.99986116 -0.17307852] [ 0. 0. 0. 1. ]] SLAMing on 7.381346184 meters Centerline goodness [0,1] 0.7206736614580989 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99874915 -0.04708434 -0.01682882 0.51832841] [ 0.04710796 0.99888929 0.00100973 -0.1300343 ] [ 0.01676259 -0.00180124 0.99985788 -0.17322359] [ 0. 0. 0. 1. ]] SLAMing on 7.411346184 meters Centerline goodness [0,1] 0.7076113232270745 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 9.98746923e-01 -4.70866389e-02 -1.69538099e-02 5.18610058e-01] [ 4.71022910e-02 9.98889933e-01 5.24874782e-04 -1.28030025e-01] [ 1.69102755e-02 -1.32278036e-03 9.99856136e-01 -1.72991255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4413461839999995 meters Centerline goodness [0,1] 0.7370672097759674 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99891937 -0.04321543 -0.01710315 0.51892738] [ 0.04329755 0.99905226 0.0044605 -0.12753137] [ 0.01689417 -0.00519621 0.99984378 -0.17385458] [ 0. 0. 0. 1. ]] SLAMing on 7.471346184 meters Centerline goodness [0,1] 0.7308940690469166 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.17 [[ 0.99892558 -0.04299873 -0.01728563 0.51994653] [ 0.04308175 0.9990616 0.00445929 -0.1268399 ] [ 0.01707767 -0.00519919 0.99984065 -0.17467414] [ 0. 0. 0. 1. ]] SLAMing on 7.501346184 meters Centerline goodness [0,1] 0.7310031774852475 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.18 [[ 0.99893188 -0.04280939 -0.01739132 0.52073093] [ 0.04289336 0.99906959 0.00448417 -0.12643124] [ 0.01718318 -0.00522535 0.9998387 -0.17537905] [ 0. 0. 0. 1. ]] SLAMing on 7.531346183999999 meters Centerline goodness [0,1] 0.7250696441917877 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.13, Z:-0.18 [[ 0.99893606 -0.04260912 -0.0176414 0.52173916] [ 0.04269324 0.99907845 0.00441983 -0.12536883] [ 0.01743682 -0.00516829 0.99983461 -0.17589411] [ 0. 0. 0. 1. ]] SLAMing on 7.561346184 meters Centerline goodness [0,1] 0.7263064457392572 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99907547 -0.03928427 -0.0174626 0.52057788] [ 0.03942258 0.99919336 0.0076474 -0.12280014] [ 0.01714809 -0.00832876 0.99981827 -0.17560436] [ 0. 0. 0. 1. ]] SLAMing on 7.591346184 meters Centerline goodness [0,1] 0.7257280999840354 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99907319 -0.03917607 -0.01783259 0.5215876 ] [ 0.03930991 0.999201 0.00721735 -0.12055713] [ 0.01753559 -0.00791166 0.99981494 -0.17570018] [ 0. 0. 0. 1. ]] SLAMing on 7.621346184 meters Centerline goodness [0,1] 0.7291799689865912 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.12, Z:-0.18 [[ 0.99907913 -0.03877992 -0.01835773 0.52331272] [ 0.03891608 0.99921713 0.00711827 -0.11915022] [ 0.01806731 -0.00782612 0.99980614 -0.17628218] [ 0. 0. 0. 1. ]] SLAMing on 7.651346183999999 meters Centerline goodness [0,1] 0.7326836856071004 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.18 [[ 0.99909262 -0.03834539 -0.01853582 0.5242062 ] [ 0.03846775 0.99924004 0.00629045 -0.11477726] [ 0.01828052 -0.00699777 0.99980841 -0.17619257] [ 0. 0. 0. 1. ]] SLAMing on 7.681346184 meters Centerline goodness [0,1] 0.7363995589046131 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.11, Z:-0.18 [[ 0.99909413 -0.03818142 -0.01879109 0.52479173] [ 0.03829493 0.99925012 0.00571806 -0.11229737] [ 0.01855868 -0.00643248 0.99980708 -0.17584035] [ 0. 0. 0. 1. ]] SLAMing on 7.711346184 meters Centerline goodness [0,1] 0.7514294243266206 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.11, Z:-0.18 [[ 0.99910733 -0.03758076 -0.01929306 0.52638681] [ 0.03767857 0.99927871 0.00473157 -0.1075864 ] [ 0.01910133 -0.00545428 0.99980268 -0.17550886] [ 0. 0. 0. 1. ]] SLAMing on 7.741346183999999 meters Centerline goodness [0,1] 0.753304677389536 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99910337 -0.03760452 -0.0194516 0.52684904] [ 0.03769028 0.99928122 0.00406076 -0.1048637 ] [ 0.01928491 -0.00479026 0.99980255 -0.17539613] [ 0. 0. 0. 1. ]] SLAMing on 7.7713461839999995 meters Centerline goodness [0,1] 0.7463190254952269 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99910415 -0.03730511 -0.01998066 0.52841129] [ 0.03738659 0.99929395 0.00371972 -0.10224259] [ 0.01982779 -0.0044634 0.99979345 -0.17565796] [ 0. 0. 0. 1. ]] SLAMing on 7.801346184 meters Centerline goodness [0,1] 0.7524609955423477 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99909742 -0.03739827 -0.02014257 0.52893208] [ 0.03747024 0.9992926 0.00320773 -0.09990482] [ 0.02000836 -0.00395958 0.99979197 -0.17575295] [ 0. 0. 0. 1. ]] SLAMing on 7.831346184 meters Centerline goodness [0,1] 0.7477759970269203 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99909452 -0.03723747 -0.0205792 0.53079086] [ 0.03730825 0.9992991 0.00306582 -0.09712898] [ 0.02045061 -0.00383082 0.99978353 -0.17711973] [ 0. 0. 0. 1. ]] SLAMing on 7.861346183999999 meters Centerline goodness [0,1] 0.7484471327207165 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.10, Z:-0.18 [[ 0.99909272 -0.03725761 -0.02063042 0.53137554] [ 0.03732545 0.99929892 0.00291308 -0.09593253] [ 0.02050742 -0.00368048 0.99978293 -0.17777955] [ 0. 0. 0. 1. ]] SLAMing on 7.891346184 meters Centerline goodness [0,1] 0.759281744734507 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.18 [[ 0.99908694 -0.03740908 -0.0206363 0.53150124] [ 0.03746985 0.99929446 0.00256581 -0.09466707] [ 0.02052575 -0.00333671 0.99978376 -0.17787333] [ 0. 0. 0. 1. ]] SLAMing on 7.921346184 meters Centerline goodness [0,1] 0.7652930039036021 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.18 [[ 0.999082 -0.03745351 -0.02079422 0.53189288] [ 0.03750654 0.99929404 0.00216572 -0.09306194] [ 0.02069843 -0.00294365 0.99978143 -0.17775812] [ 0. 0. 0. 1. ]] SLAMing on 7.951346183999999 meters Centerline goodness [0,1] 0.7400093918760272 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.18 [[ 9.99071312e-01 -3.76925219e-02 -2.08755313e-02 5.31482505e-01] [ 3.77152247e-02 9.99288286e-01 6.94755964e-04 -8.82713020e-02] [ 2.08344868e-02 -1.48143610e-03 9.99781841e-01 -1.76151178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9813461839999995 meters Centerline goodness [0,1] 0.7541678440237355 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.18 [[ 0.99919579 -0.03437556 -0.02064222 0.53009793] [ 0.034471 0.99939651 0.00428555 -0.08794529] [ 0.02048244 -0.00499366 0.99977774 -0.17583189] [ 0. 0. 0. 1. ]] SLAMing on 8.011346184 meters Centerline goodness [0,1] 0.7592849909328561 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.09, Z:-0.18 [[ 0.99918773 -0.0343153 -0.02112689 0.53115604] [ 0.03439804 0.99940185 0.00356509 -0.08501257] [ 0.02099192 -0.00428892 0.99977045 -0.17541326] [ 0. 0. 0. 1. ]] SLAMing on 8.041346184 meters Centerline goodness [0,1] 0.7517593161101402 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99917697 -0.03468236 -0.0210359 0.53066825] [ 0.03473918 0.99939367 0.002342 -0.08140588] [ 0.02094192 -0.00307084 0.99977598 -0.17449846] [ 0. 0. 0. 1. ]] SLAMing on 8.071346184000001 meters Centerline goodness [0,1] 0.7644874402762666 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99916999 -0.03490921 -0.02099235 0.53019762] [ 0.03495526 0.9993872 0.00183058 -0.080276 ] [ 0.02091558 -0.00256286 0.99977796 -0.17380228] [ 0. 0. 0. 1. ]] SLAMing on 8.101346184 meters Centerline goodness [0,1] 0.758925615926609 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99917004 -0.03494538 -0.02092946 0.53004949] [ 0.0349879 0.99938634 0.00166897 -0.07970795] [ 0.02085829 -0.00239986 0.99977956 -0.17366351] [ 0. 0. 0. 1. ]] SLAMing on 8.131346184 meters Centerline goodness [0,1] 0.7369389343585631 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99916871 -0.03488432 -0.02109452 0.53048973] [ 0.03492608 0.99938859 0.00161447 -0.07947599] [ 0.0210253 -0.00234988 0.99977618 -0.17366593] [ 0. 0. 0. 1. ]] SLAMing on 8.161346184000001 meters Centerline goodness [0,1] 0.7751339052945916 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99916483 -0.03493041 -0.0212015 0.53072073] [ 0.03496656 0.99938759 0.00133659 -0.07808563] [ 0.02114183 -0.00207682 0.99977433 -0.17356332] [ 0. 0. 0. 1. ]] SLAMing on 8.191346184 meters Centerline goodness [0,1] 0.7696119105758517 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99916153 -0.0348618 -0.02146815 0.53133382] [ 0.03489372 0.99939041 0.00111359 -0.07613559] [ 0.02141625 -0.00186176 0.99976891 -0.17350509] [ 0. 0. 0. 1. ]] SLAMing on 8.221346184 meters Centerline goodness [0,1] 0.7651362200422793 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.07, Z:-0.17 [[ 9.99154359e-01 -3.49268683e-02 -2.16951824e-02 5.31632898e-01] [ 3.49516377e-02 9.99388713e-01 7.63453400e-04 -7.45425803e-02] [ 2.16552554e-02 -1.52108995e-03 9.99764340e-01 -1.73089870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.251346184 meters Centerline goodness [0,1] 0.7525321847784929 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 9.99146255e-01 -3.51071669e-02 -2.17772141e-02 5.31578322e-01] [ 3.51354832e-02 9.99382136e-01 9.18898854e-04 -7.55967868e-02] [ 2.17314988e-02 -1.68326729e-03 9.99762426e-01 -1.72941934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.281346184 meters Centerline goodness [0,1] 0.7462266382777383 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99914484 -0.03522246 -0.02165555 0.53133229] [ 0.03525464 0.99937775 0.00110634 -0.07623039] [ 0.0216031 -0.00186886 0.99976488 -0.17315157] [ 0. 0. 0. 1. ]] SLAMing on 8.311346184000001 meters Centerline goodness [0,1] 0.7437306116649696 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99914283 -0.03535759 -0.02152759 0.53098916] [ 0.03539054 0.9993729 0.00115101 -0.07659149] [ 0.02147339 -0.0019119 0.99976759 -0.17313913] [ 0. 0. 0. 1. ]] SLAMing on 8.341346184 meters Centerline goodness [0,1] 0.7329709288584259 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99914351 -0.03547829 -0.02129629 0.53104507] [ 0.03551925 0.99936779 0.00154822 -0.07764236] [ 0.0212279 -0.00230333 0.99977201 -0.17424849] [ 0. 0. 0. 1. ]] SLAMing on 8.371346184 meters Centerline goodness [0,1] 0.7329709288584259 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.17 [[ 0.99914351 -0.03547829 -0.02129629 0.53104507] [ 0.03551925 0.99936779 0.00154822 -0.07764236] [ 0.0212279 -0.00230333 0.99977201 -0.17424849] [ 0. 0. 0. 1. ]] SLAMing on 8.401346184000001 meters Centerline goodness [0,1] 0.7289370358105871 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.99914956 -0.03528911 -0.02132691 0.53182429] [ 0.0353393 0.99937341 0.00198091 -0.07844341] [ 0.02124364 -0.0027329 0.99977059 -0.17536013] [ 0. 0. 0. 1. ]] SLAMing on 8.431346184 meters Centerline goodness [0,1] 0.7329978398651695 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.99915035 -0.03528485 -0.02129702 0.53211373] [ 0.03533839 0.99937311 0.00214257 -0.07884072] [ 0.02120807 -0.00289335 0.9997709 -0.17593195] [ 0. 0. 0. 1. ]] SLAMing on 8.461346184 meters Centerline goodness [0,1] 0.7276908487434803 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.9991607 -0.03501137 -0.02126282 0.53304893] [ 0.03508239 0.99937999 0.00297595 -0.08095174] [ 0.02114545 -0.0037194 0.99976949 -0.17768285] [ 0. 0. 0. 1. ]] SLAMing on 8.491346184000001 meters Centerline goodness [0,1] 0.7231398123862858 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.99917477 -0.03444497 -0.02152507 0.53458157] [ 0.03453317 0.99939656 0.00373923 -0.08220275] [ 0.02138329 -0.00447948 0.99976132 -0.17903158] [ 0. 0. 0. 1. ]] SLAMing on 8.521346184 meters Centerline goodness [0,1] 0.7346062165160133 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99917392 -0.03436475 -0.02169193 0.53502125] [ 0.03445345 0.99939935 0.00372851 -0.08207583] [ 0.02155078 -0.00447279 0.99975775 -0.17900559] [ 0. 0. 0. 1. ]] SLAMing on 8.551346184 meters Centerline goodness [0,1] 0.7344078651950937 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.99917137 -0.03434531 -0.0218396 0.53485147] [ 0.03442746 0.99940143 0.0033964 -0.08097405] [ 0.02170987 -0.00414547 0.99975572 -0.17796009] [ 0. 0. 0. 1. ]] SLAMing on 8.581346184000001 meters Centerline goodness [0,1] 0.725158662498816 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.08, Z:-0.18 [[ 0.99916782 -0.03435611 -0.0219847 0.53490877] [ 0.03443358 0.99940201 0.00315496 -0.08037347] [ 0.02186316 -0.00390935 0.99975333 -0.17738364] [ 0. 0. 0. 1. ]] SLAMing on 8.611346184 meters Centerline goodness [0,1] 0.7290961988788229 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99916962 -0.03420915 -0.02213175 0.5351316 ] [ 0.03428286 0.99940779 0.0029594 -0.07977827] [ 0.0220174 -0.00371568 0.99975068 -0.17685127] [ 0. 0. 0. 1. ]] SLAMing on 8.641346184000001 meters Centerline goodness [0,1] 0.7514564486335433 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99917667 -0.03404802 -0.02206174 0.53500624] [ 0.03411882 0.99941375 0.00284025 -0.07979607] [ 0.0219521 -0.00359063 0.99975258 -0.17649854] [ 0. 0. 0. 1. ]] SLAMing on 8.671346184 meters Centerline goodness [0,1] 0.7534956348924693 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99918341 -0.03387728 -0.02201897 0.53531185] [ 0.03394951 0.9994193 0.00291475 -0.08018242] [ 0.02190744 -0.0036599 0.9997533 -0.17686702] [ 0. 0. 0. 1. ]] SLAMing on 8.701346184 meters Centerline goodness [0,1] 0.7648753986063541 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.9991847 -0.03371959 -0.02220208 0.53582713] [ 0.03378808 0.99942533 0.002717 -0.07948151] [ 0.02209771 -0.00346495 0.99974981 -0.17671915] [ 0. 0. 0. 1. ]] SLAMing on 8.731346184000001 meters Centerline goodness [0,1] 0.7639682614650735 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99918823 -0.03345297 -0.02244494 0.53654261] [ 0.03351527 0.99943531 0.00240511 -0.07772122] [ 0.02235181 -0.00315541 0.99974519 -0.17656194] [ 0. 0. 0. 1. ]] SLAMing on 8.761346184 meters Centerline goodness [0,1] 0.784382477670639 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.99931792 -0.02924527 -0.02254796 0.53683563] [ 0.02939321 0.99954834 0.00625749 -0.0767045 ] [ 0.02235477 -0.00691597 0.99972618 -0.17695958] [ 0. 0. 0. 1. ]] SLAMing on 8.791346184 meters Centerline goodness [0,1] 0.7837593842060249 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.08, Z:-0.18 [[ 0.9993232 -0.02871302 -0.02299379 0.53858439] [ 0.02886258 0.99956417 0.00619882 -0.07542873] [ 0.02280578 -0.00685829 0.99971639 -0.177593 ] [ 0. 0. 0. 1. ]] SLAMing on 8.821346184000001 meters Centerline goodness [0,1] 0.7992682521204058 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99932836 -0.02824559 -0.02334541 0.54022242] [ 0.02839691 0.99957765 0.00617591 -0.07454292] [ 0.02316111 -0.0068347 0.99970838 -0.1784183 ] [ 0. 0. 0. 1. ]] SLAMing on 8.851346184 meters Centerline goodness [0,1] 0.8019056218219835 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99935043 -0.02701076 -0.02385654 0.54320543] [ 0.0271765 0.99960853 0.00665033 -0.073441 ] [ 0.02366757 -0.00729435 0.99969327 -0.18029616] [ 0. 0. 0. 1. ]] SLAMing on 8.881346184 meters Centerline goodness [0,1] 0.8199119781134768 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99935216 -0.02680306 -0.02401765 0.54411309] [ 0.02696814 0.99961466 0.00657591 -0.07260187] [ 0.02383214 -0.00721936 0.99968991 -0.18082811] [ 0. 0. 0. 1. ]] SLAMing on 8.911346184000001 meters Centerline goodness [0,1] 0.8110052405907575 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99935173 -0.02666956 -0.02418388 0.54474139] [ 0.02683009 0.99961992 0.00633745 -0.07144281] [ 0.02400567 -0.0069822 0.99968744 -0.18087114] [ 0. 0. 0. 1. ]] SLAMing on 8.941346184 meters Centerline goodness [0,1] 0.8215613382899628 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99934597 -0.0267305 -0.02435371 0.5449092 ] [ 0.02687876 0.99962198 0.00578117 -0.0698298 ] [ 0.02418997 -0.00643199 0.99968669 -0.18015863] [ 0. 0. 0. 1. ]] SLAMing on 8.971346184 meters Centerline goodness [0,1] 0.8240129619481046 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99933494 -0.02693878 -0.02457591 0.54441407] [ 0.02706129 0.99962289 0.00466596 -0.06741796] [ 0.02444094 -0.00532791 0.99968708 -0.17786789] [ 0. 0. 0. 1. ]] SLAMing on 9.001346184 meters Centerline goodness [0,1] 0.8243282080758729 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99933332 -0.02713471 -0.02442582 0.54383588] [ 0.02724887 0.9996192 0.00435332 -0.0672071 ] [ 0.0242984 -0.00501599 0.99969217 -0.17728965] [ 0. 0. 0. 1. ]] SLAMing on 9.031346184 meters Centerline goodness [0,1] 0.8226758778954414 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.07, Z:-0.18 [[ 0.99933561 -0.02697847 -0.02450494 0.54440532] [ 0.0270948 0.99962306 0.00442773 -0.06748594] [ 0.02437625 -0.00508875 0.9996899 -0.17761564] [ 0. 0. 0. 1. ]] SLAMing on 9.061346184000001 meters Centerline goodness [0,1] 0.824320122461671 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934399 -0.02651161 -0.02467241 0.54600953] [ 0.0266387 0.99963342 0.00483693 -0.06756676] [ 0.02453513 -0.005491 0.99968389 -0.17914582] [ 0. 0. 0. 1. ]] SLAMing on 9.091346184 meters Centerline goodness [0,1] 0.8227204354988897 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934614 -0.02640553 -0.02469887 0.54668309] [ 0.02653298 0.99963619 0.00484697 -0.06731754] [ 0.02456189 -0.00549914 0.99968319 -0.17978591] [ 0. 0. 0. 1. ]] SLAMing on 9.121346184 meters Centerline goodness [0,1] 0.820874808575804 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934695 -0.02639093 -0.02468185 0.54691855] [ 0.02651653 0.99963697 0.00477536 -0.06685524] [ 0.02454687 -0.00542672 0.99968395 -0.18000494] [ 0. 0. 0. 1. ]] SLAMing on 9.151346184000001 meters Centerline goodness [0,1] 0.8132564703631058 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.9993476 -0.02647938 -0.02456036 0.5469855 ] [ 0.02660413 0.99963468 0.0047665 -0.06667944] [ 0.02442517 -0.0054168 0.99968699 -0.18038735] [ 0. 0. 0. 1. ]] SLAMing on 9.181346184 meters Centerline goodness [0,1] 0.8089022757697457 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934132 -0.02693981 -0.02431401 0.54644379] [ 0.02706516 0.99962195 0.00484124 -0.06869425] [ 0.02417439 -0.00549612 0.99969265 -0.18066717] [ 0. 0. 0. 1. ]] SLAMing on 9.211346184 meters Centerline goodness [0,1] 0.8000047760053491 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934455 -0.02702387 -0.02408704 0.54633177] [ 0.02715312 0.99961851 0.00505479 -0.07016724] [ 0.02394125 -0.00570551 0.99969709 -0.18118579] [ 0. 0. 0. 1. ]] SLAMing on 9.241346184000001 meters Centerline goodness [0,1] 0.8151046015123685 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99934052 -0.0274794 -0.02373611 0.54550687] [ 0.02759818 0.99960809 0.0046912 -0.0702551 ] [ 0.02359789 -0.00534318 0.99970725 -0.18101692] [ 0. 0. 0. 1. ]] SLAMing on 9.271346184 meters Centerline goodness [0,1] 0.8085736815694521 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.9993358 -0.02752811 -0.02387799 0.54583059] [ 0.02763927 0.99960855 0.00433786 -0.06887865] [ 0.02374923 -0.00499495 0.99970547 -0.18073246] [ 0. 0. 0. 1. ]] SLAMing on 9.301346184 meters Centerline goodness [0,1] 0.8146419682174995 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99932796 -0.02770956 -0.02399607 0.5457862 ] [ 0.02780524 0.99960665 0.00366278 -0.06682888] [ 0.02388514 -0.00432753 0.99970534 -0.17987891] [ 0. 0. 0. 1. ]] SLAMing on 9.331346184000001 meters Centerline goodness [0,1] 0.809626747369938 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.9993265 -0.02766921 -0.02410329 0.54614635] [ 0.02775148 0.99961009 0.0030853 -0.06384519] [ 0.02400853 -0.00375213 0.99970471 -0.17943477] [ 0. 0. 0. 1. ]] SLAMing on 9.361346184 meters Centerline goodness [0,1] 0.8133996587604835 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.99933053 -0.02743926 -0.02419856 0.54689891] [ 0.02752664 0.99961567 0.00328522 -0.06388879] [ 0.02409912 -0.00394913 0.99970177 -0.18008223] [ 0. 0. 0. 1. ]] SLAMing on 9.391346184 meters Centerline goodness [0,1] 0.809380854027571 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99933775 -0.02728907 -0.02407001 0.54722358] [ 0.02738439 0.99961835 0.0036394 -0.06512074] [ 0.02396151 -0.00429613 0.99970365 -0.18087992] [ 0. 0. 0. 1. ]] SLAMing on 9.421346184 meters Centerline goodness [0,1] 0.8042046787826544 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99933526 -0.02779512 -0.02358951 0.54620244] [ 0.0278883 0.99960445 0.00363014 -0.0676164 ] [ 0.02347928 -0.0042856 0.99971514 -0.1810467 ] [ 0. 0. 0. 1. ]] SLAMing on 9.451346184 meters Centerline goodness [0,1] 0.8030655011375883 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99933117 -0.02816313 -0.02332509 0.54544656] [ 0.02824985 0.99959512 0.00339669 -0.06741219] [ 0.02321998 -0.00405335 0.99972216 -0.18075491] [ 0. 0. 0. 1. ]] SLAMing on 9.481346184000001 meters Centerline goodness [0,1] 0.8034190077704721 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99932609 -0.02823696 -0.02345282 0.54591753] [ 0.02832454 0.99959296 0.00341056 -0.06695602] [ 0.02334697 -0.00407255 0.99971913 -0.18100752] [ 0. 0. 0. 1. ]] SLAMing on 9.511346184 meters Centerline goodness [0,1] 0.7855259372902483 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99932126 -0.02852112 -0.02331433 0.54572708] [ 0.0286053 0.99958539 0.00328531 -0.06678529] [ 0.02321096 -0.00395 0.99972279 -0.18121019] [ 0. 0. 0. 1. ]] SLAMing on 9.541346184 meters Centerline goodness [0,1] 0.7448552785678434 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99931763 -0.02881175 -0.02311197 0.54567494] [ 0.02889281 0.99957745 0.0031812 -0.06713231] [ 0.02301055 -0.00384679 0.99972782 -0.18168732] [ 0. 0. 0. 1. ]] SLAMing on 9.571346184000001 meters Centerline goodness [0,1] 0.7929886736428725 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99931874 -0.02878488 -0.0230974 0.54592681] [ 0.02886388 0.99957856 0.00309405 -0.0667987 ] [ 0.0229986 -0.00375862 0.99972843 -0.18189943] [ 0. 0. 0. 1. ]] SLAMing on 9.601346184 meters Centerline goodness [0,1] 0.7831991951710262 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.07, Z:-0.18 [[ 0.99931437 -0.02897056 -0.02305442 0.54594489] [ 0.02904038 0.99957459 0.00269932 -0.06566481] [ 0.02296641 -0.00336697 0.99973057 -0.18189844] [ 0. 0. 0. 1. ]] SLAMing on 9.631346184 meters Centerline goodness [0,1] 0.7815860697947354 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.99931824 -0.02872802 -0.02318948 0.54719982] [ 0.02879867 0.99958154 0.00271843 -0.06434248] [ 0.02310168 -0.00338441 0.99972739 -0.18289129] [ 0. 0. 0. 1. ]] SLAMing on 9.661346184000001 meters Centerline goodness [0,1] 0.7797793235787959 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.99931706 -0.0287041 -0.02326986 0.54778098] [ 0.02877138 0.99958274 0.00256163 -0.06339777] [ 0.02318662 -0.00322939 0.99972594 -0.18328421] [ 0. 0. 0. 1. ]] SLAMing on 9.691346184 meters Centerline goodness [0,1] 0.7854465958775765 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.99931844 -0.02859996 -0.02333867 0.54843234] [ 0.02866374 0.99958622 0.00240255 -0.0620429 ] [ 0.0232603 -0.00306988 0.99972473 -0.18374821] [ 0. 0. 0. 1. ]] SLAMing on 9.721346184 meters Centerline goodness [0,1] 0.7802541638586695 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.18 [[ 0.99932451 -0.02817598 -0.02359318 0.55010976] [ 0.02823683 0.99959873 0.00225015 -0.05912479] [ 0.02352031 -0.00291482 0.99971911 -0.18458853] [ 0. 0. 0. 1. ]] SLAMing on 9.751346184 meters Centerline goodness [0,1] 0.7751197323770788 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.19 [[ 0.99932802 -0.02805652 -0.02358676 0.55076765] [ 0.0281177 0.99960205 0.00226599 -0.05820388] [ 0.0235138 -0.00292767 0.99971923 -0.18538943] [ 0. 0. 0. 1. ]] SLAMing on 9.781346184 meters Centerline goodness [0,1] 0.7986914218112461 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.19 [[ 0.99932641 -0.02802921 -0.0236873 0.55143277] [ 0.02808692 0.99960326 0.00210692 -0.05695903] [ 0.02361885 -0.0027708 0.9997172 -0.18588935] [ 0. 0. 0. 1. ]] SLAMing on 9.811346184000001 meters Centerline goodness [0,1] 0.7699512383527254 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.06, Z:-0.19 [[ 0.99932783 -0.02792701 -0.02374814 0.55233083] [ 0.02798662 0.99960592 0.00218157 -0.05615986] [ 0.02367785 -0.00284473 0.99971559 -0.18688489] [ 0. 0. 0. 1. ]] SLAMing on 9.841346184 meters Centerline goodness [0,1] 0.7577349537597443 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 0.99932051 -0.02859594 -0.02325483 0.55141931] [ 0.02864389 0.99958818 0.00173131 -0.05496056] [ 0.02319575 -0.00239624 0.99972807 -0.18719688] [ 0. 0. 0. 1. ]] SLAMing on 9.871346184 meters Centerline goodness [0,1] 0.7822314850717332 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 0.99931523 -0.02878962 -0.02324284 0.55167664] [ 0.02883379 0.99958299 0.00156731 -0.05408679] [ 0.02318802 -0.00223642 0.99972862 -0.18754943] [ 0. 0. 0. 1. ]] SLAMing on 9.901346184000001 meters Centerline goodness [0,1] 0.7697768516948126 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 0.99931156 -0.02893525 -0.02321988 0.55212444] [ 0.02897719 0.99957899 0.00147168 -0.05284879] [ 0.02316752 -0.00214352 0.9997293 -0.18822932] [ 0. 0. 0. 1. ]] SLAMing on 9.931346184 meters Centerline goodness [0,1] 0.7648190072786583 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 0.99930454 -0.0294204 -0.02291039 0.55157111] [ 0.0294519 0.99956566 0.00103854 -0.05118777] [ 0.02286988 -0.00171257 0.99973698 -0.18847282] [ 0. 0. 0. 1. ]] SLAMing on 9.961346184 meters Centerline goodness [0,1] 0.7494494739417665 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 9.99296172e-01 -2.99029579e-02 -2.26489311e-02 5.51903552e-01] [ 2.99280972e-02 9.99551756e-01 7.71731646e-04 -4.90396729e-02] [ 2.26157018e-02 -1.44902789e-03 9.99743182e-01 -1.89920363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.991346184000001 meters Centerline goodness [0,1] 0.7439760514305345 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 9.99296668e-01 -3.00582603e-02 -2.24203235e-02 5.52034157e-01] [ 3.00828433e-02 9.99547120e-01 7.59919308e-04 -4.84916103e-02] [ 2.23873279e-02 -1.43385191e-03 9.99748344e-01 -1.90910044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.021346184 meters Centerline goodness [0,1] 0.7403062727005006 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.05, Z:-0.19 [[ 9.99297163e-01 -3.02809203e-02 -2.20962815e-02 5.51937163e-01] [ 3.03076098e-02 9.99540237e-01 8.73913653e-04 -4.87097164e-02] [ 2.20596595e-02 -1.54298491e-03 9.99755465e-01 -1.91979978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.051346184 meters Centerline goodness [0,1] 0.7335444747244113 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:-0.20 [[ 0.99948793 -0.03087652 -0.00839766 0.55653568] [ 0.0308977 0.99951966 0.00240397 -0.04806463] [ 0.0083194 -0.00266221 0.99996185 -0.20145984] [ 0. 0. 0. 1. ]] SLAMing on 10.081346184000001 meters Centerline goodness [0,1] 0.724477729601892 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.05, Z:-0.20 [[ 0.99948337 -0.03099103 -0.00851738 0.55701707] [ 0.03100919 0.99951708 0.00200822 -0.04591835] [ 0.00845103 -0.0022713 0.99996171 -0.20157134] [ 0. 0. 0. 1. ]] SLAMing on 10.111346184 meters Centerline goodness [0,1] 0.716384738856649 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.20 [[ 0.99948126 -0.03104355 -0.00857333 0.55753659] [ 0.03105919 0.99951611 0.00169711 -0.04377617] [ 0.00851649 -0.00196251 0.99996181 -0.20187244] [ 0. 0. 0. 1. ]] SLAMing on 10.141346184 meters Centerline goodness [0,1] 0.7167724657805992 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.20 [[ 0.99947629 -0.03118413 -0.00864298 0.55775633] [ 0.03119567 0.99951257 0.00120344 -0.04170918] [ 0.00860124 -0.00147243 0.99996192 -0.20168391] [ 0. 0. 0. 1. ]] SLAMing on 10.171346184 meters Centerline goodness [0,1] 0.7245629762438368 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.20 [[ 9.99471212e-01 -3.13578009e-02 -8.60141577e-03 5.58123055e-01] [ 3.13638348e-02 9.99507873e-01 5.67477545e-04 -3.86797651e-02] [ 8.57938793e-03 -8.36950853e-04 9.99962846e-01 -2.01927340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.201346184 meters Centerline goodness [0,1] 0.7183953812462671 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.20 [[ 9.99479101e-01 -3.10725073e-02 -8.71923354e-03 5.59308691e-01] [ 3.10819161e-02 9.99516393e-01 9.45629925e-04 -3.84646805e-02] [ 8.68563377e-03 -1.21614783e-03 9.99961540e-01 -2.03218747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.231346184000001 meters Centerline goodness [0,1] 0.7271753481304337 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.20 [[ 0.99948291 -0.0309464 -0.00873096 0.55994647] [ 0.03095648 0.99952021 0.00102072 -0.03774759] [ 0.00869518 -0.00129047 0.99996136 -0.20406813] [ 0. 0. 0. 1. ]] SLAMing on 10.261346184 meters Centerline goodness [0,1] 0.7085255467172031 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.21 [[ 0.99949294 -0.03056816 -0.00891399 0.56157369] [ 0.03057933 0.99953172 0.00111963 -0.03569384] [ 0.0088756 -0.00139165 0.99995964 -0.20553342] [ 0. 0. 0. 1. ]] SLAMing on 10.291346184 meters Centerline goodness [0,1] 0.7085255467172031 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.04, Z:-0.21 [[ 0.99949294 -0.03056816 -0.00891399 0.56157369] [ 0.03057933 0.99953172 0.00111963 -0.03569384] [ 0.0088756 -0.00139165 0.99995964 -0.20553342] [ 0. 0. 0. 1. ]] SLAMing on 10.321346184000001 meters Centerline goodness [0,1] 0.7290806754221388 Centerline is valid? [False, False] Translation: X:0.56, Y:-0.03, Z:-0.21 [[ 0.99950063 -0.0301959 -0.00931139 0.56328969] [ 0.03020798 0.99954296 0.00116004 -0.03401122] [ 0.0092721 -0.00144074 0.99995598 -0.20649035] [ 0. 0. 0. 1. ]] SLAMing on 10.351346184 meters Centerline goodness [0,1] 0.716240258601248 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99951702 -0.02947172 -0.00985586 0.5658544 ] [ 0.02948904 0.9995638 0.00161634 -0.03296855] [ 0.00980393 -0.0019062 0.99995012 -0.20814944] [ 0. 0. 0. 1. ]] SLAMing on 10.381346184 meters Centerline goodness [0,1] 0.7410099079615753 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99954208 -0.02846227 -0.01027296 0.56851291] [ 0.02848556 0.99959194 0.00212854 -0.03180431] [ 0.01020818 -0.00242019 0.99994497 -0.20995726] [ 0. 0. 0. 1. ]] SLAMing on 10.411346184000001 meters Centerline goodness [0,1] 0.7393238657785597 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99955194 -0.02804815 -0.01045115 0.56988192] [ 0.02807354 0.99960324 0.00229052 -0.03106904] [ 0.01038276 -0.0025829 0.99994276 -0.21102434] [ 0. 0. 0. 1. ]] SLAMing on 10.441346184 meters Centerline goodness [0,1] 0.7498107876280338 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99956104 -0.02757933 -0.0108218 0.57158741] [ 0.02760623 0.99961613 0.00234409 -0.02990485] [ 0.010753 -0.00264181 0.9999387 -0.21190542] [ 0. 0. 0. 1. ]] SLAMing on 10.471346184 meters Centerline goodness [0,1] 0.7547379592661849 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99957487 -0.02687584 -0.01130352 0.57372056] [ 0.02690714 0.99963449 0.00262638 -0.02857503] [ 0.0112288 -0.00292941 0.99993266 -0.21298414] [ 0. 0. 0. 1. ]] SLAMing on 10.501346184 meters Centerline goodness [0,1] 0.7445209132234554 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99967391 -0.02302333 -0.01104562 0.57313988] [ 0.02309627 0.99971197 0.00652169 -0.02781156] [ 0.01089229 -0.00677468 0.99991773 -0.21339519] [ 0. 0. 0. 1. ]] SLAMing on 10.531346184 meters Centerline goodness [0,1] 0.7715142581202663 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99967601 -0.02280733 -0.01130017 0.57399565] [ 0.022877 0.99971983 0.00607496 -0.02641005] [ 0.01115845 -0.00633151 0.9999177 -0.21311998] [ 0. 0. 0. 1. ]] SLAMing on 10.561346184 meters Centerline goodness [0,1] 0.7819501018329938 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.03, Z:-0.21 [[ 0.99967623 -0.02273957 -0.0114167 0.57449727] [ 0.02280552 0.99972379 0.00567989 -0.02501549] [ 0.01128439 -0.00593841 0.9999187 -0.21305284] [ 0. 0. 0. 1. ]] SLAMing on 10.591346184 meters Centerline goodness [0,1] 0.7855124124761299 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.21 [[ 0.9996755 -0.0226837 -0.0115903 0.57498937] [ 0.02274602 0.99972737 0.00527345 -0.02365541] [ 0.01146752 -0.00553537 0.99991892 -0.21278848] [ 0. 0. 0. 1. ]] SLAMing on 10.621346184 meters Centerline goodness [0,1] 0.7693585908939847 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.21 [[ 0.99967592 -0.02268577 -0.0115506 0.57497253] [ 0.02273548 0.99973273 0.00419089 -0.0197683 ] [ 0.01145244 -0.00445214 0.99992451 -0.21173085] [ 0. 0. 0. 1. ]] SLAMing on 10.651346184000001 meters Centerline goodness [0,1] 0.7857142857142857 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.21 [[ 0.99967394 -0.0227298 -0.0116349 0.57523642] [ 0.0227754 0.99973338 0.00380192 -0.01845099] [ 0.01154539 -0.00406567 0.99992508 -0.21153342] [ 0. 0. 0. 1. ]] SLAMing on 10.681346184 meters Centerline goodness [0,1] 0.7935013976867643 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.21 [[ 0.99967391 -0.02270223 -0.01169134 0.5756877 ] [ 0.02274643 0.99973456 0.0036621 -0.01790958] [ 0.0116051 -0.00392684 0.99992495 -0.21179613] [ 0. 0. 0. 1. ]] SLAMing on 10.711346184 meters Centerline goodness [0,1] 0.7894251696325695 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.21 [[ 0.99967506 -0.02259531 -0.01179963 0.57643349] [ 0.02263794 0.99973763 0.00349182 -0.01699951] [ 0.01171763 -0.0037578 0.99992429 -0.21207775] [ 0. 0. 0. 1. ]] SLAMing on 10.741346184000001 meters Centerline goodness [0,1] 0.7901392914860323 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.02, Z:-0.21 [[ 0.99967214 -0.02274518 -0.0117588 0.57646705] [ 0.02278576 0.99973483 0.00332914 -0.01615078] [ 0.01167996 -0.00359598 0.99992532 -0.21225893] [ 0. 0. 0. 1. ]] SLAMing on 10.771346184 meters Centerline goodness [0,1] 0.7780803617305518 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99966128 -0.02335534 -0.01148303 0.57528023] [ 0.02338411 0.99972373 0.00237739 -0.01364352] [ 0.01142434 -0.00264511 0.99993124 -0.21102009] [ 0. 0. 0. 1. ]] SLAMing on 10.801346184 meters Centerline goodness [0,1] 0.7870603985376654 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99965626 -0.02356018 -0.0115009 0.57514943] [ 0.02358406 0.99971996 0.00194576 -0.01208001] [ 0.01145183 -0.00221633 0.99993197 -0.21056622] [ 0. 0. 0. 1. ]] SLAMing on 10.831346184000001 meters Centerline goodness [0,1] 0.7723602324744123 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.9996579 -0.02336578 -0.01175224 0.57617031] [ 0.02339098 0.99972437 0.00201196 -0.0113047 ] [ 0.01170199 -0.00228616 0.99992892 -0.21107665] [ 0. 0. 0. 1. ]] SLAMing on 10.861346184 meters Centerline goodness [0,1] 0.772258064516129 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99965902 -0.02336783 -0.01165267 0.57648733] [ 0.02339318 0.99972425 0.00204423 -0.01116772] [ 0.01160168 -0.00231613 0.99993002 -0.21187221] [ 0. 0. 0. 1. ]] SLAMing on 10.891346184 meters Centerline goodness [0,1] 0.7696933718769358 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99965988 -0.02336909 -0.01157636 0.57668886] [ 0.02339454 0.99972417 0.0020686 -0.0107179 ] [ 0.01152482 -0.00233872 0.99993085 -0.21235087] [ 0. 0. 0. 1. ]] SLAMing on 10.921346184 meters Centerline goodness [0,1] 0.768412608043062 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99965278 -0.02369778 -0.01152103 0.57628683] [ 0.02371599 0.99971769 0.00144677 -0.00923717] [ 0.01148349 -0.0017195 0.99993258 -0.21168856] [ 0. 0. 0. 1. ]] SLAMing on 10.951346184 meters Centerline goodness [0,1] 0.7593034103866487 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.9996503 -0.02382775 -0.01146802 0.57617843] [ 0.02384411 0.99971485 0.00129204 -0.0083598 ] [ 0.01143397 -0.00156503 0.99993341 -0.21163714] [ 0. 0. 0. 1. ]] SLAMing on 10.981346184000001 meters Centerline goodness [0,1] 0.7667176205404564 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99964873 -0.02387917 -0.01149766 0.57651442] [ 0.02389388 0.99971385 0.00114428 -0.00723091] [ 0.01146705 -0.0014186 0.99993324 -0.2117986 ] [ 0. 0. 0. 1. ]] SLAMing on 11.011346184 meters Centerline goodness [0,1] 0.7677691948779097 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99964829 -0.02388626 -0.01152098 0.57674452] [ 0.02389991 0.99971381 0.00104834 -0.00658175] [ 0.01149264 -0.00132332 0.99993308 -0.21197834] [ 0. 0. 0. 1. ]] SLAMing on 11.041346184 meters Centerline goodness [0,1] 0.7607934655775963 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99964891 -0.02377348 -0.01169923 0.57741635] [ 0.02378788 0.99971643 0.00109379 -0.00617287] [ 0.01166991 -0.0013717 0.99993096 -0.21229037] [ 0. 0. 0. 1. ]] SLAMing on 11.071346184000001 meters Centerline goodness [0,1] 0.7579304451407411 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99965082 -0.02360988 -0.01186666 0.5781994 ] [ 0.02362544 0.99972019 0.0011726 -0.00556019] [ 0.01183566 -0.00145254 0.9999289 -0.21276645] [ 0. 0. 0. 1. ]] SLAMing on 11.101346184 meters Centerline goodness [0,1] 0.7545312905738769 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.21 [[ 9.99650695e-01 -2.36468626e-02 -1.18031254e-02 5.78167682e-01] [ 2.36566922e-02 9.99719901e-01 6.93852231e-04 -3.28618848e-03] [ 1.17834119e-02 -9.72832768e-04 9.99930100e-01 -2.12358840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.131346184 meters Centerline goodness [0,1] 0.7578856964397251 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.21 [[ 9.99650678e-01 -2.35064533e-02 -1.20817290e-02 5.78921247e-01] [ 2.35162576e-02 9.99723230e-01 6.70055411e-04 -2.76984467e-03] [ 1.20626345e-02 -9.53938399e-04 9.99926789e-01 -2.12408405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.161346184000001 meters Centerline goodness [0,1] 0.7443016236469608 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.21 [[ 0.99965577 -0.0232564 -0.01214459 0.57965457] [ 0.02327056 0.99972868 0.00102587 -0.00330729] [ 0.01211744 -0.00130813 0.99992573 -0.21324022] [ 0. 0. 0. 1. ]] SLAMing on 11.191346184 meters Centerline goodness [0,1] 0.75208051596796 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.00, Z:-0.21 [[ 0.99965852 -0.0231834 -0.0120575 0.57984135] [ 0.0232018 0.99972984 0.00138827 -0.00423681] [ 0.01202205 -0.00166755 0.99992634 -0.21396224] [ 0. 0. 0. 1. ]] SLAMing on 11.221346184 meters Centerline goodness [0,1] 0.7497013762659049 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.21 [[ 0.99966237 -0.02289059 -0.01229518 0.58090894] [ 0.02291745 0.99973526 0.00204835 -0.00524396] [ 0.01224504 -0.00232943 0.99992231 -0.21494695] [ 0. 0. 0. 1. ]] SLAMing on 11.251346184 meters Centerline goodness [0,1] 0.7522931025548012 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.22 [[ 0.99966815 -0.02233875 -0.01282878 0.58291449] [ 0.02237578 0.99974585 0.00275032 -0.00588807] [ 0.01276408 -0.00303646 0.99991393 -0.2161976 ] [ 0. 0. 0. 1. ]] SLAMing on 11.281346184 meters Centerline goodness [0,1] 0.7659469687151707 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.22 [[ 0.99967613 -0.02175196 -0.0132095 0.58448722] [ 0.0217993 0.99975641 0.00345061 -0.00712881] [ 0.01313123 -0.00373745 0.9999068 -0.21719003] [ 0. 0. 0. 1. ]] SLAMing on 11.311346184 meters Centerline goodness [0,1] 0.7611327617563004 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99967672 -0.02151308 -0.01355134 0.58543238] [ 0.02156385 0.99976095 0.00361176 -0.00721298] [ 0.0134704 -0.00390281 0.99990165 -0.21737749] [ 0. 0. 0. 1. ]] SLAMing on 11.341346184 meters Centerline goodness [0,1] 0.7761232748780741 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99967985 -0.02104601 -0.01404539 0.58701845] [ 0.02110197 0.99976992 0.00384832 -0.00687333] [ 0.01396116 -0.00414347 0.99989395 -0.21782513] [ 0. 0. 0. 1. ]] SLAMing on 11.371346184 meters Centerline goodness [0,1] 0.7861558441558442 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99968267 -0.02070479 -0.01434827 0.58817273] [ 0.02076474 0.99977622 0.00404131 -0.00676137] [ 0.01426139 -0.00433796 0.99988889 -0.21831558] [ 0. 0. 0. 1. ]] SLAMing on 11.401346184000001 meters Centerline goodness [0,1] 0.7793558401241754 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99969118 -0.02005846 -0.01466977 0.5898751 ] [ 0.0201315 0.99978559 0.00484795 -0.0087477 ] [ 0.01456939 -0.00514177 0.99988064 -0.21971166] [ 0. 0. 0. 1. ]] SLAMing on 11.431346184 meters Centerline goodness [0,1] 0.7793942839423226 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99969363 -0.0196874 -0.01500188 0.59112668] [ 0.01976658 0.99979137 0.00514778 -0.00947286] [ 0.0148974 -0.00544273 0.99987421 -0.22020848] [ 0. 0. 0. 1. ]] SLAMing on 11.461346184 meters Centerline goodness [0,1] 0.7805408202872299 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99969008 -0.01963659 -0.01530182 0.59167708] [ 0.01971486 0.99979323 0.00498143 -0.00916068] [ 0.01520084 -0.00528156 0.99987051 -0.2198521 ] [ 0. 0. 0. 1. ]] SLAMing on 11.491346184000001 meters Centerline goodness [0,1] 0.7835369009419315 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99968601 -0.01949647 -0.01574052 0.59252835] [ 0.01957136 0.9997978 0.00461796 -0.00834469] [ 0.0156473 -0.00492458 0.99986545 -0.21916134] [ 0. 0. 0. 1. ]] SLAMing on 11.521346184 meters Centerline goodness [0,1] 0.7829302987197724 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.22 [[ 0.99968406 -0.01924935 -0.01616312 0.59348712] [ 0.01931688 0.99980528 0.00403211 -0.00675841] [ 0.01608236 -0.00434306 0.99986124 -0.2182156 ] [ 0. 0. 0. 1. ]] SLAMing on 11.551346184 meters Centerline goodness [0,1] 0.797006887266325 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99968763 -0.01851514 -0.01678768 0.59572543] [ 0.0185924 0.99981721 0.00445809 -0.00707272] [ 0.01670207 -0.00476882 0.99984914 -0.21899037] [ 0. 0. 0. 1. ]] SLAMing on 11.581346184000001 meters Centerline goodness [0,1] 0.8048205261111832 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99968777 -0.01818715 -0.01713464 0.59700233] [ 0.01826759 0.99982278 0.00454952 -0.00681695] [ 0.01704886 -0.00486111 0.99984284 -0.21946196] [ 0. 0. 0. 1. ]] SLAMing on 11.611346184 meters Centerline goodness [0,1] 0.8077211103938025 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99969228 -0.01733179 -0.01774682 0.59967618] [ 0.01743018 0.99983348 0.00540457 -0.00773031] [ 0.01765019 -0.00571224 0.99982791 -0.22114307] [ 0. 0. 0. 1. ]] SLAMing on 11.641346184 meters Centerline goodness [0,1] 0.804256199415613 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99969279 -0.01715761 -0.01788694 0.60048569] [ 0.01726427 0.99983399 0.00582564 -0.00863828] [ 0.01778402 -0.00613266 0.99982304 -0.22199107] [ 0. 0. 0. 1. ]] SLAMing on 11.671346184 meters Centerline goodness [0,1] 0.813588264210499 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99969227 -0.01712633 -0.01794596 0.60089745] [ 0.01723754 0.99983305 0.00606116 -0.00926008] [ 0.01783916 -0.00636864 0.99982059 -0.22248591] [ 0. 0. 0. 1. ]] SLAMing on 11.701346184 meters Centerline goodness [0,1] 0.8039449469946347 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99968332 -0.01766963 -0.01791752 0.60032994] [ 0.01777888 0.9998242 0.00595615 -0.00958509] [ 0.01780913 -0.00627282 0.99982173 -0.22226189] [ 0. 0. 0. 1. ]] SLAMing on 11.731346184000001 meters Centerline goodness [0,1] 0.7948751065533541 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99968084 -0.01769614 -0.01802933 0.60077521] [ 0.01780918 0.99982262 0.00612849 -0.01071671] [ 0.01791768 -0.00644763 0.99981868 -0.22256138] [ 0. 0. 0. 1. ]] SLAMing on 11.761346184 meters Centerline goodness [0,1] 0.7999587064805017 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99968086 -0.0176186 -0.01810406 0.60123731] [ 0.01773938 0.9998213 0.00653247 -0.01252294] [ 0.01798573 -0.00685154 0.99981477 -0.22310512] [ 0. 0. 0. 1. ]] SLAMing on 11.791346184 meters Centerline goodness [0,1] 0.793141707090515 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99967933 -0.01776373 -0.01804683 0.60117887] [ 0.01788473 0.9998185 0.00656597 -0.01350006] [ 0.01792692 -0.00688663 0.99981558 -0.22325813] [ 0. 0. 0. 1. ]] SLAMing on 11.821346184000001 meters Centerline goodness [0,1] 0.7910775105790071 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99967426 -0.01795807 -0.01813503 0.60111727] [ 0.01807025 0.99981847 0.00604101 -0.01296894] [ 0.01802326 -0.00636674 0.9998173 -0.22248932] [ 0. 0. 0. 1. ]] SLAMing on 11.851346184 meters Centerline goodness [0,1] 0.8070678127984718 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99966995 -0.01784351 -0.01848261 0.60175389] [ 0.01794924 0.99982338 0.00557086 -0.01177379] [ 0.01837994 -0.00590077 0.99981366 -0.22170044] [ 0. 0. 0. 1. ]] SLAMing on 11.881346184 meters Centerline goodness [0,1] 0.8012443205287072 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.22 [[ 0.99966427 -0.01747921 -0.01912637 0.60319661] [ 0.01758106 0.99983207 0.00517016 -0.01062795] [ 0.01903278 -0.00550469 0.99980371 -0.22092907] [ 0. 0. 0. 1. ]] SLAMing on 11.911346184000001 meters Centerline goodness [0,1] 0.816936648782501 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965982 -0.01658256 -0.02013103 0.60549588] [ 0.01666583 0.99985321 0.00397559 -0.00709817] [ 0.02006215 -0.00430973 0.99978945 -0.21860802] [ 0. 0. 0. 1. ]] SLAMing on 11.941346184 meters Centerline goodness [0,1] 0.8192074351361818 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965838 -0.01615032 -0.02054963 0.60663628] [ 0.01623578 0.99986019 0.00399889 -0.00683315] [ 0.02048218 -0.00433116 0.99978084 -0.21836831] [ 0. 0. 0. 1. ]] SLAMing on 11.971346184 meters Centerline goodness [0,1] 0.8225137231657346 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965427 -0.01573056 -0.0210687 0.60799374] [ 0.01581815 0.9998669 0.00399715 -0.00716884] [ 0.02100302 -0.00432904 0.99977004 -0.2180302 ] [ 0. 0. 0. 1. ]] SLAMing on 12.001346184 meters Centerline goodness [0,1] 0.8252337170671405 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965235 -0.01564882 -0.02122033 0.60826818] [ 0.01573761 0.99986806 0.00402339 -0.00780637] [ 0.02115457 -0.00435595 0.99976673 -0.21772305] [ 0. 0. 0. 1. ]] SLAMing on 12.031346184 meters Centerline goodness [0,1] 0.8203408127072249 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965318 -0.01555304 -0.02125161 0.6086223 ] [ 0.01565615 0.99986642 0.00469418 -0.01037329] [ 0.02117577 -0.00502527 0.99976314 -0.21851789] [ 0. 0. 0. 1. ]] SLAMing on 12.061346184 meters Centerline goodness [0,1] 0.812363729639605 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965464 -0.01539752 -0.02129577 0.60917162] [ 0.01551353 0.99986565 0.00529327 -0.01234165] [ 0.02121141 -0.00562182 0.99975921 -0.21936952] [ 0. 0. 0. 1. ]] SLAMing on 12.091346184 meters Centerline goodness [0,1] 0.8019809582309583 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.22 [[ 0.99965421 -0.01524914 -0.02142248 0.60985182] [ 0.01537737 0.99986474 0.00583373 -0.01431265] [ 0.02133062 -0.00616113 0.99975349 -0.22010485] [ 0. 0. 0. 1. ]] SLAMing on 12.121346184 meters Centerline goodness [0,1] 0.7996323060031152 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99965425 -0.01524143 -0.02142594 0.61007361] [ 0.01537914 0.99986203 0.00627715 -0.01631366] [ 0.02132731 -0.00660449 0.99975073 -0.22062674] [ 0. 0. 0. 1. ]] SLAMing on 12.151346184000001 meters Centerline goodness [0,1] 0.791590354090354 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.9995827 -0.01877807 -0.02194998 0.61176413] [ 0.01883899 0.99981922 0.00257207 -0.01729597] [ 0.02189771 -0.00298451 0.99975576 -0.22054571] [ 0. 0. 0. 1. ]] SLAMing on 12.181346184 meters Centerline goodness [0,1] 0.7907797815595632 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99958141 -0.01896523 -0.0218479 0.61128266] [ 0.01903079 0.99981499 0.00279669 -0.01908841] [ 0.02179082 -0.0032113 0.99975739 -0.22036461] [ 0. 0. 0. 1. ]] SLAMing on 12.211346184 meters Centerline goodness [0,1] 0.7907797815595632 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99958141 -0.01896523 -0.0218479 0.61128266] [ 0.01903079 0.99981499 0.00279669 -0.01908841] [ 0.02179082 -0.0032113 0.99975739 -0.22036461] [ 0. 0. 0. 1. ]] SLAMing on 12.241346184000001 meters Centerline goodness [0,1] 0.7873197678838406 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99958083 -0.01896856 -0.02187157 0.61123228] [ 0.01904312 0.99981352 0.00320567 -0.02096298] [ 0.02180668 -0.00362083 0.99975565 -0.22041783] [ 0. 0. 0. 1. ]] SLAMing on 12.271346184 meters Centerline goodness [0,1] 0.7902276344710846 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99957745 -0.01944924 -0.02160184 0.60956867] [ 0.01952443 0.99980402 0.00327507 -0.0239 ] [ 0.02153391 -0.00369544 0.99976129 -0.21915894] [ 0. 0. 0. 1. ]] SLAMing on 12.301346184 meters Centerline goodness [0,1] 0.7888463283100651 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.02, Z:-0.22 [[ 0.99957599 -0.01932848 -0.02177712 0.60974724] [ 0.01940709 0.99980587 0.00340439 -0.02489926] [ 0.02170709 -0.00382558 0.99975705 -0.21867911] [ 0. 0. 0. 1. ]] SLAMing on 12.331346184000001 meters Centerline goodness [0,1] 0.7917410209364868 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.9995748 -0.01905006 -0.0220754 0.61037527] [ 0.01913416 0.99981043 0.00360478 -0.02603061] [ 0.02200255 -0.00402564 0.99974981 -0.21831687] [ 0. 0. 0. 1. ]] SLAMing on 12.361346184 meters Centerline goodness [0,1] 0.7975276316120748 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.99957655 -0.01870085 -0.02229329 0.61130021] [ 0.01879875 0.99981451 0.00419007 -0.02758273] [ 0.02221079 -0.00460738 0.99974269 -0.21899933] [ 0. 0. 0. 1. ]] SLAMing on 12.391346184 meters Centerline goodness [0,1] 0.7937841031959567 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.9995827 -0.01814083 -0.02247974 0.61254046] [ 0.01826371 0.9998193 0.00527265 -0.03062492] [ 0.02238003 -0.00568101 0.99973339 -0.22044932] [ 0. 0. 0. 1. ]] SLAMing on 12.421346184 meters Centerline goodness [0,1] 0.7965129443731602 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.99958298 -0.01785689 -0.02269363 0.6133145 ] [ 0.01798931 0.99982225 0.00564447 -0.0317063 ] [ 0.0225888 -0.00605036 0.99972653 -0.22082241] [ 0. 0. 0. 1. ]] SLAMing on 12.451346184 meters Centerline goodness [0,1] 0.7943426615663378 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.99958175 -0.01763343 -0.02292151 0.61406721] [ 0.0177729 0.99982467 0.00589528 -0.0326282 ] [ 0.02281353 -0.00630019 0.99971989 -0.22108823] [ 0. 0. 0. 1. ]] SLAMing on 12.481346184000001 meters Centerline goodness [0,1] 0.7930921960892593 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.03, Z:-0.22 [[ 0.99958484 -0.01726183 -0.02306895 0.6148842 ] [ 0.01741542 0.99982738 0.00647336 -0.03460211] [ 0.02295323 -0.00687243 0.99971292 -0.22173255] [ 0. 0. 0. 1. ]] SLAMing on 12.511346184 meters Centerline goodness [0,1] 0.799969844700206 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.04, Z:-0.22 [[ 0.9995864 -0.01705886 -0.02315234 0.61489413] [ 0.01722186 0.99982817 0.00685912 -0.03686119] [ 0.02303135 -0.007255 0.99970842 -0.22141083] [ 0. 0. 0. 1. ]] SLAMing on 12.541346184 meters Centerline goodness [0,1] 0.7931855192283602 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.999576 -0.01699896 -0.0236402 0.61552815] [ 0.01715902 0.99983109 0.00658467 -0.03669782] [ 0.02352427 -0.00698753 0.99969885 -0.2204459 ] [ 0. 0. 0. 1. ]] SLAMing on 12.571346184000001 meters Centerline goodness [0,1] 0.7923580950468205 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99957107 -0.01690628 -0.02391366 0.61608757] [ 0.01706776 0.99983278 0.00656469 -0.0364813 ] [ 0.02379868 -0.00697003 0.99969247 -0.22021814] [ 0. 0. 0. 1. ]] SLAMing on 12.601346184 meters Centerline goodness [0,1] 0.7886070873640418 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99956869 -0.01661645 -0.02421426 0.61695732] [ 0.0167936 0.99983355 0.00713113 -0.03837429] [ 0.02409174 -0.0075347 0.99968136 -0.22059615] [ 0. 0. 0. 1. ]] SLAMing on 12.631346184 meters Centerline goodness [0,1] 0.7891767759972044 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99956874 -0.0162155 -0.02448238 0.61792878] [ 0.01640988 0.99983524 0.00775936 -0.04077214] [ 0.02435252 -0.00815777 0.99967015 -0.22111237] [ 0. 0. 0. 1. ]] SLAMing on 12.661346184000001 meters Centerline goodness [0,1] 0.7891044776119402 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99957141 -0.01562884 -0.02475333 0.6192794 ] [ 0.01584842 0.99983656 0.00869982 -0.04371064] [ 0.02461331 -0.00908839 0.99965573 -0.22224201] [ 0. 0. 0. 1. ]] SLAMing on 12.691346184 meters Centerline goodness [0,1] 0.792685053691108 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.22 [[ 0.99957296 -0.01527658 -0.02491048 0.62003394] [ 0.01550948 0.99983755 0.00918309 -0.04566597] [ 0.02476615 -0.00956551 0.99964751 -0.22271608] [ 0. 0. 0. 1. ]] SLAMing on 12.721346184 meters Centerline goodness [0,1] 0.8051169845098087 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.05, Z:-0.22 [[ 0.99957322 -0.01446338 -0.02538103 0.62124561] [ 0.01469818 0.99985067 0.00908871 -0.04505163] [ 0.02524578 -0.00945788 0.99963653 -0.22186 ] [ 0. 0. 0. 1. ]] SLAMing on 12.751346184 meters Centerline goodness [0,1] 0.8404297652208516 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99956061 -0.01402542 -0.02611274 0.62262029] [ 0.01425458 0.99986132 0.00861039 -0.04336051] [ 0.02598835 -0.00897883 0.99962192 -0.22071282] [ 0. 0. 0. 1. ]] SLAMing on 12.781346184 meters Centerline goodness [0,1] 0.821988484833379 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.04, Z:-0.22 [[ 0.99955126 -0.01345902 -0.02676076 0.62412165] [ 0.01368657 0.99987157 0.00833795 -0.04226809] [ 0.0266451 -0.00870047 0.99960709 -0.22000428] [ 0. 0. 0. 1. ]] SLAMing on 12.811346184 meters Centerline goodness [0,1] 0.8719299990056677 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99954774 -0.01212215 -0.02752035 0.62624045] [ 0.01235496 0.99988918 0.00830538 -0.04153322] [ 0.02741662 -0.00864164 0.99958674 -0.21901576] [ 0. 0. 0. 1. ]] SLAMing on 12.841346184 meters Centerline goodness [0,1] 0.8587705550165435 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99953843 -0.01190374 -0.02795051 0.62695286] [ 0.01212831 0.99989541 0.0078789 -0.04067161] [ 0.0278538 -0.00821426 0.99957826 -0.21805528] [ 0. 0. 0. 1. ]] SLAMing on 12.871346184 meters Centerline goodness [0,1] 0.878202895666451 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99952695 -0.01181539 -0.02839508 0.62755278] [ 0.0120307 0.99990007 0.00742389 -0.03977179] [ 0.02830452 -0.00776199 0.99956921 -0.21699862] [ 0. 0. 0. 1. ]] SLAMing on 12.901346184000001 meters Centerline goodness [0,1] 0.8834528433422966 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99952084 -0.01188045 -0.02858239 0.62753927] [ 0.01208674 0.99990206 0.00705554 -0.03938992] [ 0.02849577 -0.00739762 0.99956654 -0.21609291] [ 0. 0. 0. 1. ]] SLAMing on 12.931346184 meters Centerline goodness [0,1] 0.8709982103797972 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99951244 -0.01181096 -0.02890313 0.62855944] [ 0.01202918 0.99990036 0.00738776 -0.04012383] [ 0.02881299 -0.00773184 0.99955492 -0.21677204] [ 0. 0. 0. 1. ]] SLAMing on 12.961346184 meters Centerline goodness [0,1] 0.8695296219112831 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.9994427 -0.01479494 -0.02992319 0.6321682 ] [ 0.01491465 0.99988162 0.0037815 -0.03891539] [ 0.0298637 -0.00422569 0.99954505 -0.21764111] [ 0. 0. 0. 1. ]] SLAMing on 12.991346184000001 meters Centerline goodness [0,1] 0.8710013390864455 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99944684 -0.01482214 -0.02977105 0.6321014 ] [ 0.01496076 0.99987823 0.00443892 -0.04182424] [ 0.02970163 -0.00488186 0.99954689 -0.21844072] [ 0. 0. 0. 1. ]] SLAMing on 13.021346184 meters Centerline goodness [0,1] 0.856433687330205 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 9.99379982e-01 -1.89255838e-02 -2.96896346e-02 6.32234895e-01] [ 1.89626931e-02 9.99819723e-01 9.68821239e-04 -4.47106900e-02] [ 2.96659467e-02 -1.53121598e-03 9.99558696e-01 -2.18866478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.051346184 meters Centerline goodness [0,1] 0.8492515597642475 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.99928443 -0.02245602 -0.03043615 0.63437963] [ 0.02237164 0.99974489 -0.00311007 -0.04303845] [ 0.03049822 0.00242693 0.99953187 -0.21859019] [ 0. 0. 0. 1. ]] SLAMing on 13.081346184000001 meters Centerline goodness [0,1] 0.8459033380208719 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.04, Z:-0.22 [[ 0.9992779 -0.02255078 -0.03058019 0.63445889] [ 0.02246885 0.99974298 -0.00302046 -0.04316236] [ 0.03064044 0.00233118 0.99952775 -0.21831766] [ 0. 0. 0. 1. ]] SLAMing on 13.111346184 meters Centerline goodness [0,1] 0.8351960131251079 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.04, Z:-0.22 [[ 0.99927428 -0.02237034 -0.03082986 0.63508865] [ 0.02229839 0.99974778 -0.00267561 -0.04368002] [ 0.03088194 0.00198622 0.99952107 -0.21846985] [ 0. 0. 0. 1. ]] SLAMing on 13.141346184 meters Centerline goodness [0,1] 0.835362547444176 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 0.99927749 -0.02206117 -0.03094824 0.63535902] [ 0.02200739 0.99975565 -0.00207746 -0.0457334 ] [ 0.03098651 0.00139487 0.99951883 -0.21859418] [ 0. 0. 0. 1. ]] SLAMing on 13.171346184 meters Centerline goodness [0,1] 0.8374904774776989 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99282015e-01 -2.13840373e-02 -3.12758298e-02 6.36865941e-01] [ 2.13597184e-02 9.99771237e-01 -1.11149670e-03 -4.80254760e-02] [ 3.12924433e-02 4.42655743e-04 9.99510174e-01 -2.19715181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.201346184 meters Centerline goodness [0,1] 0.8465504542106556 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99289477e-01 -2.08493067e-02 -3.13982124e-02 6.37839534e-01] [ 2.08527764e-02 9.99782534e-01 -2.16973458e-04 -5.04145330e-02] [ 3.13959081e-02 -4.37920611e-04 9.99506931e-01 -2.20744844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.231346184 meters Centerline goodness [0,1] 0.8438359528487229 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99294558e-01 -2.05525145e-02 -3.14321474e-02 6.38301293e-01] [ 2.05730007e-02 9.99788299e-01 3.28456875e-04 -5.17198392e-02] [ 3.14187426e-02 -9.74878757e-04 9.99505834e-01 -2.21386338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.261346184 meters Centerline goodness [0,1] 0.8510319041645142 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99293476e-01 -2.01417620e-02 -3.17310235e-02 6.38887610e-01] [ 2.01575049e-02 9.99796801e-01 1.76291291e-04 -5.01680058e-02] [ 3.17210250e-02 -8.15784998e-04 9.99496429e-01 -2.20647737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.291346184 meters Centerline goodness [0,1] 0.8617139197477646 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99282689e-01 -1.97461449e-02 -3.23140498e-02 6.40179055e-01] [ 1.97584882e-02 9.99804780e-01 6.26730184e-05 -4.87772772e-02] [ 3.23065039e-02 -7.01104836e-04 9.99477763e-01 -2.20196471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.321346184000001 meters Centerline goodness [0,1] 0.8658796966647851 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 9.99275484e-01 -1.89790744e-02 -3.29894161e-02 6.42188953e-01] [ 1.90036541e-02 9.99819321e-01 4.31666708e-04 -4.86849600e-02] [ 3.29752630e-02 -1.05827341e-03 9.99455608e-01 -2.20424054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.351346184 meters Centerline goodness [0,1] 0.8771045418950666 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 0.99928636 -0.01785128 -0.03328807 0.64372851] [ 0.0179079 0.99983866 0.00140352 -0.05110833] [ 0.03325764 -0.00199864 0.99944481 -0.22117488] [ 0. 0. 0. 1. ]] SLAMing on 13.381346184 meters Centerline goodness [0,1] 0.8816072300928187 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.05, Z:-0.22 [[ 0.99928952 -0.01734664 -0.03345973 0.64464861] [ 0.01741834 0.99984657 0.00185262 -0.05201001] [ 0.03342246 -0.00243412 0.99943835 -0.22168834] [ 0. 0. 0. 1. ]] SLAMing on 13.411346184000001 meters Centerline goodness [0,1] 0.8839591277989636 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.22 [[ 0.99928555 -0.01681642 -0.03384662 0.64569198] [ 0.01689761 0.99985499 0.00211386 -0.05229535] [ 0.03380616 -0.00268427 0.9994248 -0.22159036] [ 0. 0. 0. 1. ]] SLAMing on 13.441346184 meters Centerline goodness [0,1] 0.892132692166866 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.22 [[ 0.99927876 -0.0162227 -0.03433351 0.64705877] [ 0.0163084 0.99986455 0.00221739 -0.05230355] [ 0.03429289 -0.00277572 0.99940797 -0.22138337] [ 0. 0. 0. 1. ]] SLAMing on 13.471346184 meters Centerline goodness [0,1] 0.8992161525954329 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.05, Z:-0.22 [[ 0.99927512 -0.01496918 -0.03500237 0.6489826 ] [ 0.01507627 0.99988243 0.00279739 -0.05423002] [ 0.03495638 -0.00332307 0.99938331 -0.22101816] [ 0. 0. 0. 1. ]] SLAMing on 13.501346184 meters Centerline goodness [0,1] 0.9045114057841022 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.22 [[ 0.99927519 -0.0143203 -0.03527078 0.65012116] [ 0.01445042 0.99988968 0.00343705 -0.05587274] [ 0.03521767 -0.00394424 0.99937188 -0.22154625] [ 0. 0. 0. 1. ]] SLAMing on 13.531346184 meters Centerline goodness [0,1] 0.9083869718821082 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.22 [[ 0.99927355 -0.01377657 -0.03553278 0.65123694] [ 0.01393026 0.99989464 0.00408125 -0.05744299] [ 0.03547281 -0.00457327 0.99936018 -0.2221689 ] [ 0. 0. 0. 1. ]] SLAMing on 13.561346184 meters Centerline goodness [0,1] 0.9145152314355537 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.22 [[ 0.99926923 -0.01323943 -0.03585697 0.6524152 ] [ 0.01341697 0.99989887 0.00471504 -0.05889575] [ 0.03579092 -0.00519269 0.99934581 -0.22269504] [ 0. 0. 0. 1. ]] SLAMing on 13.591346184 meters Centerline goodness [0,1] 0.9232098291418699 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.06, Z:-0.22 [[ 0.99927046 -0.01233931 -0.03614258 0.6535412 ] [ 0.01256524 0.99990287 0.00603054 -0.06352235] [ 0.03606465 -0.00648028 0.99932845 -0.22329118] [ 0. 0. 0. 1. ]] SLAMing on 13.621346184 meters Centerline goodness [0,1] 0.9246959103534145 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.22 [[ 0.99927091 -0.01205494 -0.03622599 0.65366455] [ 0.0123023 0.99990246 0.00661311 -0.06606438] [ 0.03614274 -0.00705395 0.99932174 -0.22321321] [ 0. 0. 0. 1. ]] SLAMing on 13.651346184000001 meters Centerline goodness [0,1] 0.9296282155299957 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.22 [[ 0.99926623 -0.01179298 -0.03644087 0.65383289] [ 0.01205565 0.99990285 0.0069968 -0.06808284] [ 0.03635482 -0.00743099 0.99931132 -0.22265966] [ 0. 0. 0. 1. ]] SLAMing on 13.681346184 meters Centerline goodness [0,1] 0.933719632382626 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.22 [[ 0.99926144 -0.01160371 -0.03663224 0.65327489] [ 0.01188767 0.99990089 0.00754336 -0.0717976 ] [ 0.03654108 -0.00797327 0.99930034 -0.22132143] [ 0. 0. 0. 1. ]] SLAMing on 13.711346184 meters Centerline goodness [0,1] 0.9362897893643147 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.07, Z:-0.22 [[ 0.99925783 -0.01140498 -0.03679297 0.65330757] [ 0.01170582 0.99989971 0.00797154 -0.0742974 ] [ 0.03669836 -0.00839631 0.99929111 -0.22085141] [ 0. 0. 0. 1. ]] SLAMing on 13.741346184000001 meters Centerline goodness [0,1] 0.9362747413670934 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.22 [[ 0.99926122 -0.01119449 -0.03676549 0.65326381] [ 0.01151653 0.99989705 0.00855927 -0.07708716] [ 0.03666588 -0.00897636 0.99928726 -0.22091124] [ 0. 0. 0. 1. ]] SLAMing on 13.771346184 meters Centerline goodness [0,1] 0.9362479377798727 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.08, Z:-0.22 [[ 0.99925804 -0.010844 -0.03695653 0.65392389] [ 0.01119487 0.99989408 0.00930048 -0.08010476] [ 0.03685176 -0.00970731 0.99927359 -0.22132326] [ 0. 0. 0. 1. ]] SLAMing on 13.801346184 meters Centerline goodness [0,1] 0.9385728039072957 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.08, Z:-0.22 [[ 0.99918554 -0.01344394 -0.03804612 0.6577483 ] [ 0.01368092 0.99988856 0.00597551 -0.08016522] [ 0.03796155 -0.00649115 0.99925812 -0.22210889] [ 0. 0. 0. 1. ]] SLAMing on 13.831346184000001 meters Centerline goodness [0,1] 0.942389241618443 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.22 [[ 0.99918458 -0.0126595 -0.03833932 0.65906997] [ 0.01295545 0.99988809 0.00748063 -0.08526812] [ 0.03824032 -0.00797124 0.99923678 -0.22326715] [ 0. 0. 0. 1. ]] SLAMing on 13.861346184 meters Centerline goodness [0,1] 0.9432547929850781 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.22 [[ 0.99917734 -0.01215376 -0.03869011 0.6603294 ] [ 0.01247762 0.99988902 0.0081402 -0.08707487] [ 0.03858688 -0.00861626 0.9992181 -0.22384993] [ 0. 0. 0. 1. ]] SLAMing on 13.891346184 meters Centerline goodness [0,1] 0.9449998834743294 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.22 [[ 0.9991719 -0.01185012 -0.03892402 0.66098913] [ 0.01219577 0.99988817 0.00865492 -0.08877869] [ 0.03881711 -0.00912246 0.99920469 -0.22405865] [ 0. 0. 0. 1. ]] SLAMing on 13.921346184 meters Centerline goodness [0,1] 0.9401613991023047 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.22 [[ 0.99909581 -0.01458205 -0.03993655 0.66428048] [ 0.01479919 0.99987724 0.00514674 -0.08838195] [ 0.0398566 -0.00573312 0.99918896 -0.22430289] [ 0. 0. 0. 1. ]] SLAMing on 13.951346184 meters Centerline goodness [0,1] 0.9442629029641475 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.09, Z:-0.22 [[ 0.99909926 -0.01483024 -0.03975834 0.66282877] [ 0.01506779 0.99987033 0.00568172 -0.09451406] [ 0.03966893 -0.00627567 0.99919317 -0.22304117] [ 0. 0. 0. 1. ]] SLAMing on 13.981346184 meters Centerline goodness [0,1] 0.945929680809203 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.22 [[ 0.99910106 -0.01505309 -0.03962936 0.66192724] [ 0.01530169 0.99986506 0.00597736 -0.09737677] [ 0.03953404 -0.00657839 0.99919657 -0.22238007] [ 0. 0. 0. 1. ]] SLAMing on 14.011346184 meters Centerline goodness [0,1] 0.9424847156534779 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.10, Z:-0.22 [[ 0.99901146 -0.01856517 -0.040391 0.66361749] [ 0.01866626 0.99982351 0.00212694 -0.09735199] [ 0.04034439 -0.00287879 0.99918169 -0.22163892] [ 0. 0. 0. 1. ]] SLAMing on 14.041346184 meters Centerline goodness [0,1] 0.9389007654644508 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.10, Z:-0.22 [[ 9.98915062e-01 -2.20980619e-02 -4.09923811e-02 6.65208695e-01] [ 2.20514365e-02 9.99755574e-01 -1.58928274e-03 -9.72089437e-02] [ 4.10174816e-02 6.83617575e-04 9.99158195e-01 -2.21313090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.071346184000001 meters Centerline goodness [0,1] 0.933391240742434 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.10, Z:-0.23 [[ 0.99898562 -0.02775837 -0.03545713 0.67917102] [ 0.02789693 0.99960496 0.00341908 -0.10487997] [ 0.03534821 -0.00440476 0.99936535 -0.22520063] [ 0. 0. 0. 1. ]] SLAMing on 14.101346184 meters Centerline goodness [0,1] 0.9311497782326851 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.22 [[ 9.98868508e-01 -3.14395499e-02 -3.56827576e-02 6.79965294e-01] [ 3.14578291e-02 9.99505079e-01 -4.91816588e-05 -1.06879710e-01] [ 3.56666437e-02 -1.07337608e-03 9.99363166e-01 -2.24930251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.131346184 meters Centerline goodness [0,1] 0.9311497782326851 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.22 [[ 9.98868508e-01 -3.14395499e-02 -3.56827576e-02 6.79965294e-01] [ 3.14578291e-02 9.99505079e-01 -4.91816588e-05 -1.06879710e-01] [ 3.56666437e-02 -1.07337608e-03 9.99363166e-01 -2.24930251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.161346184000001 meters Centerline goodness [0,1] 0.9246617257088461 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.11, Z:-0.22 [[ 9.98839205e-01 -3.27904690e-02 -3.52849410e-02 6.78887348e-01] [ 3.27803946e-02 9.99462205e-01 -8.64141513e-04 -1.11189250e-01] [ 3.52943006e-02 -2.93515867e-04 9.99376919e-01 -2.24422681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.191346184 meters Centerline goodness [0,1] 0.9140644403802298 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.12, Z:-0.22 [[ 0.99871025 -0.03656363 -0.0352269 0.67915868] [ 0.03646805 0.9993292 -0.00335236 -0.11682435] [ 0.03532584 0.00206338 0.99937372 -0.22491011] [ 0. 0. 0. 1. ]] SLAMing on 14.221346184 meters Centerline goodness [0,1] 0.9081857908726405 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.23 [[ 0.99878427 -0.03929003 -0.02977032 0.69374771] [ 0.0394428 0.99921142 0.00456186 -0.12158768] [ 0.02956761 -0.00573054 0.99954636 -0.23044209] [ 0. 0. 0. 1. ]] SLAMing on 14.251346184 meters Centerline goodness [0,1] 0.8983240975478428 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.12, Z:-0.23 [[ 0.99878445 -0.03917607 -0.02991427 0.6941353 ] [ 0.03935316 0.99921102 0.00535413 -0.12422719] [ 0.02968091 -0.00652484 0.99953813 -0.23076907] [ 0. 0. 0. 1. ]] SLAMing on 14.281346184 meters Centerline goodness [0,1] 0.8898580622014933 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.23 [[ 0.99877658 -0.03940423 -0.02987731 0.69375046] [ 0.03959227 0.9991995 0.00572804 -0.12634454] [ 0.02962768 -0.00690394 0.99953716 -0.23055276] [ 0. 0. 0. 1. ]] SLAMing on 14.311346184 meters Centerline goodness [0,1] 0.8702075429591609 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.23 [[ 0.99861315 -0.04320806 -0.03008064 0.69456989] [ 0.04330482 0.99905859 0.00257267 -0.12922285] [ 0.02994116 -0.00387173 0.99954416 -0.23058412] [ 0. 0. 0. 1. ]] SLAMing on 14.341346184 meters Centerline goodness [0,1] 0.8594764678315592 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.13, Z:-0.23 [[ 0.9985994 -0.04367774 -0.02985794 0.69383547] [ 0.04378498 0.99903663 0.00294718 -0.13283753] [ 0.02970045 -0.00425038 0.99954981 -0.23050423] [ 0. 0. 0. 1. ]] SLAMing on 14.371346184 meters Centerline goodness [0,1] 0.8488946221253503 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.14, Z:-0.23 [[ 0.99857074 -0.04445312 -0.02967134 0.69287866] [ 0.04456312 0.9990019 0.00305589 -0.13646489] [ 0.02950588 -0.00437377 0.99955504 -0.23014393] [ 0. 0. 0. 1. ]] SLAMing on 14.401346184 meters Centerline goodness [0,1] 0.8187656398786456 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.23 [[ 0.9984096 -0.05129591 -0.02338793 0.7049337 ] [ 0.05147638 0.9986484 0.0071806 -0.14057401] [ 0.02298798 -0.00837311 0.99970068 -0.23377867] [ 0. 0. 0. 1. ]] SLAMing on 14.431346184 meters Centerline goodness [0,1] 0.8324287353278617 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.23 [[ 0.99837684 -0.05188008 -0.02349783 0.70433773] [ 0.05206032 0.99861853 0.00712439 -0.14160847] [ 0.02309576 -0.00833613 0.9996985 -0.2328815 ] [ 0. 0. 0. 1. ]] SLAMing on 14.461346184 meters Centerline goodness [0,1] 0.7920903456338091 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.14, Z:-0.23 [[ 0.99834268 -0.05265155 -0.02323175 0.70281424] [ 0.0528262 0.99857941 0.00696856 -0.14306358] [ 0.02283184 -0.00818425 0.99970582 -0.23181785] [ 0. 0. 0. 1. ]] SLAMing on 14.491346184000001 meters Centerline goodness [0,1] 0.7853092385428388 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99829852 -0.05363843 -0.02286904 0.7010792 ] [ 0.05380453 0.99852894 0.00670992 -0.14545537] [ 0.02247549 -0.00792896 0.99971595 -0.23077432] [ 0. 0. 0. 1. ]] SLAMing on 14.521346184 meters Centerline goodness [0,1] 0.7851866508376204 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99807684 -0.05769513 -0.02266942 0.70117565] [ 0.05778459 0.99832359 0.00331063 -0.14823517] [ 0.02244041 -0.00461421 0.99973753 -0.23088515] [ 0. 0. 0. 1. ]] SLAMing on 14.551346184 meters Centerline goodness [0,1] 0.76311462831839 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99809219 -0.0573725 -0.02281156 0.70205134] [ 0.0574818 0.99833787 0.00416421 -0.15061177] [ 0.02253473 -0.00546751 0.99973111 -0.23176123] [ 0. 0. 0. 1. ]] SLAMing on 14.581346184000001 meters Centerline goodness [0,1] 0.7855166051660516 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99809711 -0.05729686 -0.02278647 0.70221447] [ 0.05741277 0.99834054 0.00446514 -0.15177826] [ 0.02249282 -0.00576488 0.99973038 -0.23209088] [ 0. 0. 0. 1. ]] SLAMing on 14.611346184 meters Centerline goodness [0,1] 0.7781575948812341 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99813768 -0.05635505 -0.0233514 0.70416939] [ 0.05648306 0.99839174 0.0048584 -0.15088456] [ 0.02304005 -0.00616831 0.99971551 -0.23275218] [ 0. 0. 0. 1. ]] SLAMing on 14.641346184 meters Centerline goodness [0,1] 0.7721299226441631 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.15, Z:-0.23 [[ 0.99834705 -0.05246161 -0.02347246 0.70377956] [ 0.05268309 0.99857146 0.00891847 -0.15140544] [ 0.02297105 -0.01014033 0.9996847 -0.23270551] [ 0. 0. 0. 1. ]] SLAMing on 14.671346184 meters Centerline goodness [0,1] 0.8016641718763758 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.99836676 -0.05184354 -0.02400128 0.70545593] [ 0.05206977 0.9986038 0.00889851 -0.14984142] [ 0.02350644 -0.01013372 0.99967232 -0.23318654] [ 0. 0. 0. 1. ]] SLAMing on 14.701346184 meters Centerline goodness [0,1] 0.8131471119531215 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.99838653 -0.05126948 -0.02440844 0.70697938] [ 0.05150435 0.99863138 0.00909232 -0.14939719] [ 0.02390887 -0.01033479 0.99966072 -0.23387691] [ 0. 0. 0. 1. ]] SLAMing on 14.731346184 meters Centerline goodness [0,1] 0.8163736771468174 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.9984148 -0.05045444 -0.02494467 0.70863755] [ 0.05069871 0.99867108 0.00925859 -0.14892319] [ 0.02444439 -0.01050858 0.99964596 -0.23414557] [ 0. 0. 0. 1. ]] SLAMing on 14.761346184 meters Centerline goodness [0,1] 0.8167459688078245 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.99841313 -0.05042831 -0.02506412 0.70878843] [ 0.05067045 0.99867378 0.009121 -0.14854748] [ 0.02457092 -0.01037653 0.99964424 -0.23390537] [ 0. 0. 0. 1. ]] SLAMing on 14.791346184 meters Centerline goodness [0,1] 0.8168046503434913 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.99840595 -0.05053797 -0.02512912 0.7088966 ] [ 0.05077884 0.998669 0.0090411 -0.14870223] [ 0.02463876 -0.01030271 0.99964333 -0.23383733] [ 0. 0. 0. 1. ]] SLAMing on 14.821346184000001 meters Centerline goodness [0,1] 0.8113624315250044 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.23 [[ 0.9983984 -0.05066002 -0.02518309 0.70895197] [ 0.05090413 0.99866164 0.00914816 -0.14945656] [ 0.02468594 -0.01041543 0.999641 -0.23385228] [ 0. 0. 0. 1. ]] SLAMing on 14.851346184 meters Centerline goodness [0,1] 0.7943478546841771 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.24 [[ 0.99820941 -0.05400066 -0.02572758 0.7117123 ] [ 0.0541783 0.99851167 0.00625792 -0.15154754] [ 0.02535136 -0.00764059 0.9996494 -0.23547252] [ 0. 0. 0. 1. ]] SLAMing on 14.881346184 meters Centerline goodness [0,1] 0.8106827009589853 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.24 [[ 0.99819643 -0.05428226 -0.02563848 0.71172442] [ 0.05446905 0.99849336 0.00664374 -0.15422001] [ 0.02523922 -0.00802826 0.9996492 -0.23597523] [ 0. 0. 0. 1. ]] SLAMing on 14.911346184000001 meters Centerline goodness [0,1] 0.7840642858706838 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.24 [[ 0.99818777 -0.05440909 -0.0257067 0.71218792] [ 0.05460994 0.99848198 0.00717622 -0.15639 ] [ 0.02527723 -0.00856706 0.99964377 -0.23664661] [ 0. 0. 0. 1. ]] SLAMing on 14.941346184 meters Centerline goodness [0,1] 0.7735650803379888 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.24 [[ 0.99817742 -0.05460722 -0.0256882 0.71226861] [ 0.05481425 0.99846896 0.00742468 -0.1573654 ] [ 0.02524343 -0.00881922 0.99964243 -0.236961 ] [ 0. 0. 0. 1. ]] SLAMing on 14.971346184 meters Centerline goodness [0,1] 0.7752216263543833 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.24 [[ 0.99814172 -0.05527619 -0.02564466 0.71149245] [ 0.05547908 0.99843339 0.00726832 -0.15784345] [ 0.02520272 -0.00867755 0.9996447 -0.23624646] [ 0. 0. 0. 1. ]] SLAMing on 15.001346184 meters Centerline goodness [0,1] 0.7876763503713796 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.24 [[ 0.99811955 -0.05572922 -0.02552693 0.71050754] [ 0.05591826 0.99841252 0.00675188 -0.15769032] [ 0.02511013 -0.0081666 0.99965133 -0.23509449] [ 0. 0. 0. 1. ]] SLAMing on 15.031346184 meters Centerline goodness [0,1] 0.770443478830491 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.23 [[ 0.99794139 -0.05861166 -0.02603192 0.71266806] [ 0.05870305 0.99827167 0.00275994 -0.15530989] [ 0.02582516 -0.00428241 0.9996573 -0.23493651] [ 0. 0. 0. 1. ]] SLAMing on 15.061346184 meters Centerline goodness [0,1] 0.773018991486575 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.16, Z:-0.24 [[ 0.99795516 -0.05833723 -0.02612011 0.713063 ] [ 0.05843195 0.99828725 0.00287702 -0.15503774] [ 0.02590753 -0.00439739 0.99965467 -0.23505148] [ 0. 0. 0. 1. ]] SLAMing on 15.091346184 meters Centerline goodness [0,1] 0.7577337656647095 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.15, Z:-0.24 [[ 0.99795475 -0.05824613 -0.02633811 0.71362585] [ 0.05833418 0.99829376 0.00258668 -0.1536085 ] [ 0.02614251 -0.0041178 0.99964975 -0.23500987] [ 0. 0. 0. 1. ]] SLAMing on 15.121346184 meters Centerline goodness [0,1] 0.79721243682034 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.23 [[ 0.99796531 -0.05776754 -0.02698411 0.71524137] [ 0.0578454 0.99832332 0.00211323 -0.14977895] [ 0.02681679 -0.00366984 0.99963363 -0.23486783] [ 0. 0. 0. 1. ]] SLAMing on 15.151346184 meters Centerline goodness [0,1] 0.7600508014364544 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.24 [[ 0.99796887 -0.05762334 -0.02716052 0.71592613] [ 0.05769685 0.99833228 0.00192992 -0.14816579] [ 0.02700402 -0.00349307 0.99962922 -0.23513871] [ 0. 0. 0. 1. ]] SLAMing on 15.181346184 meters Centerline goodness [0,1] 0.8011460940587538 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.24 [[ 0.99796207 -0.05773049 -0.02718252 0.71608749] [ 0.05779673 0.998327 0.00165677 -0.14720068] [ 0.0270414 -0.00322445 0.99962911 -0.23523913] [ 0. 0. 0. 1. ]] SLAMing on 15.211346184 meters Centerline goodness [0,1] 0.794263929361758 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.24 [[ 0.99797561 -0.05734439 -0.02750109 0.71791303] [ 0.05742064 0.99834809 0.00199008 -0.14701794] [ 0.02734154 -0.00356518 0.99961979 -0.23677678] [ 0. 0. 0. 1. ]] SLAMing on 15.241346184000001 meters Centerline goodness [0,1] 0.79664951275594 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.15, Z:-0.24 [[ 0.99797931 -0.05714513 -0.02777986 0.71897046] [ 0.05722164 0.99835956 0.00196638 -0.1461912 ] [ 0.02762192 -0.00355202 0.99961213 -0.23727523] [ 0. 0. 0. 1. ]] SLAMing on 15.271346184 meters Centerline goodness [0,1] 0.7930111067211028 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99797096 -0.05727676 -0.02780881 0.71898127] [ 0.05734154 0.99835344 0.00153723 -0.14428079] [ 0.02767498 -0.00312872 0.99961208 -0.23711003] [ 0. 0. 0. 1. ]] SLAMing on 15.301346184 meters Centerline goodness [0,1] 0.7880092236740969 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99795818 -0.05741014 -0.02799207 0.71928894] [ 0.05746246 0.9983471 0.00106731 -0.14222013] [ 0.02788453 -0.00267363 0.99960758 -0.23687121] [ 0. 0. 0. 1. ]] SLAMing on 15.331346184000001 meters Centerline goodness [0,1] 0.7767221426209633 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97924969e-01 -5.80793893e-02 -2.77946308e-02 7.17949745e-01] [ 5.80990798e-02 9.98310817e-01 -9.93059018e-05 -1.38777581e-01] [ 2.77534482e-02 -1.51574264e-03 9.99613650e-01 -2.35436754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.361346184 meters Centerline goodness [0,1] 0.7786077874000132 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97927183e-01 -5.79839609e-02 -2.79141124e-02 7.18413466e-01] [ 5.80072394e-02 9.98316162e-01 2.42079560e-05 -1.38735893e-01] [ 2.78657059e-02 -1.64337838e-03 9.99610325e-01 -2.35643823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.391346184 meters Centerline goodness [0,1] 0.7729326305532178 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97920429e-01 -5.81908655e-02 -2.77243811e-02 7.17834727e-01] [ 5.82096118e-02 9.98304374e-01 -1.31104541e-04 -1.38819102e-01] [ 2.76850000e-02 -1.48299356e-03 9.99615597e-01 -2.35365992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.421346184 meters Centerline goodness [0,1] 0.7725053571034086 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99771061 -0.06156093 -0.02799625 0.71950948] [ 0.06146443 0.99810003 -0.0042953 -0.13580672] [ 0.02820748 0.00256469 0.9995988 -0.23548829] [ 0. 0. 0. 1. ]] SLAMing on 15.451346184 meters Centerline goodness [0,1] 0.7692511890277625 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97907362e-01 -5.82449847e-02 -2.80787865e-02 7.19003934e-01] [ 5.82611562e-02 9.98301347e-01 -2.42530865e-04 -1.37612684e-01] [ 2.80452166e-02 -1.39387923e-03 9.99605684e-01 -2.35782856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.481346184 meters Centerline goodness [0,1] 0.7696569453062672 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97916886e-01 -5.80383475e-02 -2.81680523e-02 7.19592319e-01] [ 5.80583570e-02 9.98313185e-01 -1.07663638e-04 -1.37164991e-01] [ 2.81267867e-02 -1.52795148e-03 9.99603196e-01 -2.36248669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.511346184 meters Centerline goodness [0,1] 0.7692989846140204 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 9.97917617e-01 -5.78662406e-02 -2.84943449e-02 7.20465936e-01] [ 5.78862686e-02 9.98323177e-01 -1.22196783e-04 -1.36237379e-01] [ 2.84536360e-02 -1.52748898e-03 9.99593946e-01 -2.36406939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.541346184 meters Centerline goodness [0,1] 0.7524495100979804 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99809911 -0.0545115 -0.02875165 0.72040423] [ 0.0546414 0.998499 0.00375149 -0.13645425] [ 0.02850399 -0.00531539 0.99957955 -0.23691721] [ 0. 0. 0. 1. ]] SLAMing on 15.571346184000001 meters Centerline goodness [0,1] 0.7594697390956204 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99808984 -0.05463168 -0.02884533 0.72060238] [ 0.05475683 0.99849335 0.00356604 -0.13571249] [ 0.02860705 -0.0051387 0.99957753 -0.2368589 ] [ 0. 0. 0. 1. ]] SLAMing on 15.601346184 meters Centerline goodness [0,1] 0.7737968152299617 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.99809375 -0.05457319 -0.02882066 0.72107031] [ 0.05470371 0.99849555 0.00375933 -0.13608664] [ 0.02857214 -0.00532876 0.99957753 -0.23757109] [ 0. 0. 0. 1. ]] SLAMing on 15.631346184 meters Centerline goodness [0,1] 0.7622130272290444 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.9980797 -0.0547908 -0.02889414 0.72212056] [ 0.05493048 0.99848192 0.00406233 -0.13673562] [ 0.0286277 -0.00564169 0.99957422 -0.23918578] [ 0. 0. 0. 1. ]] SLAMing on 15.661346184000001 meters Centerline goodness [0,1] 0.7631203777955984 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.14, Z:-0.24 [[ 0.9980729 -0.05484468 -0.02902675 0.72268874] [ 0.05498272 0.99847938 0.00397848 -0.13585427] [ 0.02876441 -0.00556679 0.99957072 -0.23954732] [ 0. 0. 0. 1. ]] SLAMing on 15.691346184 meters Centerline goodness [0,1] 0.7312530668688941 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.24 [[ 0.99806626 -0.05495338 -0.02904922 0.72280196] [ 0.05508493 0.99847464 0.00374726 -0.13489672] [ 0.02879898 -0.00534019 0.99957096 -0.23954396] [ 0. 0. 0. 1. ]] SLAMing on 15.721346184 meters Centerline goodness [0,1] 0.7496537860174224 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.24 [[ 0.99805578 -0.05511991 -0.02909391 0.72282772] [ 0.05524446 0.99846674 0.0034941 -0.1343718 ] [ 0.0288567 -0.00509458 0.99957058 -0.23936153] [ 0. 0. 0. 1. ]] SLAMing on 15.751346184 meters Centerline goodness [0,1] 0.766532618409294 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.24 [[ 0.99806566 -0.05483521 -0.02929228 0.72414596] [ 0.05497079 0.99848057 0.00384275 -0.13458131] [ 0.02903705 -0.00544554 0.9995635 -0.24059074] [ 0. 0. 0. 1. ]] SLAMing on 15.781346184 meters Centerline goodness [0,1] 0.743620164756447 Centerline is valid? [False, False] Translation: X:0.72, Y:-0.13, Z:-0.24 [[ 0.99806549 -0.05479923 -0.0293653 0.72453696] [ 0.05493446 0.99848266 0.0038176 -0.13461544] [ 0.02911154 -0.00542338 0.99956146 -0.24083217] [ 0. 0. 0. 1. ]] SLAMing on 15.811346184 meters Centerline goodness [0,1] 0.7566404246303441 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.9980711 -0.05450147 -0.0297265 0.725609 ] [ 0.05464112 0.99849842 0.00390519 -0.13464305] [ 0.02946903 -0.00552195 0.99955044 -0.24101825] [ 0. 0. 0. 1. ]] SLAMing on 15.841346184 meters Centerline goodness [0,1] 0.7694011815252417 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99806757 -0.05451403 -0.02982178 0.72573825] [ 0.054645 0.99849938 0.00359367 -0.13364118] [ 0.02958112 -0.00521634 0.99954877 -0.24071462] [ 0. 0. 0. 1. ]] SLAMing on 15.871346184 meters Centerline goodness [0,1] 0.7716572504708098 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99808802 -0.05392707 -0.03020234 0.7269934 ] [ 0.05405581 0.99853192 0.00346171 -0.13023863] [ 0.02997132 -0.0050877 0.99953781 -0.24083897] [ 0. 0. 0. 1. ]] SLAMing on 15.901346184 meters Centerline goodness [0,1] 0.7524625844234523 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99810018 -0.05349665 -0.03056363 0.7282815 ] [ 0.05362876 0.99855474 0.00351862 -0.1287034 ] [ 0.03033123 -0.00515102 0.99952663 -0.24136649] [ 0. 0. 0. 1. ]] SLAMing on 15.931346184 meters Centerline goodness [0,1] 0.7537043282743114 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99811208 -0.05315247 -0.03077479 0.72909156] [ 0.05328461 0.99857327 0.00348932 -0.12758935] [ 0.03054542 -0.00512256 0.99952025 -0.24158524] [ 0. 0. 0. 1. ]] SLAMing on 15.961346184 meters Centerline goodness [0,1] 0.778223444048853 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99811048 -0.05312013 -0.03088246 0.72926778] [ 0.05324438 0.99857634 0.00321436 -0.12681726] [ 0.03066775 -0.0048526 0.99951785 -0.24129219] [ 0. 0. 0. 1. ]] SLAMing on 15.991346184000001 meters Centerline goodness [0,1] 0.78681377946563 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99811886 -0.05282226 -0.03112153 0.73016636] [ 0.05295023 0.99859169 0.00330165 -0.12656412] [ 0.0309033 -0.00494333 0.99951015 -0.241578 ] [ 0. 0. 0. 1. ]] SLAMing on 16.021346184 meters Centerline goodness [0,1] 0.78681377946563 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99811886 -0.05282226 -0.03112153 0.73016636] [ 0.05295023 0.99859169 0.00330165 -0.12656412] [ 0.0309033 -0.00494333 0.99951015 -0.241578 ] [ 0. 0. 0. 1. ]] SLAMing on 16.051346184 meters Centerline goodness [0,1] 0.77136559913638 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.13, Z:-0.24 [[ 0.99811414 -0.05292875 -0.03109191 0.73003717] [ 0.05304749 0.99858747 0.00300617 -0.12539623] [ 0.03088888 -0.00464985 0.99951201 -0.24133385] [ 0. 0. 0. 1. ]] SLAMing on 16.081346183999997 meters Centerline goodness [0,1] 0.7812521104882826 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 0.99809215 -0.05330624 -0.03115293 0.72987042] [ 0.05340627 0.99857001 0.00238719 -0.12366983] [ 0.03098113 -0.0040464 0.99951178 -0.24076749] [ 0. 0. 0. 1. ]] SLAMing on 16.111346184 meters Centerline goodness [0,1] 0.7810558655431812 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 0.99808749 -0.05341436 -0.03111708 0.72993456] [ 0.05351075 0.99856469 0.00227286 -0.12368354] [ 0.03095102 -0.00393361 0.99951316 -0.24090293] [ 0. 0. 0. 1. ]] SLAMing on 16.141346184 meters Centerline goodness [0,1] 0.7726924980873948 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 9.97895758e-01 -5.66894612e-02 -3.14699895e-02 7.32032849e-01] [ 5.66650137e-02 9.98391852e-01 -1.66887246e-03 -1.21091857e-01] [ 3.15139886e-02 -1.17886638e-04 9.99503304e-01 -2.41447282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.171346183999997 meters Centerline goodness [0,1] 0.7766426642664266 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 9.97898620e-01 -5.65932100e-02 -3.15523767e-02 7.32695855e-01] [ 5.65766758e-02 9.98397251e-01 -1.41728220e-03 -1.21528115e-01] [ 3.15820148e-02 -3.70824638e-04 9.99501095e-01 -2.42147813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.201346184 meters Centerline goodness [0,1] 0.7741739306709913 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 9.97903945e-01 -5.65041816e-02 -3.15435293e-02 7.33272675e-01] [ 5.64943022e-02 9.98402194e-01 -1.20506013e-03 -1.21747796e-01] [ 3.15612198e-02 -5.79495421e-04 9.99501653e-01 -2.42997751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.231346184 meters Centerline goodness [0,1] 0.7689100252434187 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.12, Z:-0.24 [[ 9.97919534e-01 -5.61604861e-02 -3.16639245e-02 7.34442010e-01] [ 5.61659409e-02 9.98421190e-01 -7.17845577e-04 -1.22089740e-01] [ 3.16542477e-02 -1.06208199e-03 9.99498314e-01 -2.44281832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.261346183999997 meters Centerline goodness [0,1] 0.7727906767458603 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 9.97936990e-01 -5.56676710e-02 -3.19824064e-02 7.36140999e-01] [ 5.56895817e-02 9.98448110e-01 -2.05968820e-04 -1.21905529e-01] [ 3.19442390e-02 -1.57554293e-03 9.99488411e-01 -2.45614627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.291346184 meters Centerline goodness [0,1] 0.7650273224043715 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 9.97955026e-01 -5.51504959e-02 -3.23139246e-02 7.37688698e-01] [ 5.51826681e-02 9.98476270e-01 1.03964837e-04 -1.20296740e-01] [ 3.22589532e-02 -1.88692081e-03 9.99477763e-01 -2.46610285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.321346184 meters Centerline goodness [0,1] 0.7799859820479775 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 9.97962919e-01 -5.49385484e-02 -3.24309635e-02 7.38234474e-01] [ 5.49741109e-02 9.98487759e-01 2.05239580e-04 -1.20186525e-01] [ 3.23706445e-02 -1.98768488e-03 9.99473957e-01 -2.46848708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.351346183999997 meters Centerline goodness [0,1] 0.7797187803281649 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 9.97981523e-01 -5.45196382e-02 -3.25651380e-02 7.39028922e-01] [ 5.45724524e-02 9.98509543e-01 7.34530575e-04 -1.21409455e-01] [ 3.24765547e-02 -2.51020739e-03 9.99469345e-01 -2.47450009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.381346183999998 meters Centerline goodness [0,1] 0.7721061547148503 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99799803 -0.05435186 -0.032339 0.73852166] [ 0.0544166 0.99851769 0.00112454 -0.12393266] [ 0.03222994 -0.00288207 0.99947633 -0.24728748] [ 0. 0. 0. 1. ]] SLAMing on 16.411346184 meters Centerline goodness [0,1] 0.7698632605708364 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.9980106 -0.05405981 -0.0324405 0.73906106] [ 0.05413802 0.99853228 0.00153662 -0.12485281] [ 0.03230982 -0.00328982 0.99947249 -0.24764899] [ 0. 0. 0. 1. ]] SLAMing on 16.441346183999997 meters Centerline goodness [0,1] 0.7666936827412311 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.25 [[ 0.9980222 -0.05378839 -0.03253442 0.7396413 ] [ 0.05388144 0.99854536 0.00198942 -0.1260238 ] [ 0.03238009 -0.00373849 0.99946864 -0.24810602] [ 0. 0. 0. 1. ]] SLAMing on 16.471346183999998 meters Centerline goodness [0,1] 0.7673514339656567 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.25 [[ 0.99803246 -0.05355003 -0.03261281 0.74023908] [ 0.05365706 0.9985565 0.00241485 -0.12687212] [ 0.03243642 -0.00416 0.99946514 -0.248708 ] [ 0. 0. 0. 1. ]] SLAMing on 16.501346184 meters Centerline goodness [0,1] 0.775867895199261 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.13, Z:-0.25 [[ 0.99821252 -0.05004213 -0.0326733 0.73900852] [ 0.05026289 0.99871818 0.00597022 -0.12620052] [ 0.03233266 -0.0076018 0.99944825 -0.24753058] [ 0. 0. 0. 1. ]] SLAMing on 16.531346184 meters Centerline goodness [0,1] 0.7858980144404333 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99819086 -0.05017417 -0.03312958 0.73920614] [ 0.05036332 0.99871894 0.00489947 -0.12296883] [ 0.03284131 -0.00655913 0.99943906 -0.24594816] [ 0. 0. 0. 1. ]] SLAMing on 16.561346183999998 meters Centerline goodness [0,1] 0.7739350294602343 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99818448 -0.05020425 -0.03327576 0.73923315] [ 0.05037869 0.99872039 0.00442418 -0.1214069 ] [ 0.03301107 -0.00609254 0.99943642 -0.24533584] [ 0. 0. 0. 1. ]] SLAMing on 16.591346184 meters Centerline goodness [0,1] 0.7966875296563256 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99819205 -0.04996994 -0.0334013 0.739887 ] [ 0.05014889 0.99873143 0.00454104 -0.12139044] [ 0.03313201 -0.00620786 0.9994317 -0.24575724] [ 0. 0. 0. 1. ]] SLAMing on 16.621346184 meters Centerline goodness [0,1] 0.7906855759878764 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99819233 -0.04991624 -0.03347309 0.74042591] [ 0.05009158 0.99873485 0.00441961 -0.1209512 ] [ 0.03321013 -0.00608834 0.99942985 -0.24613517] [ 0. 0. 0. 1. ]] SLAMing on 16.651346183999998 meters Centerline goodness [0,1] 0.7854879594423321 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99818599 -0.05002293 -0.0335027 0.74064352] [ 0.05019296 0.99873048 0.00425279 -0.12012253] [ 0.03324744 -0.00592668 0.99942958 -0.24633012] [ 0. 0. 0. 1. ]] SLAMing on 16.681346184 meters Centerline goodness [0,1] 0.7611244398171201 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99818082 -0.05017701 -0.03342621 0.74084245] [ 0.05034076 0.99872379 0.0040749 -0.11904747] [ 0.03317908 -0.00575019 0.99943288 -0.24686263] [ 0. 0. 0. 1. ]] SLAMing on 16.711346184 meters Centerline goodness [0,1] 0.7737477628508642 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99817394 -0.05028262 -0.03347288 0.7414075 ] [ 0.05044858 0.99871811 0.00413147 -0.11892147] [ 0.03322223 -0.00581258 0.99943109 -0.24759283] [ 0. 0. 0. 1. ]] SLAMing on 16.741346183999998 meters Centerline goodness [0,1] 0.7654021450760754 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99816624 -0.05053453 -0.03332299 0.74139634] [ 0.05070173 0.99870505 0.00419101 -0.11926535] [ 0.03306805 -0.00587286 0.99943585 -0.24816613] [ 0. 0. 0. 1. ]] SLAMing on 16.771346184 meters Centerline goodness [0,1] 0.7512001811594202 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99813335 -0.05120025 -0.03329193 0.74119415] [ 0.05135511 0.99867318 0.00381272 -0.11854298] [ 0.03305254 -0.00551532 0.9994384 -0.24826632] [ 0. 0. 0. 1. ]] SLAMing on 16.801346184 meters Centerline goodness [0,1] 0.7601696068205523 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.9981157 -0.05152242 -0.03332398 0.74110425] [ 0.05166249 0.99865896 0.00335547 -0.11701776] [ 0.0331064 -0.00507075 0.99943897 -0.24799662] [ 0. 0. 0. 1. ]] SLAMing on 16.831346183999997 meters Centerline goodness [0,1] 0.738746108573636 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.12, Z:-0.25 [[ 0.99809139 -0.05204706 -0.03323687 0.74035306] [ 0.05216096 0.99863539 0.00256868 -0.11500029] [ 0.03305782 -0.00429745 0.9994442 -0.24715362] [ 0. 0. 0. 1. ]] SLAMing on 16.861346184 meters Centerline goodness [0,1] 0.7294705842065612 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.25 [[ 0.99852056 -0.05055687 -0.0200175 0.74337002] [ 0.05061499 0.99871534 0.00240754 -0.11283711] [ 0.01987007 -0.00341716 0.99979673 -0.25227267] [ 0. 0. 0. 1. ]] SLAMing on 16.891346184 meters Centerline goodness [0,1] 0.7255000227800811 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.25 [[ 0.99851275 -0.05058786 -0.0203264 0.74396703] [ 0.05064177 0.99871458 0.00214609 -0.11172596] [ 0.02019171 -0.00317226 0.99979109 -0.25205813] [ 0. 0. 0. 1. ]] SLAMing on 16.921346183999997 meters Centerline goodness [0,1] 0.7460223116313094 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.25 [[ 0.99849712 -0.05095335 -0.02018082 0.74333297] [ 0.05099485 0.99869772 0.00154669 -0.11030795] [ 0.02007573 -0.00257348 0.99979515 -0.25150445] [ 0. 0. 0. 1. ]] SLAMing on 16.951346184 meters Centerline goodness [0,1] 0.7465336567061731 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.25 [[ 0.99849297 -0.05106228 -0.02011036 0.74334142] [ 0.05110167 0.9986924 0.00144965 -0.10956807] [ 0.02001004 -0.00247514 0.99979672 -0.25174567] [ 0. 0. 0. 1. ]] SLAMing on 16.981346184 meters Centerline goodness [0,1] 0.742686704141333 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.11, Z:-0.25 [[ 0.99848908 -0.05114719 -0.02008776 0.74400083] [ 0.05118458 0.9986883 0.00135169 -0.1087797 ] [ 0.01999228 -0.00237783 0.99979731 -0.25285209] [ 0. 0. 0. 1. ]] SLAMing on 17.011346183999997 meters Centerline goodness [0,1] 0.7429212865389903 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.25 [[ 0.99849905 -0.05085941 -0.02032143 0.74526967] [ 0.05090137 0.99870248 0.00155237 -0.10794075] [ 0.02021611 -0.00258442 0.99979229 -0.25391422] [ 0. 0. 0. 1. ]] SLAMing on 17.041346184 meters Centerline goodness [0,1] 0.7442450523596439 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.11, Z:-0.25 [[ 0.99849159 -0.05091242 -0.02055395 0.74600554] [ 0.05094561 0.99870083 0.00109426 -0.10570548] [ 0.02047153 -0.00213974 0.99978815 -0.25411518] [ 0. 0. 0. 1. ]] SLAMing on 17.071346184 meters Centerline goodness [0,1] 0.7433068685376663 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.26 [[ 0.99851684 -0.05010122 -0.02130711 0.74884686] [ 0.05014061 0.9987413 0.00131821 -0.10288823] [ 0.02121424 -0.00238461 0.99977211 -0.2556092 ] [ 0. 0. 0. 1. ]] SLAMing on 17.101346183999997 meters Centerline goodness [0,1] 0.7421074590885912 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.26 [[ 0.99852137 -0.04994275 -0.02146597 0.74965755] [ 0.04998248 0.99874922 0.00131796 -0.10253102] [ 0.0213733 -0.00238893 0.99976871 -0.25615591] [ 0. 0. 0. 1. ]] SLAMing on 17.131346183999998 meters Centerline goodness [0,1] 0.7510944340212633 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.26 [[ 0.99853736 -0.04955892 -0.02161131 0.75073477] [ 0.04960625 0.99876747 0.00165928 -0.10259741] [ 0.02150244 -0.00272891 0.99976507 -0.25715631] [ 0. 0. 0. 1. ]] SLAMing on 17.161346184 meters Centerline goodness [0,1] 0.7558481223535944 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.26 [[ 0.99854424 -0.0492876 -0.02191187 0.75172553] [ 0.04933417 0.99878106 0.00158932 -0.10135837] [ 0.02180683 -0.00266801 0.99975864 -0.25741484] [ 0. 0. 0. 1. ]] SLAMing on 17.191346183999997 meters Centerline goodness [0,1] 0.7477886405959031 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.26 [[ 0.99868242 -0.04659791 -0.02149534 0.74866448] [ 0.04669325 0.99890145 0.00395464 -0.09837258] [ 0.02128745 -0.00495311 0.99976113 -0.25504203] [ 0. 0. 0. 1. ]] SLAMing on 17.221346183999998 meters Centerline goodness [0,1] 0.7475529990258385 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.10, Z:-0.25 [[ 0.99867564 -0.0465678 -0.02187269 0.74924174] [ 0.04664962 0.99890604 0.00324537 -0.09573931] [ 0.02169764 -0.00426143 0.9997555 -0.25416469] [ 0. 0. 0. 1. ]] SLAMing on 17.251346184 meters Centerline goodness [0,1] 0.757930038660394 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.25 [[ 0.99867464 -0.04645973 -0.0221462 0.7497606 ] [ 0.04653135 0.9989131 0.00272952 -0.09364056] [ 0.02199531 -0.0037564 0.99975102 -0.25363241] [ 0. 0. 0. 1. ]] SLAMing on 17.281346184 meters Centerline goodness [0,1] 0.7526174653142124 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.25 [[ 0.99868575 -0.04600533 -0.02258928 0.75119187] [ 0.0460743 0.99893478 0.00254205 -0.09196306] [ 0.02244827 -0.0035795 0.9997416 -0.25382778] [ 0. 0. 0. 1. ]] SLAMing on 17.311346183999998 meters Centerline goodness [0,1] 0.7814176918570592 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.26 [[ 0.99886794 -0.04173565 -0.02282468 0.75226641] [ 0.04189662 0.99910002 0.00662018 -0.09158988] [ 0.02252784 -0.00756896 0.99971756 -0.25524932] [ 0. 0. 0. 1. ]] SLAMing on 17.341346184 meters Centerline goodness [0,1] 0.7843615797995916 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.09, Z:-0.26 [[ 0.99886915 -0.04152838 -0.0231477 0.75343075] [ 0.04168048 0.9991122 0.00612735 -0.08929719] [ 0.02287269 -0.00708523 0.99971328 -0.25547522] [ 0. 0. 0. 1. ]] SLAMing on 17.371346184 meters Centerline goodness [0,1] 0.791840856780497 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.09, Z:-0.26 [[ 0.99886788 -0.04125576 -0.02368362 0.75510793] [ 0.04140046 0.99912665 0.00565218 -0.08674923] [ 0.02342975 -0.00662629 0.99970353 -0.2557029 ] [ 0. 0. 0. 1. ]] SLAMing on 17.401346183999998 meters Centerline goodness [0,1] 0.788482391212107 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.26 [[ 0.99887624 -0.04073802 -0.02422109 0.75759634] [ 0.04088539 0.99914803 0.00562058 -0.08250092] [ 0.02397148 -0.00660455 0.99969083 -0.25742063] [ 0. 0. 0. 1. ]] SLAMing on 17.431346184 meters Centerline goodness [0,1] 0.7895459170393507 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.26 [[ 0.9988717 -0.04093864 -0.02406962 0.75774705] [ 0.04107905 0.99914148 0.00536788 -0.08120772] [ 0.0238292 -0.00635058 0.99969587 -0.25805188] [ 0. 0. 0. 1. ]] SLAMing on 17.461346184 meters Centerline goodness [0,1] 0.7772225642968786 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.26 [[ 0.99885695 -0.04135943 -0.02396229 0.75751573] [ 0.04148756 0.99912713 0.00487444 -0.07975407] [ 0.02373977 -0.00586301 0.99970098 -0.25807949] [ 0. 0. 0. 1. ]] SLAMing on 17.491346183999998 meters Centerline goodness [0,1] 0.7778782327329827 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:-0.26 [[ 0.9988361 -0.04202785 -0.0236664 0.75640089] [ 0.04213349 0.99910405 0.00398273 -0.0775497 ] [ 0.02347781 -0.00497525 0.99971198 -0.25735805] [ 0. 0. 0. 1. ]] SLAMing on 17.521346184 meters Centerline goodness [0,1] 0.7635987245990578 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.26 [[ 0.99904067 -0.04257545 -0.01025076 0.75913836] [ 0.04261958 0.99908285 0.00412582 -0.07444013] [ 0.0100657 -0.00455874 0.99993895 -0.26131194] [ 0. 0. 0. 1. ]] SLAMing on 17.551346184 meters Centerline goodness [0,1] 0.7553855685825946 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.26 [[ 0.99902701 -0.04287144 -0.01034733 0.75902305] [ 0.04290946 0.9990729 0.0034805 -0.07241834] [ 0.01018852 -0.00392111 0.99994041 -0.26062832] [ 0. 0. 0. 1. ]] SLAMing on 17.581346183999997 meters Centerline goodness [0,1] 0.7585975828646644 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.26 [[ 0.99900627 -0.04338219 -0.01022012 0.75835685] [ 0.04340986 0.99905422 0.00250094 -0.06961847] [ 0.01010196 -0.00294211 0.99994465 -0.25980249] [ 0. 0. 0. 1. ]] SLAMing on 17.611346184 meters Centerline goodness [0,1] 0.7452374660676965 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.26 [[ 0.9989947 -0.04363125 -0.01029137 0.75856423] [ 0.04365271 0.99904502 0.00187001 -0.06709629] [ 0.01019995 -0.00231737 0.99994529 -0.25973182] [ 0. 0. 0. 1. ]] SLAMing on 17.641346184 meters Centerline goodness [0,1] 0.7426158301158301 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.07, Z:-0.26 [[ 0.99898278 -0.04394875 -0.01009516 0.75866179] [ 0.04396677 0.99903176 0.00157002 -0.06533339] [ 0.01001639 -0.00201227 0.99994781 -0.26076247] [ 0. 0. 0. 1. ]] SLAMing on 17.671346183999997 meters Centerline goodness [0,1] 0.714358218333857 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.26 [[ 0.99897834 -0.0440571 -0.01006202 0.75910864] [ 0.04407471 0.99902706 0.00153408 -0.06485964] [ 0.00998464 -0.00197599 0.9999482 -0.26160597] [ 0. 0. 0. 1. ]] SLAMing on 17.701346184 meters Centerline goodness [0,1] 0.7285445511119688 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.26 [[ 0.99897308 -0.04413564 -0.01023847 0.7599111 ] [ 0.04415252 0.99902378 0.00142874 -0.0634779 ] [ 0.01016542 -0.00187933 0.99994656 -0.26228645] [ 0. 0. 0. 1. ]] SLAMing on 17.731346184 meters Centerline goodness [0,1] 0.7331197514683754 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.26 [[ 0.9989641 -0.04432808 -0.01028368 0.76021133] [ 0.04434169 0.99901582 0.00109881 -0.0617508 ] [ 0.01022485 -0.00155367 0.99994652 -0.262577 ] [ 0. 0. 0. 1. ]] SLAMing on 17.761346183999997 meters Centerline goodness [0,1] 0.7284091738210472 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.26 [[ 0.99896112 -0.04435654 -0.01044866 0.76130138] [ 0.04436954 0.99901467 0.00101544 -0.05982637] [ 0.01039332 -0.00147799 0.9999449 -0.26377451] [ 0. 0. 0. 1. ]] SLAMing on 17.791346184 meters Centerline goodness [0,1] 0.7363017874125193 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.26 [[ 0.99896242 -0.0442954 -0.0105826 0.76205392] [ 0.04430856 0.99901738 0.00101213 -0.05886647] [ 0.01052737 -0.00147998 0.99994349 -0.26449449] [ 0. 0. 0. 1. ]] SLAMing on 17.821346184 meters Centerline goodness [0,1] 0.7307607820165483 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.27 [[ 9.98966901e-01 -4.41394000e-02 -1.08094479e-02 7.62978973e-01] [ 4.41527159e-02 9.99024297e-01 9.96233418e-04 -5.76486211e-02] [ 1.07549280e-02 -1.47247069e-03 9.99941080e-01 -2.65051946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.851346183999997 meters Centerline goodness [0,1] 0.7318983820191816 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.27 [[ 0.99897422 -0.04390746 -0.01107414 0.76415531] [ 0.04392261 0.9990343 0.00112884 -0.05679522] [ 0.01101388 -0.00161408 0.99993804 -0.2658457 ] [ 0. 0. 0. 1. ]] SLAMing on 17.881346183999998 meters Centerline goodness [0,1] 0.7352977226484936 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.27 [[ 0.99912353 -0.04043724 -0.01081668 0.76367268] [ 0.04049288 0.99916744 0.00497544 -0.05612755] [ 0.01060648 -0.00540908 0.99992912 -0.26705325] [ 0. 0. 0. 1. ]] SLAMing on 17.911346184 meters Centerline goodness [0,1] 0.7352977226484936 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.06, Z:-0.27 [[ 0.99912353 -0.04043724 -0.01081668 0.76367268] [ 0.04049288 0.99916744 0.00497544 -0.05612755] [ 0.01060648 -0.00540908 0.99992912 -0.26705325] [ 0. 0. 0. 1. ]] SLAMing on 17.941346183999997 meters Centerline goodness [0,1] 0.7433558696988323 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.27 [[ 0.99912772 -0.0402307 -0.01119333 0.76501139] [ 0.04028403 0.99917777 0.00458113 -0.05348208] [ 0.01099982 -0.00502804 0.99992686 -0.26746764] [ 0. 0. 0. 1. ]] SLAMing on 17.971346183999998 meters Centerline goodness [0,1] 0.7438970261873058 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.27 [[ 0.99913797 -0.03986308 -0.01158631 0.76662092] [ 0.03991649 0.99919326 0.00441588 -0.05140553] [ 0.01140093 -0.00487456 0.99992313 -0.26817424] [ 0. 0. 0. 1. ]] SLAMing on 18.001346184 meters Centerline goodness [0,1] 0.7487483269716948 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.27 [[ 0.99928869 -0.0358884 -0.01158214 0.76694709] [ 0.03598568 0.99931781 0.00830289 -0.05076512] [ 0.01127626 -0.00871378 0.99989845 -0.2692835 ] [ 0. 0. 0. 1. ]] SLAMing on 18.031346183999997 meters Centerline goodness [0,1] 0.7526593766272409 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.27 [[ 0.99928623 -0.0358716 -0.01184286 0.76750548] [ 0.0359622 0.9993248 0.00752799 -0.0482446 ] [ 0.01156482 -0.00794851 0.99990153 -0.26869282] [ 0. 0. 0. 1. ]] SLAMing on 18.061346183999998 meters Centerline goodness [0,1] 0.762910447761194 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.05, Z:-0.27 [[ 0.99928161 -0.03589875 -0.01214646 0.76804325] [ 0.03598122 0.9993304 0.00664077 -0.04528725] [ 0.01189993 -0.00707304 0.99990418 -0.26786777] [ 0. 0. 0. 1. ]] SLAMing on 18.091346184 meters Centerline goodness [0,1] 0.7595214904722659 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.27 [[ 0.99927898 -0.03580465 -0.01263115 0.76911891] [ 0.03588098 0.99933884 0.00586892 -0.04209534] [ 0.01241267 -0.00631791 0.999903 -0.26734468] [ 0. 0. 0. 1. ]] SLAMing on 18.121346184 meters Centerline goodness [0,1] 0.7546596332579754 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.04, Z:-0.27 [[ 0.99940782 -0.03202135 -0.01259495 0.76921918] [ 0.03213796 0.99944139 0.00916799 -0.0384356 ] [ 0.01229435 -0.00956734 0.99987865 -0.26799327] [ 0. 0. 0. 1. ]] SLAMing on 18.151346183999998 meters Centerline goodness [0,1] 0.7775115393346281 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.27 [[ 0.99940291 -0.03209155 -0.01280417 0.76969072] [ 0.0321983 0.99944769 0.00822043 -0.03490884] [ 0.0125333 -0.00862779 0.99988423 -0.26749042] [ 0. 0. 0. 1. ]] SLAMing on 18.181346184 meters Centerline goodness [0,1] 0.7753458547914773 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.27 [[ 0.9994004 -0.03205405 -0.01309101 0.77054806] [ 0.0321541 0.99945475 0.00750475 -0.03267736] [ 0.01284332 -0.00792118 0.99988615 -0.26719725] [ 0. 0. 0. 1. ]] SLAMing on 18.211346184 meters Centerline goodness [0,1] 0.7755520664505673 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.27 [[ 0.99940003 -0.03199215 -0.0132694 0.77128087] [ 0.03208943 0.99945918 0.00718404 -0.03135328] [ 0.01303239 -0.00760553 0.99988615 -0.26743615] [ 0. 0. 0. 1. ]] SLAMing on 18.241346183999998 meters Centerline goodness [0,1] 0.7675155200810845 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.27 [[ 0.99939072 -0.03229335 -0.01324107 0.7714906 ] [ 0.03237576 0.99945741 0.00605727 -0.02789377] [ 0.01303828 -0.00648227 0.99989399 -0.26717911] [ 0. 0. 0. 1. ]] SLAMing on 18.271346184 meters Centerline goodness [0,1] 0.7761194029850746 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.27 [[ 0.99938474 -0.03246914 -0.01326232 0.77167027] [ 0.03254606 0.9994544 0.00562621 -0.02613326] [ 0.0130724 -0.00605439 0.99989622 -0.26723467] [ 0. 0. 0. 1. ]] SLAMing on 18.301346184 meters Centerline goodness [0,1] 0.7666488127120157 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:-0.27 [[ 0.99937662 -0.03272565 -0.01324383 0.77173671] [ 0.03279513 0.99944927 0.0050636 -0.02390826] [ 0.01307082 -0.00549478 0.99989948 -0.26729838] [ 0. 0. 0. 1. ]] SLAMing on 18.331346183999997 meters Centerline goodness [0,1] 0.7648004901585357 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:-0.27 [[ 0.99937655 -0.03252815 -0.01372724 0.77322869] [ 0.0325963 0.99945722 0.00477012 -0.02167695] [ 0.01356463 -0.00521461 0.9998944 -0.26759414] [ 0. 0. 0. 1. ]] SLAMing on 18.361346184 meters Centerline goodness [0,1] 0.7647300665518925 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.02, Z:-0.27 [[ 0.99938413 -0.0320036 -0.01439205 0.77589608] [ 0.03207157 0.99947537 0.00451737 -0.01715985] [ 0.01423993 -0.00497616 0.99988622 -0.26894919] [ 0. 0. 0. 1. ]] SLAMing on 18.391346184 meters Centerline goodness [0,1] 0.767166718218373 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.27 [[ 0.9993841 -0.03184659 -0.01473837 0.77731806] [ 0.03191032 0.99948229 0.00410917 -0.01467892] [ 0.01459988 -0.00457694 0.99988294 -0.26952543] [ 0. 0. 0. 1. ]] SLAMing on 18.421346183999997 meters Centerline goodness [0,1] 0.78047329626277 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.27 [[ 0.99938373 -0.03168216 -0.01511297 0.77866135] [ 0.03174031 0.99948958 0.00362331 -0.01206983] [ 0.01499046 -0.00410077 0.99987923 -0.26980608] [ 0. 0. 0. 1. ]] SLAMing on 18.451346184 meters Centerline goodness [0,1] 0.787267766662336 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.01, Z:-0.27 [[ 0.99939714 -0.031051 -0.01553054 0.78065179] [ 0.03109978 0.99951205 0.00290894 -0.00657694] [ 0.01543263 -0.00339018 0.99987516 -0.27024883] [ 0. 0. 0. 1. ]] SLAMing on 18.481346184 meters Centerline goodness [0,1] 0.7876948833315894 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.00, Z:-0.27 [[ 0.99939703 -0.03088923 -0.01585681 0.78176293] [ 0.03093072 0.9995187 0.00237787 -0.00383115] [ 0.01577573 -0.0028669 0.99987145 -0.27031321] [ 0. 0. 0. 1. ]] SLAMing on 18.511346183999997 meters Centerline goodness [0,1] 0.7990543735224587 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.00, Z:-0.27 [[ 0.99939829 -0.03075401 -0.01603875 0.78266801] [ 0.03078862 0.99952408 0.00191569 -0.00157528] [ 0.01597221 -0.00240835 0.99986954 -0.27059837] [ 0. 0. 0. 1. ]] SLAMing on 18.541346184 meters Centerline goodness [0,1] 0.7921163896110717 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.27 [[ 0.99940772 -0.03025279 -0.01640045 0.78456261] [ 0.03028315 0.99954007 0.00160565 0.00116939] [ 0.01634433 -0.00210135 0.99986421 -0.27144369] [ 0. 0. 0. 1. ]] SLAMing on 18.571346184 meters Centerline goodness [0,1] 0.787635614919621 Centerline is valid? [False, False] Translation: X:0.78, Y:0.00, Z:-0.27 [[ 9.99399183e-01 -3.05683530e-02 -1.63354930e-02 7.84141639e-01] [ 3.05883236e-02 9.99531593e-01 9.74015125e-04 3.29637904e-03] [ 1.62980673e-02 -1.47310527e-03 9.99866093e-01 -2.70880792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.601346183999997 meters Centerline goodness [0,1] 0.7868406455532371 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.27 [[ 9.99387239e-01 -3.09134536e-02 -1.64166037e-02 7.83772545e-01] [ 3.09210914e-02 9.99521806e-01 2.11566907e-04 5.38859853e-03] [ 1.64022132e-02 -7.19056573e-04 9.99865216e-01 -2.69792283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.631346183999998 meters Centerline goodness [0,1] 0.7824741449996032 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.27 [[ 9.99376674e-01 -3.12234633e-02 -1.64729485e-02 7.83394279e-01] [ 3.12218501e-02 9.99512416e-01 -3.55157231e-04 6.85196084e-03] [ 1.64760058e-02 -1.59380078e-04 9.99864249e-01 -2.68944820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.661346184 meters Centerline goodness [0,1] 0.7933039135375102 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.27 [[ 9.99370604e-01 -3.12679136e-02 -1.67544850e-02 7.83899807e-01] [ 3.12620692e-02 9.99511036e-01 -6.10682660e-04 8.02576445e-03] [ 1.67653874e-02 8.65184281e-05 9.99859447e-01 -2.68657137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.691346183999997 meters Centerline goodness [0,1] 0.7757026676203344 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.27 [[ 9.99369047e-01 -3.12433404e-02 -1.68926394e-02 7.84401998e-01] [ 3.12363117e-02 9.99511796e-01 -6.79836059e-04 8.98048432e-03] [ 1.69056327e-02 1.51743365e-04 9.99857078e-01 -2.68928256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.721346183999998 meters Centerline goodness [0,1] 0.7843687905682872 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 9.99374296e-01 -3.08248935e-02 -1.73448363e-02 7.85980764e-01] [ 3.08212706e-02 9.99524798e-01 -4.76213586e-04 9.64827529e-03] [ 1.73512732e-02 -5.86742758e-05 9.99849454e-01 -2.69545731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.751346184 meters Centerline goodness [0,1] 0.7818609320511466 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 9.99400151e-01 -2.96901135e-02 -1.78279099e-02 7.88956729e-01] [ 2.97065263e-02 9.99558448e-01 6.56452682e-04 8.87537462e-03] [ 1.78005478e-02 -1.18566419e-03 9.99840855e-01 -2.72138700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.781346183999997 meters Centerline goodness [0,1] 0.7861693409817865 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 0.99941152 -0.02912746 -0.01811621 0.7904603 ] [ 0.02915065 0.99957451 0.00101722 0.00859814] [ 0.01807887 -0.00154472 0.99983537 -0.27305005] [ 0. 0. 0. 1. ]] SLAMing on 18.811346183999998 meters Centerline goodness [0,1] 0.8016579107157 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 0.99942324 -0.02840415 -0.01861147 0.79240754] [ 0.02843041 0.99959512 0.00114782 0.00918763] [ 0.01857133 -0.00167629 0.99982613 -0.27356295] [ 0. 0. 0. 1. ]] SLAMing on 18.841346184 meters Centerline goodness [0,1] 0.8159013493174196 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 0.99953657 -0.02404682 -0.01866512 0.7928455 ] [ 0.02415901 0.99969125 0.00580852 0.00742453] [ 0.01851968 -0.00625676 0.99980892 -0.27460571] [ 0. 0. 0. 1. ]] SLAMing on 18.871346184 meters Centerline goodness [0,1] 0.843413443684015 Centerline is valid? [False, False] Translation: X:0.79, Y:0.01, Z:-0.27 [[ 0.99963692 -0.01873074 -0.01936986 0.79493443] [ 0.01891439 0.99977746 0.00934202 0.01020212] [ 0.01919057 -0.009705 0.99976874 -0.27374763] [ 0. 0. 0. 1. ]] SLAMing on 18.901346183999998 meters Centerline goodness [0,1] 0.874966788883575 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.9996424 -0.01746462 -0.02024996 0.7975715 ] [ 0.01763577 0.99980999 0.00830419 0.01393936] [ 0.02010109 -0.00865834 0.99976046 -0.27199513] [ 0. 0. 0. 1. ]] SLAMing on 18.931346184 meters Centerline goodness [0,1] 0.8918248058291296 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.99970509 -0.01300861 -0.0205062 0.79813876] [ 0.01326155 0.99983705 0.01224736 0.01452211] [ 0.02034354 -0.01251569 0.99971471 -0.27176987] [ 0. 0. 0. 1. ]] SLAMing on 18.961346184 meters Centerline goodness [0,1] 0.9056243785773789 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.27 [[ 0.99974634 -0.00722528 -0.02133208 0.80142478] [ 0.0075756 0.99983702 0.01638711 0.01690746] [ 0.0212102 -0.01654456 0.99963814 -0.27215207] [ 0. 0. 0. 1. ]] SLAMing on 18.991346183999998 meters Centerline goodness [0,1] 0.9059029649595687 Centerline is valid? [False, False] Translation: X:0.80, Y:0.02, Z:-0.27 [[ 0.99973603 -0.00660316 -0.02200609 0.80350137] [ 0.00695801 0.99984638 0.0160873 0.01836236] [ 0.02189649 -0.01623617 0.9996284 -0.27204687] [ 0. 0. 0. 1. ]] SLAMing on 19.021346184 meters Centerline goodness [0,1] 0.9074726397590686 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99969386 -0.00888579 -0.0230918 0.80775736] [ 0.00915628 0.9998904 0.01163444 0.02140175] [ 0.02298589 -0.01184231 0.99966565 -0.27163225] [ 0. 0. 0. 1. ]] SLAMing on 19.051346184 meters Centerline goodness [0,1] 0.9068307924365674 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99969353 -0.00862721 -0.02320387 0.80872354] [ 0.00891012 0.99988689 0.01211702 0.01996878] [ 0.02309671 -0.01232006 0.99965732 -0.27271092] [ 0. 0. 0. 1. ]] SLAMing on 19.081346183999997 meters Centerline goodness [0,1] 0.9059826767852833 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99964816 -0.01256451 -0.0233601 0.8095841 ] [ 0.01275517 0.9998864 0.00803075 0.0197449 ] [ 0.02325654 -0.00832589 0.99969486 -0.27289813] [ 0. 0. 0. 1. ]] SLAMing on 19.111346184 meters Centerline goodness [0,1] 0.9008415072090904 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99957879 -0.01639212 -0.02394884 0.81080007] [ 0.01647455 0.99985901 0.00324884 0.02186004] [ 0.02389221 -0.00364202 0.99970791 -0.2713959 ] [ 0. 0. 0. 1. ]] SLAMing on 19.141346184 meters Centerline goodness [0,1] 0.8972165031150565 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99957345 -0.0165392 -0.02407004 0.8108707 ] [ 0.01662866 0.99985553 0.00352147 0.02064008] [ 0.02400832 -0.00392022 0.99970407 -0.27142934] [ 0. 0. 0. 1. ]] SLAMing on 19.171346183999997 meters Centerline goodness [0,1] 0.894426422884105 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 0.99956966 -0.01718555 -0.02377287 0.80943751] [ 0.01726904 0.9998454 0.00331118 0.01982311] [ 0.02371229 -0.00372029 0.9997119 -0.27071345] [ 0. 0. 0. 1. ]] SLAMing on 19.201346184 meters Centerline goodness [0,1] 0.882630988623618 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 9.99475462e-01 -2.18228134e-02 -2.39283644e-02 8.08982024e-01] [ 2.17976891e-02 9.99761543e-01 -1.31033672e-03 2.06964138e-02] [ 2.39512537e-02 7.88066350e-04 9.99712817e-01 -2.69165128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.231346184 meters Centerline goodness [0,1] 0.869493245047258 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 9.99469847e-01 -2.24036411e-02 -2.36241731e-02 8.07833045e-01] [ 2.23883594e-02 9.99748934e-01 -9.11192995e-04 1.85607348e-02] [ 2.36386559e-02 3.81803447e-04 9.99720495e-01 -2.69409104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.261346183999997 meters Centerline goodness [0,1] 0.862324046725739 Centerline is valid? [False, False] Translation: X:0.81, Y:0.02, Z:-0.27 [[ 9.99464789e-01 -2.28043909e-02 -2.34541199e-02 8.07388785e-01] [ 2.28055268e-02 9.99739896e-01 -2.19079643e-04 1.60175551e-02] [ 2.34530154e-02 -3.15921172e-04 9.99724890e-01 -2.70320482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.291346184 meters Centerline goodness [0,1] 0.8381199660873251 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.27 [[ 0.99935786 -0.02718722 -0.02333938 0.807571 ] [ 0.02711168 0.99962612 -0.0035467 0.01369252] [ 0.02342708 0.00291165 0.99972131 -0.27149355] [ 0. 0. 0. 1. ]] SLAMing on 19.321346184 meters Centerline goodness [0,1] 0.8248985975981549 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.27 [[ 0.99935374 -0.02782027 -0.02276274 0.8062316 ] [ 0.02775413 0.9996096 -0.00321656 0.01155864] [ 0.02284334 0.00258272 0.99973572 -0.27228214] [ 0. 0. 0. 1. ]] SLAMing on 19.351346183999997 meters Centerline goodness [0,1] 0.8157190901146625 Centerline is valid? [False, False] Translation: X:0.81, Y:0.01, Z:-0.27 [[ 0.99934664 -0.02821427 -0.02258852 0.80560704] [ 0.02815841 0.99959959 -0.00278732 0.009615 ] [ 0.02265812 0.00214945 0.99974096 -0.27269928] [ 0. 0. 0. 1. ]] SLAMing on 19.381346183999998 meters Centerline goodness [0,1] 0.8015097925355013 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.99933901 -0.02877597 -0.0222144 0.80416665] [ 0.02871948 0.99958343 -0.00285795 0.0086156 ] [ 0.02228739 0.00221807 0.99974914 -0.27220247] [ 0. 0. 0. 1. ]] SLAMing on 19.411346184 meters Centerline goodness [0,1] 0.7880230651219383 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.99931695 -0.03004348 -0.02151787 0.80103405] [ 0.02997461 0.99954448 -0.00351594 0.00831367] [ 0.0216137 0.00286854 0.99976228 -0.27058993] [ 0. 0. 0. 1. ]] SLAMing on 19.441346183999997 meters Centerline goodness [0,1] 0.7837609321742807 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.99931691 -0.03000482 -0.02157387 0.80129737] [ 0.02994646 0.99954693 -0.00302354 0.00698428] [ 0.02165481 0.00237541 0.99976269 -0.27112008] [ 0. 0. 0. 1. ]] SLAMing on 19.471346183999998 meters Centerline goodness [0,1] 0.7758123793659607 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.27 [[ 0.99931728 -0.03013847 -0.02136908 0.80087341] [ 0.03009005 0.99954385 -0.00258393 0.00532414] [ 0.02143721 0.00193917 0.99976832 -0.27159915] [ 0. 0. 0. 1. ]] SLAMing on 19.501346184 meters Centerline goodness [0,1] 0.7648794625214069 Centerline is valid? [False, False] Translation: X:0.80, Y:0.00, Z:-0.27 [[ 0.99930502 -0.03073574 -0.02109022 0.79972835] [ 0.03070397 0.99952685 -0.0018289 0.00171298] [ 0.02113645 0.00118007 0.9997759 -0.27204222] [ 0. 0. 0. 1. ]] SLAMing on 19.531346183999997 meters Centerline goodness [0,1] 0.7602955872297902 Centerline is valid? [False, False] Translation: X:0.80, Y:0.00, Z:-0.27 [[ 9.99309242e-01 -3.05933042e-02 -2.10971422e-02 7.99844648e-01] [ 3.05713996e-02 9.99531660e-01 -1.36008906e-03 2.70977113e-04] [ 2.11288712e-02 7.14180405e-04 9.99776505e-01 -2.72286720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.561346183999998 meters Centerline goodness [0,1] 0.7664145393423679 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.00, Z:-0.27 [[ 9.99314764e-01 -3.02846390e-02 -2.12800942e-02 8.00607829e-01] [ 3.02710079e-02 9.99541265e-01 -9.62462088e-04 -3.83490779e-04] [ 2.12994800e-02 3.17632677e-04 9.99773090e-01 -2.72766517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.591346184 meters Centerline goodness [0,1] 0.7698446031079378 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.00, Z:-0.27 [[ 9.99317964e-01 -2.99826914e-02 -2.15556350e-02 8.01374673e-01] [ 2.99698839e-02 9.99550381e-01 -9.17032793e-04 -2.17752223e-04] [ 2.15734383e-02 2.70387464e-04 9.99767230e-01 -2.72629976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.621346184 meters Centerline goodness [0,1] 0.7869722937805583 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.00, Z:-0.27 [[ 0.9994407 -0.02569991 -0.02139641 0.80111146] [ 0.02578724 0.99966017 0.0038156 -0.00247628] [ 0.02129107 -0.00436522 0.99976379 -0.27348098] [ 0. 0. 0. 1. ]] SLAMing on 19.651346183999998 meters Centerline goodness [0,1] 0.7876227328963648 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.00, Z:-0.27 [[ 0.99945229 -0.02493431 -0.02175782 0.80300898] [ 0.02503978 0.99967592 0.00458879 -0.00394659] [ 0.02163635 -0.00513109 0.99975274 -0.27482413] [ 0. 0. 0. 1. ]] SLAMing on 19.681346184 meters Centerline goodness [0,1] 0.7921948924379852 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99946501 -0.02385738 -0.02237209 0.80581858] [ 0.02398899 0.99969635 0.00563323 -0.00647534] [ 0.0222309 -0.0061669 0.99973384 -0.27645619] [ 0. 0. 0. 1. ]] SLAMing on 19.711346184 meters Centerline goodness [0,1] 0.8019489825164804 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99947919 -0.02255383 -0.02307993 0.80895082] [ 0.02271442 0.99971941 0.0067198 -0.00815062] [ 0.0229219 -0.00724055 0.99971104 -0.2781455 ] [ 0. 0. 0. 1. ]] SLAMing on 19.741346183999998 meters Centerline goodness [0,1] 0.8006873746973208 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99947546 -0.02197752 -0.02378632 0.81101791] [ 0.02214534 0.99973153 0.00681489 -0.00739636] [ 0.02363016 -0.00733807 0.99969384 -0.27829602] [ 0. 0. 0. 1. ]] SLAMing on 19.771346184 meters Centerline goodness [0,1] 0.8048112296814256 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99947048 -0.02167386 -0.02426926 0.81231336] [ 0.0218452 0.99973812 0.00681718 -0.00675751] [ 0.02411515 -0.00734374 0.99968221 -0.27829513] [ 0. 0. 0. 1. ]] SLAMing on 19.801346184 meters Centerline goodness [0,1] 0.8048112296814256 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99947048 -0.02167386 -0.02426926 0.81231336] [ 0.0218452 0.99973812 0.00681718 -0.00675751] [ 0.02411515 -0.00734374 0.99968221 -0.27829513] [ 0. 0. 0. 1. ]] SLAMing on 19.831346183999997 meters Centerline goodness [0,1] 0.8056170124157318 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99946946 -0.02138673 -0.02456446 0.81328124] [ 0.02156523 0.99974276 0.00702482 -0.00783472] [ 0.02440791 -0.00755083 0.99967357 -0.2784407 ] [ 0. 0. 0. 1. ]] SLAMing on 19.861346184 meters Centerline goodness [0,1] 0.8142136205192237 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.01, Z:-0.28 [[ 0.99947077 -0.02120626 -0.02466709 0.81382424] [ 0.02141322 0.99973744 0.00815677 -0.01277675] [ 0.02448764 -0.00868065 0.99966244 -0.27950223] [ 0. 0. 0. 1. ]] SLAMing on 19.891346184 meters Centerline goodness [0,1] 0.8083948698017878 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.28 [[ 0.99938028 -0.02427364 -0.02549221 0.81631076] [ 0.02438525 0.99969432 0.00407642 -0.01191642] [ 0.02538547 -0.00469553 0.99966671 -0.27867931] [ 0. 0. 0. 1. ]] SLAMing on 19.921346183999997 meters Centerline goodness [0,1] 0.8076365519026663 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.28 [[ 0.99937823 -0.02444759 -0.02540596 0.81576211] [ 0.02456051 0.99968976 0.0041422 -0.01317175] [ 0.02529682 -0.00476361 0.99966863 -0.27822061] [ 0. 0. 0. 1. ]] SLAMing on 19.951346184 meters Centerline goodness [0,1] 0.8105982198302629 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.28 [[ 0.99937712 -0.0244585 -0.02543909 0.81548958] [ 0.02457133 0.99968954 0.0041322 -0.01409668] [ 0.02533012 -0.0047547 0.99966783 -0.27757616] [ 0. 0. 0. 1. ]] SLAMing on 19.981346184 meters Centerline goodness [0,1] 0.8096846556480932 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.28 [[ 0.99937613 -0.02425731 -0.02566961 0.81543045] [ 0.02436561 0.99969545 0.00391485 -0.01479336] [ 0.02556683 -0.00453787 0.99966282 -0.27609716] [ 0. 0. 0. 1. ]] SLAMing on 20.011346183999997 meters Centerline goodness [0,1] 0.8239682007072245 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.28 [[ 0.99937997 -0.02393565 -0.02582189 0.81581208] [ 0.02404517 0.99970311 0.00393921 -0.01524219] [ 0.02571994 -0.00455766 0.9996588 -0.27567486] [ 0. 0. 0. 1. ]] SLAMing on 20.041346184 meters Centerline goodness [0,1] 0.8469008635047531 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.28 [[ 0.99939611 -0.02240482 -0.02656006 0.81840851] [ 0.02253374 0.99973566 0.00456439 -0.01757438] [ 0.02645078 -0.00516013 0.9996368 -0.27557028] [ 0. 0. 0. 1. ]] SLAMing on 20.071346184 meters Centerline goodness [0,1] 0.8597179487179487 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.28 [[ 0.99940085 -0.02163313 -0.0270175 0.81998964] [ 0.02176875 0.99975182 0.0047356 -0.01771526] [ 0.02690835 -0.0053209 0.99962374 -0.2756175 ] [ 0. 0. 0. 1. ]] SLAMing on 20.101346183999997 meters Centerline goodness [0,1] 0.8740666615349088 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.28 [[ 0.99940462 -0.02092122 -0.02743554 0.82126436] [ 0.02105754 0.99976727 0.00468941 -0.01684734] [ 0.02733104 -0.00526435 0.99961258 -0.27526501] [ 0. 0. 0. 1. ]] SLAMing on 20.131346183999998 meters Centerline goodness [0,1] 0.8845037873924766 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.27 [[ 0.99939889 -0.02042767 -0.02801004 0.82223325] [ 0.02054387 0.99978147 0.00386709 -0.01460941] [ 0.02792492 -0.0044402 0.99960016 -0.27351159] [ 0. 0. 0. 1. ]] SLAMing on 20.161346184 meters Centerline goodness [0,1] 0.8928818954231589 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.27 [[ 0.99938918 -0.01996171 -0.02868443 0.82336838] [ 0.02005859 0.99979402 0.00309386 -0.01252109] [ 0.02861676 -0.00366734 0.99958373 -0.2717585 ] [ 0. 0. 0. 1. ]] SLAMing on 20.191346183999997 meters Centerline goodness [0,1] 0.8997131000563554 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.01, Z:-0.27 [[ 0.99938852 -0.01851621 -0.02966048 0.82596359] [ 0.01862858 0.99982029 0.00351679 -0.01365958] [ 0.02959003 -0.00406717 0.99955384 -0.27092136] [ 0. 0. 0. 1. ]] SLAMing on 20.221346183999998 meters Centerline goodness [0,1] 0.9058781471834942 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.27 [[ 0.99938873 -0.01823036 -0.02982992 0.82629208] [ 0.01835543 0.99982382 0.00392423 -0.01593592] [ 0.02975312 -0.00446937 0.99954729 -0.27073309] [ 0. 0. 0. 1. ]] SLAMing on 20.251346184 meters Centerline goodness [0,1] 0.9080641058254897 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.27 [[ 0.99939011 -0.01779821 -0.03004386 0.82695316] [ 0.01794806 0.99982775 0.00472543 -0.01922532] [ 0.02995458 -0.00526178 0.99953741 -0.27100969] [ 0. 0. 0. 1. ]] SLAMing on 20.281346183999997 meters Centerline goodness [0,1] 0.9065384908827344 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.27 [[ 0.99939078 -0.0176566 -0.03010497 0.82699673] [ 0.01782364 0.99982716 0.00528921 -0.02210364] [ 0.03000638 -0.00582257 0.99953275 -0.27100495] [ 0. 0. 0. 1. ]] SLAMing on 20.311346183999998 meters Centerline goodness [0,1] 0.9080978809283552 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.02, Z:-0.27 [[ 0.99931211 -0.02084324 -0.03067369 0.82832343] [ 0.02089826 0.99978052 0.00147412 -0.0226746 ] [ 0.03063624 -0.00211413 0.99952836 -0.26961523] [ 0. 0. 0. 1. ]] SLAMing on 20.341346184 meters Centerline goodness [0,1] 0.9104055725210105 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:-0.27 [[ 0.9993159 -0.02090152 -0.03050989 0.82759127] [ 0.02096838 0.99977838 0.00187319 -0.02518911] [ 0.03046398 -0.00251165 0.99953271 -0.2692865 ] [ 0. 0. 0. 1. ]] SLAMing on 20.371346184 meters Centerline goodness [0,1] 0.9118348692966376 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.03, Z:-0.27 [[ 0.99931826 -0.02075743 -0.03053108 0.82765452] [ 0.02084753 0.99977919 0.00263573 -0.02918984] [ 0.03046963 -0.00327043 0.99953034 -0.26953187] [ 0. 0. 0. 1. ]] SLAMing on 20.401346183999998 meters Centerline goodness [0,1] 0.9069266747506743 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:-0.27 [[ 9.99238859e-01 -2.41746346e-02 -3.06151730e-02 8.28547061e-01] [ 2.41960566e-02 9.99707178e-01 3.29390605e-04 -3.80447448e-02] [ 3.05982453e-02 -1.06990635e-03 9.99531191e-01 -2.70300854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.431346184 meters Centerline goodness [0,1] 0.8968546052308749 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.04, Z:-0.27 [[ 0.99913799 -0.02769439 -0.03092409 0.82989092] [ 0.02762758 0.99961494 -0.00258591 -0.04133833] [ 0.0309838 0.00172933 0.99951839 -0.2709108 ] [ 0. 0. 0. 1. ]] SLAMing on 20.461346184 meters Centerline goodness [0,1] 0.8843332844359689 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:-0.27 [[ 0.99911187 -0.02893595 -0.03062965 0.82790216] [ 0.02887269 0.99957996 -0.00250544 -0.04672393] [ 0.03068928 0.00161886 0.99952766 -0.26991736] [ 0. 0. 0. 1. ]] SLAMing on 20.491346183999998 meters Centerline goodness [0,1] 0.8681291954470279 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.05, Z:-0.27 [[ 9.99090634e-01 -2.99739528e-02 -3.03227320e-02 8.26222439e-01] [ 2.99366685e-02 9.99550381e-01 -1.68292395e-03 -5.24449750e-02] [ 3.03595422e-02 7.73631978e-04 9.99538743e-01 -2.69879208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.521346184 meters Centerline goodness [0,1] 0.8385985204462758 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.06, Z:-0.27 [[ 0.99880882 -0.03838738 -0.03012228 0.82410425] [ 0.03815008 0.9992366 -0.00841381 -0.05890565] [ 0.03042227 0.00725462 0.99951081 -0.26745832] [ 0. 0. 0. 1. ]] SLAMing on 20.551346184 meters Centerline goodness [0,1] 0.8176129170946091 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.06, Z:-0.27 [[ 0.9986478 -0.04234339 -0.03015969 0.82429025] [ 0.04201674 0.99905206 -0.01138331 -0.06343942] [ 0.03061311 0.01010071 0.99948027 -0.26733034] [ 0. 0. 0. 1. ]] SLAMing on 20.581346183999997 meters Centerline goodness [0,1] 0.790781990521327 Centerline is valid? [False, False] Translation: X:0.83, Y:-0.07, Z:-0.27 [[ 0.99848751 -0.04595535 -0.03017928 0.82512754] [ 0.04555544 0.99886638 -0.01380795 -0.06879186] [ 0.03077961 0.01241223 0.99944912 -0.2682548 ] [ 0. 0. 0. 1. ]] SLAMing on 20.611346184 meters Centerline goodness [0,1] 0.7882692578510069 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.08, Z:-0.27 [[ 0.9984167 -0.05032723 -0.02512484 0.83868366] [ 0.05019914 0.99872294 -0.00570335 -0.0774429 ] [ 0.02537979 0.00443308 0.99966805 -0.273993 ] [ 0. 0. 0. 1. ]] SLAMing on 20.641346184 meters Centerline goodness [0,1] 0.7762614306271178 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.08, Z:-0.27 [[ 0.99820001 -0.05455825 -0.02490239 0.83785582] [ 0.05437482 0.99848866 -0.0079854 -0.08499676] [ 0.02530042 0.00661696 0.99965799 -0.27374693] [ 0. 0. 0. 1. ]] SLAMing on 20.671346183999997 meters Centerline goodness [0,1] 0.7693592539321672 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.09, Z:-0.27 [[ 0.99820194 -0.05456281 -0.02481487 0.83752351] [ 0.05440615 0.99849473 -0.00694545 -0.08909317] [ 0.02515648 0.00558288 0.99966794 -0.2740113 ] [ 0. 0. 0. 1. ]] SLAMing on 20.701346184 meters Centerline goodness [0,1] 0.7734563781557084 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.27 [[ 0.99822598 -0.05419788 -0.02464712 0.83708298] [ 0.05408207 0.99852221 -0.00534185 -0.09516099] [ 0.02490021 0.0039994 0.99968194 -0.27433312] [ 0. 0. 0. 1. ]] SLAMing on 20.731346184 meters Centerline goodness [0,1] 0.7790136507790596 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.27 [[ 0.99825077 -0.05356746 -0.02501849 0.8381985 ] [ 0.05347201 0.99855935 -0.00446891 -0.09736196] [ 0.02522184 0.0031233 0.999677 -0.27476654] [ 0. 0. 0. 1. ]] SLAMing on 20.761346183999997 meters Centerline goodness [0,1] 0.7857518822802481 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.28 [[ 0.99827982 -0.05283363 -0.0254168 0.83969625] [ 0.05275548 0.99860047 -0.00373609 -0.09856794] [ 0.02557862 0.00238879 0.99966996 -0.27551837] [ 0. 0. 0. 1. ]] SLAMing on 20.791346184 meters Centerline goodness [0,1] 0.7926090237599762 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.10, Z:-0.28 [[ 9.98484919e-01 -4.88093862e-02 -2.54069009e-02 8.39265995e-01] [ 4.88471448e-02 9.98805889e-01 8.67287584e-04 -1.02095657e-01] [ 2.53342304e-02 -2.10702814e-03 9.99676816e-01 -2.75804758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.821346184 meters Centerline goodness [0,1] 0.8207832706594516 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:-0.28 [[ 0.99870593 -0.04386945 -0.02572831 0.84026639] [ 0.04404073 0.99901094 0.00612865 -0.10562444] [ 0.025434 -0.00725382 0.99965019 -0.27688256] [ 0. 0. 0. 1. ]] SLAMing on 20.851346183999997 meters Centerline goodness [0,1] 0.8231717111452764 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:-0.28 [[ 0.99872978 -0.04299016 -0.02628051 0.8423928 ] [ 0.04318469 0.99904342 0.00687942 -0.10640563] [ 0.02595962 -0.00800559 0.99963094 -0.2780419 ] [ 0. 0. 0. 1. ]] SLAMing on 20.881346183999998 meters Centerline goodness [0,1] 0.8283171224077812 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.11, Z:-0.28 [[ 0.99874949 -0.04225783 -0.02671565 0.84413736] [ 0.04247003 0.99907014 0.00742599 -0.1067301 ] [ 0.026377 -0.00855132 0.99961549 -0.27896498] [ 0. 0. 0. 1. ]] SLAMing on 20.911346184 meters Centerline goodness [0,1] 0.8398971226490918 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99875902 -0.04181136 -0.02705989 0.84523655] [ 0.04203415 0.99908637 0.00771732 -0.10691373] [ 0.0267125 -0.00884518 0.99960402 -0.27933667] [ 0. 0. 0. 1. ]] SLAMing on 20.941346183999997 meters Centerline goodness [0,1] 0.8358297833356236 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.9987665 -0.04136455 -0.02746729 0.84637811] [ 0.04160307 0.99910082 0.00816963 -0.10805197] [ 0.02710466 -0.00930227 0.99958932 -0.27955746] [ 0. 0. 0. 1. ]] SLAMing on 20.971346183999998 meters Centerline goodness [0,1] 0.843241014363274 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99876027 -0.04149031 -0.0275041 0.8455607 ] [ 0.04173169 0.9990947 0.00826089 -0.10959306] [ 0.02713646 -0.00939845 0.99958756 -0.27826575] [ 0. 0. 0. 1. ]] SLAMing on 21.001346184 meters Centerline goodness [0,1] 0.8352012808783166 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99876212 -0.04121732 -0.02784516 0.84662896] [ 0.04147538 0.99910117 0.00875421 -0.11070327] [ 0.02745931 -0.00989826 0.99957391 -0.27877434] [ 0. 0. 0. 1. ]] SLAMing on 21.031346183999997 meters Centerline goodness [0,1] 0.8404891180362276 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99862566 -0.04413944 -0.02825777 0.84946706] [ 0.04433083 0.99899777 0.0061826 -0.11358171] [ 0.02795655 -0.00742679 0.99958155 -0.28085514] [ 0. 0. 0. 1. ]] SLAMing on 21.061346183999998 meters Centerline goodness [0,1] 0.8439051045034379 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99862966 -0.04402878 -0.02828888 0.84999704] [ 0.0442392 0.99899744 0.00685579 -0.11659614] [ 0.02795866 -0.00809788 0.99957628 -0.28162593] [ 0. 0. 0. 1. ]] SLAMing on 21.091346184 meters Centerline goodness [0,1] 0.8430054284870647 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99863192 -0.04396515 -0.02830805 0.85032346] [ 0.04418857 0.99899642 0.00731552 -0.11831387] [ 0.02795802 -0.00855641 0.99957248 -0.2821243 ] [ 0. 0. 0. 1. ]] SLAMing on 21.121346183999997 meters Centerline goodness [0,1] 0.8355379789990454 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.9986273 -0.04407606 -0.0282988 0.85029999] [ 0.04430135 0.99899093 0.00738384 -0.11852963] [ 0.02794479 -0.00862738 0.99957224 -0.28219937] [ 0. 0. 0. 1. ]] SLAMing on 21.151346183999998 meters Centerline goodness [0,1] 0.827458213781482 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99863317 -0.0437938 -0.02852896 0.85136903] [ 0.04403533 0.99899879 0.00789352 -0.11922264] [ 0.0281547 -0.00913901 0.9995618 -0.28303969] [ 0. 0. 0. 1. ]] SLAMing on 21.181346184 meters Centerline goodness [0,1] 0.8300389850215444 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99863353 -0.04372997 -0.02861405 0.85201211] [ 0.04397832 0.99899958 0.00810802 -0.11970848] [ 0.02823086 -0.00935534 0.99955765 -0.283733 ] [ 0. 0. 0. 1. ]] SLAMing on 21.211346184 meters Centerline goodness [0,1] 0.8181341599617077 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99863095 -0.0437001 -0.02874934 0.85259135] [ 0.04395572 0.99899884 0.0083199 -0.12054867] [ 0.02835697 -0.00957221 0.99955203 -0.28417628] [ 0. 0. 0. 1. ]] SLAMing on 21.241346183999998 meters Centerline goodness [0,1] 0.8233474364223647 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99862773 -0.04375448 -0.02877838 0.85297335] [ 0.04401219 0.99899582 0.00838308 -0.12097372] [ 0.02838269 -0.00963818 0.99955066 -0.28460827] [ 0. 0. 0. 1. ]] SLAMing on 21.271346184 meters Centerline goodness [0,1] 0.8174816570204622 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99860343 -0.04432485 -0.02874899 0.85249381] [ 0.04456055 0.9989777 0.00761023 -0.11943186] [ 0.02838228 -0.00888067 0.99955769 -0.28392817] [ 0. 0. 0. 1. ]] SLAMing on 21.301346184 meters Centerline goodness [0,1] 0.8133086453618616 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.9985909 -0.04453671 -0.02885651 0.85265673] [ 0.04475998 0.99897227 0.00713768 -0.11764532] [ 0.02850897 -0.00841924 0.99955808 -0.28376075] [ 0. 0. 0. 1. ]] SLAMing on 21.331346183999997 meters Centerline goodness [0,1] 0.8069494543628145 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.12, Z:-0.28 [[ 0.99857411 -0.04471296 -0.02916344 0.85329001] [ 0.04492927 0.998967 0.00680422 -0.11618011] [ 0.02882908 -0.00810481 0.9995515 -0.28369746] [ 0. 0. 0. 1. ]] SLAMing on 21.361346184 meters Centerline goodness [0,1] 0.8106815008126731 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99854298 -0.04553655 -0.02895422 0.85237488] [ 0.04572237 0.99893742 0.00578805 -0.11357523] [ 0.02865988 -0.00710347 0.99956398 -0.28310407] [ 0. 0. 0. 1. ]] SLAMing on 21.391346184 meters Centerline goodness [0,1] 0.8020462939597623 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99852554 -0.04593647 -0.02892398 0.85208538] [ 0.04610297 0.99892359 0.00511597 -0.11155559] [ 0.02865784 -0.00644191 0.99956852 -0.28265997] [ 0. 0. 0. 1. ]] SLAMing on 21.421346183999997 meters Centerline goodness [0,1] 0.7980237700386954 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.9985003 -0.04649533 -0.02890209 0.85149396] [ 0.04663531 0.9989032 0.00418802 -0.10889745] [ 0.02867567 -0.0055296 0.99957347 -0.281834 ] [ 0. 0. 0. 1. ]] SLAMing on 21.451346184 meters Centerline goodness [0,1] 0.7994646853872955 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.11, Z:-0.28 [[ 0.99848317 -0.04678624 -0.02902409 0.85156168] [ 0.04690683 0.99889318 0.00348759 -0.10636463] [ 0.02882879 -0.00484373 0.99957263 -0.28142665] [ 0. 0. 0. 1. ]] SLAMing on 21.481346184 meters Centerline goodness [0,1] 0.7991703552640727 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.28 [[ 0.99846763 -0.04709923 -0.02905273 0.85195114] [ 0.04719606 0.99888211 0.00265575 -0.10299407] [ 0.02889517 -0.00402286 0.99957435 -0.28171689] [ 0. 0. 0. 1. ]] SLAMing on 21.511346183999997 meters Centerline goodness [0,1] 0.77639146567718 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.28 [[ 0.99845756 -0.04732472 -0.02903219 0.8522218 ] [ 0.04740846 0.99887316 0.00220265 -0.10102024] [ 0.02889523 -0.00357563 0.99957605 -0.282152 ] [ 0. 0. 0. 1. ]] SLAMing on 21.541346184 meters Centerline goodness [0,1] 0.7674629784856105 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.10, Z:-0.28 [[ 0.99844122 -0.04749568 -0.02931361 0.85393498] [ 0.04756557 0.99886669 0.00169107 -0.09675949] [ 0.02920007 -0.00308275 0.99956883 -0.28387993] [ 0. 0. 0. 1. ]] SLAMing on 21.571346184 meters Centerline goodness [0,1] 0.7634393568682278 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.10, Z:-0.29 [[ 0.9984433 -0.04733147 -0.0295079 0.85540008] [ 0.04740662 0.99887396 0.00185216 -0.09588339] [ 0.029387 -0.00324815 0.99956283 -0.28539787] [ 0. 0. 0. 1. ]] SLAMing on 21.601346183999997 meters Centerline goodness [0,1] 0.7737997801838037 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:-0.29 [[ 0.99843383 -0.04761329 -0.02937448 0.8554908 ] [ 0.04767989 0.99886143 0.00157063 -0.09492749] [ 0.02926625 -0.00296874 0.99956724 -0.28599416] [ 0. 0. 0. 1. ]] SLAMing on 21.631346183999998 meters Centerline goodness [0,1] 0.7479373710856929 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:-0.29 [[ 0.9984218 -0.04793494 -0.02925993 0.85536169] [ 0.04799106 0.99884702 0.00121819 -0.09370866] [ 0.0291678 -0.00262048 0.99957109 -0.2862131 ] [ 0. 0. 0. 1. ]] SLAMing on 21.661346184 meters Centerline goodness [0,1] 0.7368964869434529 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.29 [[ 0.99842193 -0.05121301 -0.02304076 0.86733067] [ 0.0514126 0.9986442 0.00815461 -0.09152129] [ 0.0225919 -0.00932633 0.99970127 -0.29031888] [ 0. 0. 0. 1. ]] SLAMing on 21.691346183999997 meters Centerline goodness [0,1] 0.7567809802349168 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.29 [[ 0.99838853 -0.05190922 -0.02292992 0.86646187] [ 0.05208855 0.99861584 0.00729348 -0.08961859] [ 0.02251958 -0.00847612 0.99971047 -0.28944271] [ 0. 0. 0. 1. ]] SLAMing on 21.721346183999998 meters Centerline goodness [0,1] 0.7567809802349168 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.29 [[ 0.99838853 -0.05190922 -0.02292992 0.86646187] [ 0.05208855 0.99861584 0.00729348 -0.08961859] [ 0.02251958 -0.00847612 0.99971047 -0.28944271] [ 0. 0. 0. 1. ]] SLAMing on 21.751346184 meters Centerline goodness [0,1] 0.7511909815574738 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.29 [[ 0.99836587 -0.05239576 -0.02280935 0.86591358] [ 0.05256415 0.99859408 0.00684605 -0.08904068] [ 0.02241858 -0.00803382 0.99971639 -0.28911402] [ 0. 0. 0. 1. ]] SLAMing on 21.781346183999997 meters Centerline goodness [0,1] 0.7471326756973615 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.09, Z:-0.29 [[ 0.99834341 -0.0529139 -0.02259545 0.86511042] [ 0.05306972 0.9985706 0.00635275 -0.08831613] [ 0.022227 -0.00754136 0.99972451 -0.28868817] [ 0. 0. 0. 1. ]] SLAMing on 21.811346183999998 meters Centerline goodness [0,1] 0.7447327304578382 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.09, Z:-0.29 [[ 0.99830647 -0.05374975 -0.02225223 0.86371595] [ 0.0538809 0.99853311 0.00533653 -0.08590479] [ 0.02193275 -0.00652646 0.99973815 -0.28782215] [ 0. 0. 0. 1. ]] SLAMing on 21.841346184 meters Centerline goodness [0,1] 0.7409910442118197 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.29 [[ 0.99829457 -0.05394774 -0.02230685 0.8639968 ] [ 0.05407173 0.99852457 0.00499274 -0.08479111] [ 0.02200459 -0.0061904 0.9997387 -0.28798716] [ 0. 0. 0. 1. ]] SLAMing on 21.871346183999997 meters Centerline goodness [0,1] 0.7394287877712311 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.29 [[ 0.99828788 -0.05404904 -0.02236081 0.86428839] [ 0.0541665 0.99852095 0.00468028 -0.08358186] [ 0.02207477 -0.00588348 0.99973901 -0.28818454] [ 0. 0. 0. 1. ]] SLAMing on 21.901346183999998 meters Centerline goodness [0,1] 0.7404027165495055 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.29 [[ 0.99847165 -0.05055156 -0.02233604 0.8640547 ] [ 0.05074807 0.99867683 0.00832013 -0.08206005] [ 0.02188589 -0.00944092 0.9997159 -0.28907149] [ 0. 0. 0. 1. ]] SLAMing on 21.931346184 meters Centerline goodness [0,1] 0.7318465101841019 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.08, Z:-0.29 [[ 0.99846775 -0.05055557 -0.02250067 0.86467004] [ 0.0507406 0.99868196 0.00772906 -0.07936155] [ 0.02208027 -0.00885891 0.99971695 -0.28917708] [ 0. 0. 0. 1. ]] SLAMing on 21.961346184 meters Centerline goodness [0,1] 0.7449790041991602 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:-0.29 [[ 0.9984674 -0.05048055 -0.02268383 0.86531652] [ 0.05065569 0.99869013 0.00721342 -0.07708669] [ 0.02228998 -0.00835143 0.99971666 -0.28924594] [ 0. 0. 0. 1. ]] SLAMing on 21.991346183999998 meters Centerline goodness [0,1] 0.7507190106413575 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.08, Z:-0.29 [[ 0.99846866 -0.0503462 -0.02292587 0.86609052] [ 0.05051276 0.99870064 0.00674456 -0.07528154] [ 0.02255652 -0.00789229 0.99971442 -0.28918259] [ 0. 0. 0. 1. ]] SLAMing on 22.021346184 meters Centerline goodness [0,1] 0.7492851478962923 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.29 [[ 0.99846138 -0.05046056 -0.0229915 0.86605061] [ 0.05061257 0.99869987 0.00607798 -0.0734153 ] [ 0.02265491 -0.00723228 0.99971718 -0.28861473] [ 0. 0. 0. 1. ]] SLAMing on 22.051346184 meters Centerline goodness [0,1] 0.7575662347708374 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:-0.29 [[ 0.99862039 -0.04737499 -0.022648 0.86383217] [ 0.04758849 0.99882664 0.00898256 -0.07128221] [ 0.02219588 -0.01004795 0.99970315 -0.28738133] [ 0. 0. 0. 1. ]] SLAMing on 22.081346183999997 meters Centerline goodness [0,1] 0.7585948273776402 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:-0.29 [[ 0.99860635 -0.04742364 -0.02315927 0.86473271] [ 0.04762333 0.99883213 0.00814807 -0.06824502] [ 0.02274582 -0.00923964 0.99969858 -0.28666294] [ 0. 0. 0. 1. ]] SLAMing on 22.111346184 meters Centerline goodness [0,1] 0.7564030977640747 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.07, Z:-0.29 [[ 0.99859161 -0.04769822 -0.02323077 0.86475934] [ 0.04788238 0.9988253 0.00743613 -0.06595386] [ 0.02284879 -0.008538 0.99970247 -0.28632682] [ 0. 0. 0. 1. ]] SLAMing on 22.141346184 meters Centerline goodness [0,1] 0.7618628529519619 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.29 [[ 0.99857314 -0.04806609 -0.02326649 0.86497347] [ 0.04823274 0.99881395 0.00665495 -0.0627773 ] [ 0.02291901 -0.00776766 0.99970715 -0.28652035] [ 0. 0. 0. 1. ]] SLAMing on 22.171346183999997 meters Centerline goodness [0,1] 0.7379599235706237 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.29 [[ 0.99855598 -0.04836246 -0.02338848 0.86527704] [ 0.04851918 0.99880313 0.00618001 -0.06084567] [ 0.02306161 -0.00730588 0.99970735 -0.28664157] [ 0. 0. 0. 1. ]] SLAMing on 22.201346184 meters Centerline goodness [0,1] 0.7455456980659114 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.29 [[ 0.99854754 -0.04859209 -0.02327261 0.86541438] [ 0.04874695 0.99879233 0.00613368 -0.06069614] [ 0.02294645 -0.00725924 0.99971034 -0.2874047 ] [ 0. 0. 0. 1. ]] SLAMing on 22.231346184 meters Centerline goodness [0,1] 0.7445091229271633 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.29 [[ 0.99834908 -0.05252528 -0.02324244 0.86678263] [ 0.05258944 0.99861389 0.00215748 -0.06017738] [ 0.0230969 -0.00337623 0.99972753 -0.28865807] [ 0. 0. 0. 1. ]] SLAMing on 22.261346183999997 meters Centerline goodness [0,1] 0.7299568754287955 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.29 [[ 0.99831929 -0.05329962 -0.02275411 0.86518376] [ 0.05335069 0.99857449 0.00164274 -0.05934301] [ 0.02263412 -0.00285393 0.99973974 -0.28822847] [ 0. 0. 0. 1. ]] SLAMing on 22.291346184 meters Centerline goodness [0,1] 0.7327856792545365 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.29 [[ 0.99829068 -0.05388962 -0.02261902 0.8643431 ] [ 0.05392787 0.99854425 0.00108388 -0.05760846] [ 0.02252768 -0.00230182 0.99974357 -0.28765385] [ 0. 0. 0. 1. ]] SLAMing on 22.321346184 meters Centerline goodness [0,1] 0.7283874772693764 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.29 [[ 9.98275879e-01 -5.41753578e-02 -2.25898307e-02 8.63940006e-01] [ 5.42080554e-02 9.98529311e-01 8.37164766e-04 -5.67308772e-02] [ 2.25112544e-02 -2.06027219e-03 9.99744467e-01 -2.87257141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.351346183999997 meters Centerline goodness [0,1] 0.719868103745263 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.29 [[ 9.98259034e-01 -5.45517692e-02 -2.24277781e-02 8.63153183e-01] [ 5.45759058e-02 9.98509516e-01 4.65060424e-04 -5.62313485e-02] [ 2.23689800e-02 -1.68826707e-03 9.99748358e-01 -2.86671313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.381346183999998 meters Centerline goodness [0,1] 0.7317741776153315 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 9.98237319e-01 -5.50052929e-02 -2.22861696e-02 8.62012635e-01] [ 5.50065738e-02 9.98485838e-01 -5.56001925e-04 -5.38432533e-02] [ 2.22830078e-02 -6.70863962e-04 9.99751478e-01 -2.85145313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.411346184 meters Centerline goodness [0,1] 0.7128224114525484 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 9.98239953e-01 -5.47391992e-02 -2.28170033e-02 8.63454406e-01] [ 5.47370642e-02 9.98500545e-01 -7.18576492e-04 -5.22733561e-02] [ 2.28221245e-02 -5.31624009e-04 9.99739400e-01 -2.85291731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.441346183999997 meters Centerline goodness [0,1] 0.7296854846710983 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 0.99843095 -0.05105617 -0.02299786 0.86351182] [ 0.05115037 0.99868474 0.00352643 -0.05281784] [ 0.02278757 -0.00469724 0.99972929 -0.28628621] [ 0. 0. 0. 1. ]] SLAMing on 22.471346183999998 meters Centerline goodness [0,1] 0.728449025207997 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 0.99842908 -0.05098158 -0.02324319 0.86433558] [ 0.05107226 0.99868943 0.00332421 -0.05163676] [ 0.02304326 -0.00450608 0.99972431 -0.28656206] [ 0. 0. 0. 1. ]] SLAMing on 22.501346184 meters Centerline goodness [0,1] 0.7286165791503869 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 0.99842594 -0.05095102 -0.02344421 0.86493549] [ 0.05103341 0.99869265 0.00292902 -0.04991253] [ 0.02326432 -0.00412085 0.99972086 -0.28656412] [ 0. 0. 0. 1. ]] SLAMing on 22.531346183999997 meters Centerline goodness [0,1] 0.7302239828587089 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.29 [[ 0.99842418 -0.05093611 -0.02355131 0.86517491] [ 0.05101023 0.99869486 0.00255688 -0.04831751] [ 0.02339034 -0.00375421 0.99971936 -0.28636637] [ 0. 0. 0. 1. ]] SLAMing on 22.561346183999998 meters Centerline goodness [0,1] 0.7338818249813015 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 0.99842232 -0.05104738 -0.02338861 0.86452389] [ 0.0511087 0.99869103 0.00203097 -0.04759225] [ 0.02325432 -0.00322313 0.99972439 -0.28556663] [ 0. 0. 0. 1. ]] SLAMing on 22.591346184 meters Centerline goodness [0,1] 0.7264895550631179 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.29 [[ 0.99841459 -0.05126923 -0.02323289 0.86385401] [ 0.05132676 0.99868013 0.00188601 -0.04810713] [ 0.02310553 -0.00307549 0.9997283 -0.28509334] [ 0. 0. 0. 1. ]] SLAMing on 22.621346183999997 meters Centerline goodness [0,1] 0.7263457079458475 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.28 [[ 0.998393 -0.05175132 -0.02309148 0.86267597] [ 0.05179375 0.99865703 0.00124288 -0.04723394] [ 0.02299615 -0.00243687 0.99973258 -0.28377349] [ 0. 0. 0. 1. ]] SLAMing on 22.651346183999998 meters Centerline goodness [0,1] 0.7392499312895086 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.28 [[ 9.98362805e-01 -5.23209676e-02 -2.31133405e-02 8.61404228e-01] [ 5.23351570e-02 9.98629577e-01 9.01563554e-06 -4.44804002e-02] [ 2.30811937e-02 -1.21864118e-03 9.99732851e-01 -2.81474948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.681346184 meters Centerline goodness [0,1] 0.7445531180428746 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.28 [[ 0.99834649 -0.05239587 -0.02364224 0.86114085] [ 0.05233703 0.99862466 -0.00310092 -0.03884516] [ 0.0237722 0.00185843 0.99971567 -0.27592337] [ 0. 0. 0. 1. ]] SLAMing on 22.711346184 meters Centerline goodness [0,1] 0.7434070208014454 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.28 [[ 0.99835699 -0.0520953 -0.02386197 0.8617586 ] [ 0.05203618 0.99864041 -0.00309244 -0.03886332] [ 0.02399063 0.00184567 0.99971048 -0.27585213] [ 0. 0. 0. 1. ]] SLAMing on 22.741346183999998 meters Centerline goodness [0,1] 0.752347094609819 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.28 [[ 0.99838621 -0.05140168 -0.02414204 0.86326463] [ 0.05135699 0.99867731 -0.00246785 -0.04019901] [ 0.02423696 0.001224 0.99970549 -0.27687695] [ 0. 0. 0. 1. ]] SLAMing on 22.771346184 meters Centerline goodness [0,1] 0.7564549720221815 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.28 [[ 9.98431896e-01 -5.02701818e-02 -2.46304115e-02 8.65819602e-01] [ 5.02423790e-02 9.98735527e-01 -1.74673105e-03 -3.98439003e-02] [ 2.46870755e-02 5.06501523e-04 9.99695099e-01 -2.78628064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.801346184 meters Centerline goodness [0,1] 0.7563342047054092 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.28 [[ 0.99861241 -0.04659739 -0.02453433 0.86503816] [ 0.0466738 0.99890693 0.00255086 -0.04118477] [ 0.02438865 -0.00369243 0.99969573 -0.27907511] [ 0. 0. 0. 1. ]] SLAMing on 22.831346183999997 meters Centerline goodness [0,1] 0.7585565195523701 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.28 [[ 0.99861688 -0.04631456 -0.02488538 0.86603108] [ 0.04639293 0.99891993 0.00258079 -0.04035099] [ 0.02473897 -0.00373172 0.99968698 -0.2791764 ] [ 0. 0. 0. 1. ]] SLAMing on 22.861346184 meters Centerline goodness [0,1] 0.7567425041434384 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.28 [[ 0.998621 -0.0461648 -0.02499806 0.86635108] [ 0.04624746 0.99892626 0.00273811 -0.04058779] [ 0.02484481 -0.00389043 0.99968375 -0.27927298] [ 0. 0. 0. 1. ]] SLAMing on 22.891346184 meters Centerline goodness [0,1] 0.751025102510251 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.28 [[ 0.99862926 -0.04598128 -0.02500652 0.86653099] [ 0.04608194 0.99893166 0.00346399 -0.0434596 ] [ 0.02482053 -0.00461159 0.99968129 -0.27972471] [ 0. 0. 0. 1. ]] SLAMing on 22.921346183999997 meters Centerline goodness [0,1] 0.7626725235230988 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99863021 -0.04604809 -0.02484488 0.86634784] [ 0.04616064 0.99892612 0.00397537 -0.04582688] [ 0.02463514 -0.00511678 0.99968341 -0.28021647] [ 0. 0. 0. 1. ]] SLAMing on 22.951346184 meters Centerline goodness [0,1] 0.7555943184649888 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99861947 -0.0464128 -0.02459672 0.86538873] [ 0.04652786 0.99890847 0.00412594 -0.04786978] [ 0.02437837 -0.00526468 0.99968894 -0.27987865] [ 0. 0. 0. 1. ]] SLAMing on 22.981346184 meters Centerline goodness [0,1] 0.7504979583706802 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.28 [[ 0.99859408 -0.04714956 -0.02422366 0.86355771] [ 0.04725973 0.99887464 0.00399526 -0.04992764] [ 0.02400802 -0.00513445 0.99969858 -0.27878648] [ 0. 0. 0. 1. ]] SLAMing on 23.011346183999997 meters Centerline goodness [0,1] 0.7418066340834099 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.28 [[ 0.99859502 -0.04706868 -0.02434194 0.86369062] [ 0.04718326 0.99887761 0.00415406 -0.0508545 ] [ 0.0241191 -0.00529675 0.99969506 -0.27850498] [ 0. 0. 0. 1. ]] SLAMing on 23.041346184 meters Centerline goodness [0,1] 0.7536857781087118 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.28 [[ 0.99860069 -0.04681378 -0.02459924 0.86445801] [ 0.04693352 0.99888871 0.00431264 -0.05098721] [ 0.02437001 -0.00546114 0.99968809 -0.27869983] [ 0. 0. 0. 1. ]] SLAMing on 23.071346184 meters Centerline goodness [0,1] 0.7490272855691309 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99860651 -0.04649151 -0.02497163 0.86536148] [ 0.04661039 0.99890432 0.0041995 -0.05011875] [ 0.02474903 -0.00535759 0.99967934 -0.27849821] [ 0. 0. 0. 1. ]] SLAMing on 23.101346183999997 meters Centerline goodness [0,1] 0.7747252747252747 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99880394 -0.04180805 -0.02535301 0.86658427] [ 0.04204076 0.99907787 0.00871631 -0.05037146] [ 0.02496522 -0.00977175 0.99964056 -0.27961368] [ 0. 0. 0. 1. ]] SLAMing on 23.131346183999998 meters Centerline goodness [0,1] 0.7810661214720256 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99881322 -0.04138692 -0.02567623 0.86768349] [ 0.04162206 0.99909562 0.00869173 -0.04971113] [ 0.02529328 -0.00975011 0.99963253 -0.27980969] [ 0. 0. 0. 1. ]] SLAMing on 23.161346184 meters Centerline goodness [0,1] 0.7978249508498618 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99881832 -0.04115067 -0.02585697 0.86815217] [ 0.04138292 0.9991071 0.00851161 -0.0492174 ] [ 0.02548362 -0.00957159 0.99962942 -0.27955142] [ 0. 0. 0. 1. ]] SLAMing on 23.191346183999997 meters Centerline goodness [0,1] 0.7963387297633873 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99881366 -0.04117507 -0.02599771 0.86797009] [ 0.0413918 0.99911212 0.00785384 -0.04794182] [ 0.02565124 -0.00892062 0.99963115 -0.27837786] [ 0. 0. 0. 1. ]] SLAMing on 23.221346183999998 meters Centerline goodness [0,1] 0.809180246299291 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99880317 -0.04144461 -0.02597258 0.86656838] [ 0.04162639 0.99911212 0.00649776 -0.04575127] [ 0.02568022 -0.00757113 0.99964154 -0.2754914 ] [ 0. 0. 0. 1. ]] SLAMing on 23.251346184 meters Centerline goodness [0,1] 0.8214099346470194 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.28 [[ 0.99880151 -0.04152855 -0.02590218 0.866131 ] [ 0.0417088 0.99910894 0.00645759 -0.04658911] [ 0.02561092 -0.0075302 0.99964362 -0.27502514] [ 0. 0. 0. 1. ]] SLAMing on 23.281346183999997 meters Centerline goodness [0,1] 0.7992165030248934 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.9987744 -0.04241022 -0.02551599 0.86419187] [ 0.0425838 0.99907305 0.00629828 -0.04988622] [ 0.02522522 -0.00737712 0.99965457 -0.27386824] [ 0. 0. 0. 1. ]] SLAMing on 23.311346183999998 meters Centerline goodness [0,1] 0.8066625386996904 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.9987562 -0.04299198 -0.02525354 0.86266238] [ 0.04315522 0.99905063 0.00595485 -0.05046213] [ 0.02497356 -0.00703727 0.99966334 -0.27265963] [ 0. 0. 0. 1. ]] SLAMing on 23.341346184 meters Centerline goodness [0,1] 0.7845603650265137 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99873639 -0.04340367 -0.02533281 0.86176597] [ 0.0435529 0.9990367 0.00536886 -0.05011574] [ 0.02507538 -0.00646539 0.99966466 -0.27095143] [ 0. 0. 0. 1. ]] SLAMing on 23.371346183999997 meters Centerline goodness [0,1] 0.8013124136569962 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99872285 -0.04380295 -0.02517862 0.86061916] [ 0.04393773 0.99902262 0.00482462 -0.04942605] [ 0.02494268 -0.00592475 0.99967133 -0.26968805] [ 0. 0. 0. 1. ]] SLAMing on 23.401346183999998 meters Centerline goodness [0,1] 0.7987073856628348 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99872302 -0.04373882 -0.02528324 0.86065299] [ 0.04387593 0.999025 0.00489369 -0.04997756] [ 0.02504454 -0.00599677 0.99966835 -0.26936158] [ 0. 0. 0. 1. ]] SLAMing on 23.431346184 meters Centerline goodness [0,1] 0.816213680910415 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99874826 -0.04305894 -0.02545258 0.86170022] [ 0.04320742 0.999052 0.00531244 -0.05083225] [ 0.02519971 -0.00640553 0.99966191 -0.26998388] [ 0. 0. 0. 1. ]] SLAMing on 23.461346184 meters Centerline goodness [0,1] 0.8324181912195603 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99874917 -0.04283801 -0.0257876 0.86216502] [ 0.04297793 0.99906402 0.0048963 -0.05005924] [ 0.02555371 -0.00599847 0.99965545 -0.26907549] [ 0. 0. 0. 1. ]] SLAMing on 23.491346183999998 meters Centerline goodness [0,1] 0.8249247916358435 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99875601 -0.04250932 -0.02606511 0.86276757] [ 0.04264906 0.99907845 0.00482868 -0.04947298] [ 0.02583583 -0.00593433 0.99964859 -0.26876718] [ 0. 0. 0. 1. ]] SLAMing on 23.521346184 meters Centerline goodness [0,1] 0.8450977980071349 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99876441 -0.04219022 -0.0262611 0.86314749] [ 0.04233505 0.99909104 0.00498348 -0.04981175] [ 0.02602697 -0.00608908 0.9996427 -0.2685081 ] [ 0. 0. 0. 1. ]] SLAMing on 23.551346184 meters Centerline goodness [0,1] 0.843142071133818 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99876143 -0.04228194 -0.02622684 0.86295878] [ 0.04242725 0.999087 0.00500874 -0.05010632] [ 0.02599111 -0.00611527 0.99964347 -0.26837766] [ 0. 0. 0. 1. ]] SLAMing on 23.581346183999997 meters Centerline goodness [0,1] 0.8356248465504542 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99875757 -0.04242446 -0.02614349 0.86269582] [ 0.04257387 0.99907987 0.00518512 -0.05086092] [ 0.02589946 -0.0062917 0.99964475 -0.26844957] [ 0. 0. 0. 1. ]] SLAMing on 23.611346184 meters Centerline goodness [0,1] 0.8356248465504542 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99875757 -0.04242446 -0.02614349 0.86269582] [ 0.04257387 0.99907987 0.00518512 -0.05086092] [ 0.02589946 -0.0062917 0.99964475 -0.26844957] [ 0. 0. 0. 1. ]] SLAMing on 23.641346184 meters Centerline goodness [0,1] 0.8155886094529797 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99856916 -0.04665188 -0.02613869 0.86319081] [ 0.04671266 0.99890689 0.00171891 -0.05325831] [ 0.02602992 -0.00293745 0.99965685 -0.26900886] [ 0. 0. 0. 1. ]] SLAMing on 23.671346183999997 meters Centerline goodness [0,1] 0.8173456940717247 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99853067 -0.04753464 -0.02601847 0.86264526] [ 0.04760083 0.99886457 0.00193011 -0.05700423] [ 0.02589718 -0.00316577 0.9996596 -0.26940962] [ 0. 0. 0. 1. ]] SLAMing on 23.701346184 meters Centerline goodness [0,1] 0.7822802030950124 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99850667 -0.04814535 -0.02581577 0.86227694] [ 0.04822384 0.99883361 0.002426 -0.06019729] [ 0.02566886 -0.00366731 0.99966377 -0.27027744] [ 0. 0. 0. 1. ]] SLAMing on 23.731346184 meters Centerline goodness [0,1] 0.7703044767483909 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98293511e-01 -5.23972133e-02 -2.57798095e-02 8.62947956e-01] [ 5.23820727e-02 9.98626318e-01 -1.26272882e-03 -6.08008904e-02] [ 2.58105597e-02 -8.98258749e-05 9.99666848e-01 -2.70993116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.761346183999997 meters Centerline goodness [0,1] 0.7695633272147618 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98275961e-01 -5.29103338e-02 -2.54087201e-02 8.61783129e-01] [ 5.28946553e-02 9.98599266e-01 -1.28922849e-03 -6.16438730e-02] [ 2.54413427e-02 -5.69796828e-05 9.99676315e-01 -2.70840948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.791346184 meters Centerline goodness [0,1] 0.7595972765464291 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98270713e-01 -5.31482477e-02 -2.51166685e-02 8.61133416e-01] [ 5.31363178e-02 9.98586614e-01 -1.14262196e-03 -6.20906149e-02] [ 2.51418973e-02 -1.93961247e-04 9.99683874e-01 -2.71059110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.821346184 meters Centerline goodness [0,1] 0.7395790739627179 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98264127e-01 -5.32703298e-02 -2.51198046e-02 8.60540912e-01] [ 5.32520597e-02 9.98580126e-01 -1.39618242e-03 -6.18086470e-02] [ 2.51585128e-02 5.60774929e-05 9.99683473e-01 -2.70036886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.851346183999997 meters Centerline goodness [0,1] 0.7688068537324927 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98273237e-01 -5.30012404e-02 -2.53261399e-02 8.61097974e-01] [ 5.29818955e-02 9.98594442e-01 -1.43471521e-03 -6.14556781e-02] [ 2.53665842e-02 9.04109047e-05 9.99678212e-01 -2.69905507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.881346183999998 meters Centerline goodness [0,1] 0.772037937509027 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98288625e-01 -5.25400300e-02 -2.56781427e-02 8.62106066e-01] [ 5.25220797e-02 9.98618819e-01 -1.37346270e-03 -6.09895275e-02] [ 2.57148383e-02 2.24427350e-05 9.99669319e-01 -2.69915606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.911346184 meters Centerline goodness [0,1] 0.7826693274987377 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 9.98302412e-01 -5.20341199e-02 -2.61676166e-02 8.63431620e-01] [ 5.20172284e-02 9.98645307e-01 -1.32625930e-03 -6.01444772e-02] [ 2.62011783e-02 -3.71590337e-05 9.99656690e-01 -2.69900532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.941346183999997 meters Centerline goodness [0,1] 0.781842753028621 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99849226 -0.04841478 -0.02586905 0.86189733] [ 0.04849932 0.9988197 0.00265046 -0.06000167] [ 0.0257102 -0.0039011 0.99966183 -0.26974025] [ 0. 0. 0. 1. ]] SLAMing on 23.971346183999998 meters Centerline goodness [0,1] 0.7924919780935608 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99848649 -0.04853098 -0.02587406 0.86177666] [ 0.04860908 0.998815 0.00239777 -0.05916965] [ 0.02572703 -0.00365186 0.99966233 -0.26947455] [ 0. 0. 0. 1. ]] SLAMing on 24.001346184 meters Centerline goodness [0,1] 0.7850180940892642 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99849049 -0.04852567 -0.02572941 0.86175815] [ 0.04860966 0.99881434 0.00264855 -0.05999633] [ 0.02557038 -0.00389525 0.99966544 -0.26999216] [ 0. 0. 0. 1. ]] SLAMing on 24.031346183999997 meters Centerline goodness [0,1] 0.7884943625742241 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99849725 -0.04851521 -0.02548551 0.86167745] [ 0.04861159 0.99881271 0.00317569 -0.06246545] [ 0.02530118 -0.00440981 0.99967015 -0.27084967] [ 0. 0. 0. 1. ]] SLAMing on 24.061346183999998 meters Centerline goodness [0,1] 0.7700942217094511 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99850492 -0.0483616 -0.02547686 0.86185601] [ 0.04846035 0.99881975 0.00327238 -0.06276652] [ 0.02528854 -0.00450211 0.99967006 -0.27099232] [ 0. 0. 0. 1. ]] SLAMing on 24.091346184 meters Centerline goodness [0,1] 0.8007256824298347 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99849849 -0.04845839 -0.02554495 0.86148461] [ 0.04854313 0.99881742 0.00270763 -0.06138049] [ 0.02538353 -0.0039436 0.99967001 -0.26995517] [ 0. 0. 0. 1. ]] SLAMing on 24.121346183999997 meters Centerline goodness [0,1] 0.8043331240036713 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99866292 -0.04517575 -0.02513003 0.85914011] [ 0.04534681 0.99895157 0.00627904 -0.06188811] [ 0.02482002 -0.00741021 0.99966447 -0.26886093] [ 0. 0. 0. 1. ]] SLAMing on 24.151346183999998 meters Centerline goodness [0,1] 0.8123577550723936 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99868713 -0.04431637 -0.02569199 0.86057253] [ 0.04446674 0.99899675 0.00531097 -0.05713336] [ 0.02543085 -0.00644644 0.9996558 -0.26760297] [ 0. 0. 0. 1. ]] SLAMing on 24.181346184 meters Centerline goodness [0,1] 0.8198178559317928 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.06, Z:-0.27 [[ 0.99869278 -0.04392831 -0.02613479 0.86190603] [ 0.04407704 0.9990149 0.00514188 -0.05558909] [ 0.02588317 -0.0062871 0.9996452 -0.26777576] [ 0. 0. 0. 1. ]] SLAMing on 24.211346184 meters Centerline goodness [0,1] 0.8284578657812462 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.05, Z:-0.27 [[ 0.99869611 -0.043636 -0.02649483 0.86319758] [ 0.04378703 0.99902763 0.00514679 -0.05456811] [ 0.02624448 -0.00630021 0.9996357 -0.26840416] [ 0. 0. 0. 1. ]] SLAMing on 24.241346183999998 meters Centerline goodness [0,1] 0.8307146846693703 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871278 -0.04284963 -0.02714195 0.86604862] [ 0.04301982 0.99905786 0.00571753 -0.05409978] [ 0.02687138 -0.00687781 0.99961524 -0.27040152] [ 0. 0. 0. 1. ]] SLAMing on 24.271346184 meters Centerline goodness [0,1] 0.8276448026411614 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871754 -0.04262889 -0.02731384 0.86718234] [ 0.04280859 0.9990651 0.00602843 -0.05438035] [ 0.02703132 -0.00718996 0.99960873 -0.27147446] [ 0. 0. 0. 1. ]] SLAMing on 24.301346184 meters Centerline goodness [0,1] 0.8370130817487721 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871725 -0.04262117 -0.02733666 0.86757547] [ 0.04280355 0.99906476 0.0061211 -0.05448065] [ 0.0270502 -0.00728335 0.99960754 -0.27200127] [ 0. 0. 0. 1. ]] SLAMing on 24.331346183999997 meters Centerline goodness [0,1] 0.8254785735108348 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871583 -0.04256012 -0.02748338 0.86842288] [ 0.0427473 0.99906631 0.00625894 -0.05443879] [ 0.02719133 -0.00742574 0.99960267 -0.27283484] [ 0. 0. 0. 1. ]] SLAMing on 24.361346184 meters Centerline goodness [0,1] 0.8208882500548152 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871402 -0.0425419 -0.02757707 0.86905906] [ 0.04273632 0.99906525 0.00649911 -0.0548638 ] [ 0.02727481 -0.0076693 0.99959855 -0.27361977] [ 0. 0. 0. 1. ]] SLAMing on 24.391346184 meters Centerline goodness [0,1] 0.8040369649805448 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99871131 -0.04251161 -0.02772135 0.86984025] [ 0.04270741 0.99906642 0.00650945 -0.05443417] [ 0.02741874 -0.00768497 0.99959449 -0.27427117] [ 0. 0. 0. 1. ]] SLAMing on 24.421346183999997 meters Centerline goodness [0,1] 0.8196204850172174 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99870023 -0.04273179 -0.02778213 0.86985651] [ 0.04291314 0.999061 0.00596419 -0.05225187] [ 0.02750118 -0.00714866 0.99959621 -0.27400323] [ 0. 0. 0. 1. ]] SLAMing on 24.451346184 meters Centerline goodness [0,1] 0.8125781230852185 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.9986685 -0.0432676 -0.02809153 0.86923209] [ 0.04339299 0.99905059 0.00386903 -0.04713154] [ 0.02789745 -0.00508285 0.99959787 -0.27100353] [ 0. 0. 0. 1. ]] SLAMing on 24.481346184 meters Centerline goodness [0,1] 0.8159423487021105 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99866789 -0.04328719 -0.02808314 0.86913421] [ 0.04341047 0.99905012 0.00379461 -0.04751989] [ 0.02789221 -0.00500866 0.99959839 -0.27076801] [ 0. 0. 0. 1. ]] SLAMing on 24.511346183999997 meters Centerline goodness [0,1] 0.8124007136398075 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99867119 -0.04326516 -0.02799954 0.8692386 ] [ 0.04339504 0.99904979 0.0040476 -0.04898718] [ 0.02779782 -0.00525727 0.99959974 -0.27117784] [ 0. 0. 0. 1. ]] SLAMing on 24.541346184 meters Centerline goodness [0,1] 0.8036746943854769 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99866017 -0.04371461 -0.02769299 0.86810487] [ 0.0438334 0.99903202 0.0036967 -0.04904784] [ 0.02750459 -0.00490562 0.99960964 -0.27050895] [ 0. 0. 0. 1. ]] SLAMing on 24.571346184 meters Centerline goodness [0,1] 0.8063648149507106 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99864784 -0.04410581 -0.02751661 0.86733871] [ 0.04421099 0.99901701 0.00322568 -0.04746611] [ 0.02734729 -0.00443786 0.99961614 -0.26994484] [ 0. 0. 0. 1. ]] SLAMing on 24.601346183999997 meters Centerline goodness [0,1] 0.8031844641197476 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99862353 -0.04471272 -0.0274194 0.86613227] [ 0.04480111 0.9989925 0.00261751 -0.04643501] [ 0.02727474 -0.00384232 0.99962059 -0.26864866] [ 0. 0. 0. 1. ]] SLAMing on 24.631346183999998 meters Centerline goodness [0,1] 0.7912036810416565 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99861152 -0.0451044 -0.02721453 0.86525893] [ 0.04518983 0.99897521 0.00253222 -0.04667702] [ 0.02707243 -0.00375853 0.99962641 -0.26825632] [ 0. 0. 0. 1. ]] SLAMing on 24.661346184 meters Centerline goodness [0,1] 0.7763078043451875 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 9.98424153e-01 -4.89196012e-02 -2.74969829e-02 8.66537644e-01] [ 4.89091351e-02 9.98802677e-01 -1.05345812e-03 -4.76883581e-02] [ 2.75155949e-02 -2.93055622e-04 9.99621331e-01 -2.68515516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.691346183999997 meters Centerline goodness [0,1] 0.7718596133789323 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 9.98422625e-01 -4.90497751e-02 -2.73199964e-02 8.66703576e-01] [ 4.90592667e-02 9.98795817e-01 -3.23145742e-04 -5.15506236e-02] [ 2.73029483e-02 -1.01766297e-03 9.99626687e-01 -2.69687822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.721346183999998 meters Centerline goodness [0,1] 0.7698891031822566 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99824109 -0.05244664 -0.02764196 0.86888996] [ 0.05236424 0.99862121 -0.00369697 -0.05313383] [ 0.02779774 0.00224302 0.99961105 -0.27080149] [ 0. 0. 0. 1. ]] SLAMing on 24.751346184 meters Centerline goodness [0,1] 0.7431721553649924 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 9.98236623e-01 -5.26210973e-02 -2.74711616e-02 8.69227741e-01] [ 5.25744587e-02 9.98614080e-01 -2.41775629e-03 -5.77260080e-02] [ 2.75603137e-02 9.69211426e-04 9.99619673e-01 -2.72887749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.781346183999997 meters Centerline goodness [0,1] 0.756509381699063 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99840268 -0.04949982 -0.02723703 0.86773427] [ 0.04956314 0.99876962 0.00165409 -0.05888219] [ 0.02712164 -0.0030014 0.99962763 -0.27310368] [ 0. 0. 0. 1. ]] SLAMing on 24.811346183999998 meters Centerline goodness [0,1] 0.7635429976614673 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99839891 -0.04918267 -0.02794063 0.86938824] [ 0.04924501 0.99878553 0.00154711 -0.05633445] [ 0.02783061 -0.00292057 0.99960839 -0.27305856] [ 0. 0. 0. 1. ]] SLAMing on 24.841346184 meters Centerline goodness [0,1] 0.7705621409352047 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99858503 -0.04531262 -0.02783353 0.86805973] [ 0.04548047 0.99895049 0.00542673 -0.05661807] [ 0.02755842 -0.00668493 0.99959784 -0.27220394] [ 0. 0. 0. 1. ]] SLAMing on 24.871346183999997 meters Centerline goodness [0,1] 0.7878758604033329 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.9985987 -0.04496586 -0.02790533 0.86837172] [ 0.04513373 0.99896628 0.00541491 -0.05712274] [ 0.027633 -0.00666679 0.9995959 -0.27197063] [ 0. 0. 0. 1. ]] SLAMing on 24.901346183999998 meters Centerline goodness [0,1] 0.7956426279344705 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99861352 -0.04451869 -0.02809145 0.86891785] [ 0.044687 0.99898648 0.00539229 -0.05731654] [ 0.02782292 -0.00664014 0.99959081 -0.27166164] [ 0. 0. 0. 1. ]] SLAMing on 24.931346184 meters Centerline goodness [0,1] 0.79931223209745 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99878475 -0.04055377 -0.02800754 0.86812127] [ 0.04081985 0.99912604 0.00899459 -0.05627462] [ 0.0276183 -0.01012692 0.99956724 -0.27121289] [ 0. 0. 0. 1. ]] SLAMing on 24.961346184 meters Centerline goodness [0,1] 0.8099869040112528 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99876942 -0.04059182 -0.02849471 0.86883099] [ 0.04083331 0.99913439 0.00794436 -0.05258361] [ 0.02814757 -0.00909812 0.99956237 -0.27013273] [ 0. 0. 0. 1. ]] SLAMing on 24.991346183999998 meters Centerline goodness [0,1] 0.8028097124662762 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99875648 -0.04073952 -0.02873639 0.86922331] [ 0.04096098 0.99913509 0.00716045 -0.04952626] [ 0.02841983 -0.00832862 0.99956138 -0.26966739] [ 0. 0. 0. 1. ]] SLAMing on 25.021346184 meters Centerline goodness [0,1] 0.8045199120449548 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99874731 -0.04086107 -0.02888225 0.86995447] [ 0.0410692 0.99913418 0.00664984 -0.04672593] [ 0.02858552 -0.00782768 0.9995607 -0.27015936] [ 0. 0. 0. 1. ]] SLAMing on 25.051346184 meters Centerline goodness [0,1] 0.7950961515025957 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99874319 -0.04102941 -0.02878582 0.87009733] [ 0.04124018 0.99912635 0.00676664 -0.04797918] [ 0.02848304 -0.00794526 0.9995627 -0.27080612] [ 0. 0. 0. 1. ]] SLAMing on 25.081346183999997 meters Centerline goodness [0,1] 0.7918843693539723 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99873473 -0.04141724 -0.02852274 0.86963976] [ 0.04162951 0.99910937 0.00688852 -0.04968019] [ 0.02821203 -0.00806719 0.99956941 -0.27130392] [ 0. 0. 0. 1. ]] SLAMing on 25.111346184 meters Centerline goodness [0,1] 0.7846968144787551 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99872069 -0.0420014 -0.02815789 0.86855091] [ 0.04220694 0.99908612 0.00674542 -0.05104544] [ 0.02784884 -0.00792525 0.99958073 -0.27113355] [ 0. 0. 0. 1. ]] SLAMing on 25.141346184 meters Centerline goodness [0,1] 0.7706797108855954 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:-0.27 [[ 0.99865095 -0.04716244 -0.02172505 0.87946697] [ 0.04742772 0.99880424 0.01186167 -0.05060109] [ 0.02113965 -0.01287604 0.99969361 -0.27355516] [ 0. 0. 0. 1. ]] SLAMing on 25.171346183999997 meters Centerline goodness [0,1] 0.7500304721971673 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:-0.27 [[ 0.99860874 -0.04816277 -0.02146933 0.87755611] [ 0.04840379 0.99876891 0.01085106 -0.04927748] [ 0.02092029 -0.01187516 0.99971062 -0.27175211] [ 0. 0. 0. 1. ]] SLAMing on 25.201346184 meters Centerline goodness [0,1] 0.7641486400703159 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.05, Z:-0.27 [[ 0.99858015 -0.04887077 -0.02119753 0.87606597] [ 0.04909702 0.99874103 0.01028734 -0.04908147] [ 0.02066809 -0.01131347 0.99972238 -0.27064022] [ 0. 0. 0. 1. ]] SLAMing on 25.231346184 meters Centerline goodness [0,1] 0.7503350798099184 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99854228 -0.04983195 -0.02073872 0.87400432] [ 0.05004382 0.99869869 0.00982568 -0.05029174] [ 0.0202221 -0.01084921 0.99973665 -0.26948714] [ 0. 0. 0. 1. ]] SLAMing on 25.261346183999997 meters Centerline goodness [0,1] 0.7513722251906543 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99853247 -0.05005509 -0.02067343 0.87362379] [ 0.05026624 0.99868755 0.00982303 -0.05134104] [ 0.0201546 -0.01084779 0.99973802 -0.26921751] [ 0. 0. 0. 1. ]] SLAMing on 25.291346184 meters Centerline goodness [0,1] 0.7455049755480402 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99852123 -0.05029135 -0.02064289 0.87326013] [ 0.05049833 0.99867771 0.00963081 -0.05152326] [ 0.02013125 -0.010659 0.99974053 -0.26880527] [ 0. 0. 0. 1. ]] SLAMing on 25.321346184 meters Centerline goodness [0,1] 0.7451723384099687 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99850553 -0.05066381 -0.02049133 0.87248289] [ 0.05085942 0.998664 0.0091402 -0.050797 ] [ 0.02000088 -0.01016872 0.99974825 -0.26805033] [ 0. 0. 0. 1. ]] SLAMing on 25.351346183999997 meters Centerline goodness [0,1] 0.7417512998687983 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99850415 -0.05071135 -0.02044051 0.8724426 ] [ 0.05091033 0.99865961 0.00933444 -0.05188064] [ 0.01993975 -0.01036111 0.9997475 -0.26825274] [ 0. 0. 0. 1. ]] SLAMing on 25.381346183999998 meters Centerline goodness [0,1] 0.7460436710854761 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99850708 -0.0507127 -0.02029376 0.87253733] [ 0.0509195 0.99865462 0.00980605 -0.05413435] [ 0.01976916 -0.01082476 0.99974597 -0.26900785] [ 0. 0. 0. 1. ]] SLAMing on 25.411346184 meters Centerline goodness [0,1] 0.7403920432599459 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99850393 -0.05082711 -0.02016218 0.87260468] [ 0.05104174 0.99864364 0.01027679 -0.05623146] [ 0.01961249 -0.01129053 0.9997439 -0.26982145] [ 0. 0. 0. 1. ]] SLAMing on 25.441346183999997 meters Centerline goodness [0,1] 0.731127397624749 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.998465 -0.051689 -0.01989708 0.87124467] [ 0.05189227 0.99860423 0.0098384 -0.05561053] [ 0.01936077 -0.01085581 0.99975363 -0.26920395] [ 0. 0. 0. 1. ]] SLAMing on 25.471346183999998 meters Centerline goodness [0,1] 0.7389757490682027 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99843798 -0.05224724 -0.01979435 0.87015836] [ 0.05243702 0.99858192 0.0091926 -0.05453072] [ 0.01928599 -0.0102162 0.99976181 -0.26797266] [ 0. 0. 0. 1. ]] SLAMing on 25.501346184 meters Centerline goodness [0,1] 0.7275347575449305 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99842915 -0.05241169 -0.01980516 0.86992073] [ 0.05259986 0.99857419 0.00910211 -0.05501237] [ 0.01929986 -0.01012956 0.99976243 -0.26756164] [ 0. 0. 0. 1. ]] SLAMing on 25.531346183999997 meters Centerline goodness [0,1] 0.7275347575449305 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99842915 -0.05241169 -0.01980516 0.86992073] [ 0.05259986 0.99857419 0.00910211 -0.05501237] [ 0.01929986 -0.01012956 0.99976243 -0.26756164] [ 0. 0. 0. 1. ]] SLAMing on 25.561346183999998 meters Centerline goodness [0,1] 0.7310003877471889 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99843565 -0.05225726 -0.0198854 0.87023676] [ 0.05245018 0.99858017 0.00930693 -0.05634127] [ 0.01937081 -0.01033536 0.99975895 -0.26764757] [ 0. 0. 0. 1. ]] SLAMing on 25.591346184 meters Centerline goodness [0,1] 0.7396778775549511 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.06, Z:-0.27 [[ 0.99845074 -0.0518632 -0.02015753 0.87076234] [ 0.05205437 0.998603 0.00907746 -0.05677451] [ 0.01965858 -0.01011269 0.99975561 -0.266803 ] [ 0. 0. 0. 1. ]] SLAMing on 25.621346183999997 meters Centerline goodness [0,1] 0.7409055727554179 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99844456 -0.05188263 -0.02041219 0.87077062] [ 0.05206094 0.99860939 0.00830304 -0.05460816] [ 0.01995302 -0.0093528 0.99975717 -0.26549253] [ 0. 0. 0. 1. ]] SLAMing on 25.651346183999998 meters Centerline goodness [0,1] 0.7340554424735872 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99861966 -0.04850933 -0.02013975 0.86886561] [ 0.04875613 0.99873923 0.01194919 -0.05453594] [ 0.01953471 -0.01291463 0.99972577 -0.26465238] [ 0. 0. 0. 1. ]] SLAMing on 25.681346184 meters Centerline goodness [0,1] 0.7513293331382018 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99880393 -0.0444029 -0.02047159 0.86925081] [ 0.04472784 0.99887586 0.01569802 -0.0528751 ] [ 0.01975154 -0.0165949 0.99966719 -0.26475093] [ 0. 0. 0. 1. ]] SLAMing on 25.711346183999996 meters Centerline goodness [0,1] 0.7594448915880101 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.9988137 -0.04393777 -0.02099218 0.87108124] [ 0.04427019 0.99889713 0.0156419 -0.05189583] [ 0.02028176 -0.01655268 0.99965727 -0.26536595] [ 0. 0. 0. 1. ]] SLAMing on 25.741346183999998 meters Centerline goodness [0,1] 0.7589669663799844 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99882143 -0.04366341 -0.02119576 0.87224239] [ 0.04400004 0.99890841 0.01568414 -0.05145724] [ 0.0204878 -0.01659827 0.99965231 -0.26620324] [ 0. 0. 0. 1. ]] SLAMing on 25.771346184 meters Centerline goodness [0,1] 0.7618920037995957 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99882535 -0.04348519 -0.0213765 0.87300736] [ 0.04381794 0.99892157 0.01535206 -0.05081617] [ 0.02068586 -0.0162707 0.99965362 -0.26622454] [ 0. 0. 0. 1. ]] SLAMing on 25.801346184 meters Centerline goodness [0,1] 0.7650602409638554 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.27 [[ 0.99880852 -0.04394284 -0.02122654 0.87210253] [ 0.04426038 0.99891145 0.01472867 -0.05015641] [ 0.02055621 -0.01565062 0.99966619 -0.2653066 ] [ 0. 0. 0. 1. ]] SLAMing on 25.831346183999997 meters Centerline goodness [0,1] 0.7631617611048533 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99878694 -0.04445526 -0.02117497 0.87127057] [ 0.04475591 0.99890066 0.01394214 -0.04895781] [ 0.02053189 -0.01487293 0.99967857 -0.26414603] [ 0. 0. 0. 1. ]] SLAMing on 25.861346184 meters Centerline goodness [0,1] 0.7614829718323682 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99876559 -0.04491312 -0.02121554 0.8706418 ] [ 0.04519783 0.99889168 0.01313651 -0.0472902 ] [ 0.02060202 -0.01407919 0.99968862 -0.26293693] [ 0. 0. 0. 1. ]] SLAMing on 25.891346184 meters Centerline goodness [0,1] 0.7589699570815451 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99872797 -0.04564739 -0.0214186 0.86999455] [ 0.04590929 0.99887474 0.01189921 -0.04434165] [ 0.02085133 -0.01286739 0.99969978 -0.26121322] [ 0. 0. 0. 1. ]] SLAMing on 25.921346183999997 meters Centerline goodness [0,1] 0.74714954760562 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99871166 -0.04605351 -0.02130937 0.86946351] [ 0.04630461 0.99886181 0.01144402 -0.04384264] [ 0.02075808 -0.012416 0.99970743 -0.26077495] [ 0. 0. 0. 1. ]] SLAMing on 25.951346184 meters Centerline goodness [0,1] 0.7391218985446781 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99870707 -0.04623568 -0.02112924 0.86918341] [ 0.04648648 0.9988523 0.01153658 -0.04481913] [ 0.02057158 -0.01250388 0.99971019 -0.26105531] [ 0. 0. 0. 1. ]] SLAMing on 25.981346184 meters Centerline goodness [0,1] 0.7422784188558802 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99870496 -0.04635094 -0.02097582 0.86927566] [ 0.04660429 0.99884427 0.01175447 -0.04626841] [ 0.02040675 -0.01271681 0.99971088 -0.26181069] [ 0. 0. 0. 1. ]] SLAMing on 26.011346183999997 meters Centerline goodness [0,1] 0.753259779338014 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99870641 -0.04638888 -0.02082232 0.86971252] [ 0.04664669 0.99883851 0.01207113 -0.04769706] [ 0.02023817 -0.01302681 0.99971032 -0.26312987] [ 0. 0. 0. 1. ]] SLAMing on 26.041346184 meters Centerline goodness [0,1] 0.7533672919625802 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99869482 -0.046617 -0.02086914 0.86958216] [ 0.04686494 0.99883442 0.0115535 -0.04665959] [ 0.02030623 -0.01251645 0.99971546 -0.26260142] [ 0. 0. 0. 1. ]] SLAMing on 26.071346184 meters Centerline goodness [0,1] 0.74382874617737 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.998677 -0.04696187 -0.02094851 0.86899186] [ 0.04719525 0.99882742 0.01078861 -0.04540187] [ 0.02041729 -0.01176301 0.99972234 -0.26120788] [ 0. 0. 0. 1. ]] SLAMing on 26.101346183999997 meters Centerline goodness [0,1] 0.7423089160282924 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99864531 -0.04769884 -0.02079349 0.86666906] [ 0.04789471 0.99881161 0.00902531 -0.04297221] [ 0.02033829 -0.01000898 0.99974305 -0.25747445] [ 0. 0. 0. 1. ]] SLAMing on 26.131346183999998 meters Centerline goodness [0,1] 0.7485487545006981 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99863185 -0.0479417 -0.02088116 0.8659281 ] [ 0.04812023 0.99880844 0.0081329 -0.0415642 ] [ 0.02046638 -0.00912658 0.99974888 -0.25555595] [ 0. 0. 0. 1. ]] SLAMing on 26.161346184 meters Centerline goodness [0,1] 0.7580467776229929 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.25 [[ 0.99862922 -0.04796628 -0.02095016 0.86564356] [ 0.04813889 0.99881009 0.00781388 -0.04129849] [ 0.02055042 -0.00881169 0.99974999 -0.25458344] [ 0. 0. 0. 1. ]] SLAMing on 26.191346183999997 meters Centerline goodness [0,1] 0.7568027624443742 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99864208 -0.04767908 -0.02099269 0.86652511] [ 0.04787187 0.99881491 0.00877859 -0.04483833] [ 0.02054926 -0.00977163 0.99974109 -0.256032 ] [ 0. 0. 0. 1. ]] SLAMing on 26.221346183999998 meters Centerline goodness [0,1] 0.7539403064817738 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99864649 -0.04760694 -0.0209467 0.86695287] [ 0.04780807 0.9988141 0.00920786 -0.04619558] [ 0.0204835 -0.01019681 0.99973819 -0.25692028] [ 0. 0. 0. 1. ]] SLAMing on 26.251346184 meters Centerline goodness [0,1] 0.7570302617495378 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.05, Z:-0.26 [[ 0.99864737 -0.0475015 -0.0211432 0.8676672 ] [ 0.04770511 0.9988188 0.00923171 -0.04528322] [ 0.0206797 -0.01022786 0.99973383 -0.25726125] [ 0. 0. 0. 1. ]] SLAMing on 26.281346183999997 meters Centerline goodness [0,1] 0.7570450836641742 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99864677 -0.04744823 -0.02129085 0.86815927] [ 0.04764965 0.99882307 0.00905477 -0.0445234 ] [ 0.02083616 -0.01005702 0.99973232 -0.25728691] [ 0. 0. 0. 1. ]] SLAMing on 26.311346183999998 meters Centerline goodness [0,1] 0.7615090293178661 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.998655 -0.0471572 -0.0215499 0.86903808] [ 0.04735946 0.9988376 0.00897367 -0.04390428] [ 0.02110167 -0.00998219 0.9997275 -0.25739071] [ 0. 0. 0. 1. ]] SLAMing on 26.341346184 meters Centerline goodness [0,1] 0.7690959544325982 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.04, Z:-0.26 [[ 0.99866296 -0.04690257 -0.02173568 0.86956261] [ 0.0470989 0.99885312 0.00861033 -0.04298976] [ 0.02130691 -0.00962254 0.99972667 -0.25694306] [ 0. 0. 0. 1. ]] SLAMing on 26.371346183999997 meters Centerline goodness [0,1] 0.7918291277373157 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.26 [[ 0.9991597 -0.03883415 -0.01310708 0.85648696] [ 0.03892318 0.99922036 0.00660738 -0.04303409] [ 0.01284027 -0.00711199 0.99989227 -0.25863523] [ 0. 0. 0. 1. ]] SLAMing on 26.401346183999998 meters Centerline goodness [0,1] 0.7979336916243344 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.26 [[ 0.99916567 -0.03855928 -0.01345904 0.8566847 ] [ 0.0386295 0.99924111 0.00499618 -0.03900961] [ 0.01325617 -0.00551192 0.99989694 -0.25600869] [ 0. 0. 0. 1. ]] SLAMing on 26.431346184 meters Centerline goodness [0,1] 0.8108094780185912 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.04, Z:-0.25 [[ 0.99930179 -0.03487185 -0.01341227 0.85544534] [ 0.03498213 0.9993553 0.00807697 -0.03668298] [ 0.01312197 -0.00854052 0.99987743 -0.25452136] [ 0. 0. 0. 1. ]] SLAMing on 26.461346183999996 meters Centerline goodness [0,1] 0.8237577255871447 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.03, Z:-0.25 [[ 0.99942598 -0.03107211 -0.01349944 0.85477301] [ 0.0312256 0.99944835 0.01131204 -0.03452464] [ 0.0131405 -0.01172707 0.99984489 -0.25346175] [ 0. 0. 0. 1. ]] SLAMing on 26.491346183999998 meters Centerline goodness [0,1] 0.8448258706467662 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.25 [[ 0.99946967 -0.02943856 -0.01391973 0.85758005] [ 0.0296003 0.99949497 0.01155991 -0.03074355] [ 0.01357239 -0.01196581 0.99983629 -0.2548238 ] [ 0. 0. 0. 1. ]] SLAMing on 26.521346184 meters Centerline goodness [0,1] 0.8406398251409553 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99948156 -0.02891203 -0.01416716 0.85939795] [ 0.02908591 0.99950215 0.01222529 -0.03182645] [ 0.01380665 -0.01263102 0.9998249 -0.25663426] [ 0. 0. 0. 1. ]] SLAMing on 26.551346184 meters Centerline goodness [0,1] 0.8344259038537942 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.9994828 -0.02892851 -0.01404566 0.85977318] [ 0.029105 0.99949785 0.01252801 -0.03296248] [ 0.0136762 -0.01293033 0.99982287 -0.25772428] [ 0. 0. 0. 1. ]] SLAMing on 26.581346183999997 meters Centerline goodness [0,1] 0.8211460975973736 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99934357 -0.03339097 -0.01405252 0.86015402] [ 0.03350358 0.99940772 0.00785622 -0.03037243] [ 0.01378187 -0.00832187 0.99987039 -0.25773985] [ 0. 0. 0. 1. ]] SLAMing on 26.611346184 meters Centerline goodness [0,1] 0.811472752213493 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99933265 -0.03377792 -0.01390374 0.8596767 ] [ 0.03388718 0.99939601 0.0076995 -0.0300926 ] [ 0.01363527 -0.00816552 0.99987369 -0.2576859 ] [ 0. 0. 0. 1. ]] SLAMing on 26.641346184 meters Centerline goodness [0,1] 0.7981596468915987 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99932089 -0.0342029 -0.0137083 0.85911575] [ 0.03430643 0.99938404 0.00738958 -0.02961114] [ 0.01344711 -0.00785484 0.99987873 -0.25758578] [ 0. 0. 0. 1. ]] SLAMing on 26.671346183999997 meters Centerline goodness [0,1] 0.7870220450865613 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99931471 -0.03441285 -0.01363336 0.85909194] [ 0.03451532 0.99937712 0.00735335 -0.0299178 ] [ 0.01337181 -0.00781887 0.99988002 -0.25788749] [ 0. 0. 0. 1. ]] SLAMing on 26.701346184 meters Centerline goodness [0,1] 0.7903580166774854 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99930283 -0.0349388 -0.01315803 0.85806122] [ 0.03503493 0.99936053 0.00714762 -0.03002783] [ 0.01289988 -0.00760363 0.99988788 -0.25819464] [ 0. 0. 0. 1. ]] SLAMing on 26.731346184 meters Centerline goodness [0,1] 0.7888877770550858 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99929676 -0.03511874 -0.01313971 0.85793014] [ 0.03520889 0.99935756 0.00669364 -0.02882362] [ 0.01289619 -0.00715157 0.99989127 -0.25786853] [ 0. 0. 0. 1. ]] SLAMing on 26.761346183999997 meters Centerline goodness [0,1] 0.7946491140254279 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.26 [[ 0.99928554 -0.03536835 -0.01332272 0.85787044] [ 0.03544682 0.99935531 0.00570057 -0.02627889] [ 0.01311251 -0.00616875 0.999895 -0.25665241] [ 0. 0. 0. 1. ]] SLAMing on 26.791346184 meters Centerline goodness [0,1] 0.7826349565873915 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99940025 -0.0321347 -0.01290353 0.85601984] [ 0.03224797 0.99944231 0.00866817 -0.02378156] [ 0.01261778 -0.00907909 0.99987917 -0.25582718] [ 0. 0. 0. 1. ]] SLAMing on 26.821346184 meters Centerline goodness [0,1] 0.7979624773048215 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99940061 -0.03197144 -0.01327563 0.85710381] [ 0.03208061 0.99945252 0.00809331 -0.02150796] [ 0.01300961 -0.00851435 0.99987912 -0.25569765] [ 0. 0. 0. 1. ]] SLAMing on 26.851346183999997 meters Centerline goodness [0,1] 0.8021160271337451 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.9994076 -0.0315909 -0.0136552 0.85868351] [ 0.03170185 0.99946546 0.00798609 -0.02005288] [ 0.01339561 -0.00841426 0.99987487 -0.25644798] [ 0. 0. 0. 1. ]] SLAMing on 26.881346183999998 meters Centerline goodness [0,1] 0.8024744677607845 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99941352 -0.03128315 -0.01392773 0.86022314] [ 0.03139484 0.99947604 0.00787414 -0.01800087] [ 0.01367411 -0.00830678 0.999872 -0.25768213] [ 0. 0. 0. 1. ]] SLAMing on 26.911346184 meters Centerline goodness [0,1] 0.7934039211712853 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99941263 -0.03117893 -0.014222 0.86124051] [ 0.03129345 0.999479 0.00790194 -0.01753283] [ 0.01396822 -0.00834236 0.99986764 -0.25820702] [ 0. 0. 0. 1. ]] SLAMing on 26.941346183999997 meters Centerline goodness [0,1] 0.8012077233400148 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99940593 -0.03137984 -0.01425127 0.86134304] [ 0.03149185 0.99947431 0.00770443 -0.01675808] [ 0.01400202 -0.00814865 0.99986876 -0.25834052] [ 0. 0. 0. 1. ]] SLAMing on 26.971346183999998 meters Centerline goodness [0,1] 0.7934666463135399 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99939533 -0.03174655 -0.01418178 0.86101821] [ 0.03185321 0.99946546 0.00735924 -0.015669 ] [ 0.01394057 -0.00780652 0.99987235 -0.25822878] [ 0. 0. 0. 1. ]] SLAMing on 27.001346184 meters Centerline goodness [0,1] 0.7758278145695364 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99937405 -0.03250631 -0.01395895 0.86021932] [ 0.03260776 0.99944299 0.00710307 -0.01508998] [ 0.01372028 -0.0075538 0.99987734 -0.25845654] [ 0. 0. 0. 1. ]] SLAMing on 27.031346183999997 meters Centerline goodness [0,1] 0.7689941008950366 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99936762 -0.03276975 -0.0138023 0.86006232] [ 0.03287157 0.99943353 0.00721626 -0.01573418] [ 0.01355801 -0.0076654 0.9998787 -0.25902339] [ 0. 0. 0. 1. ]] SLAMing on 27.061346183999998 meters Centerline goodness [0,1] 0.7647626301091648 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99936533 -0.03287365 -0.01372114 0.86014694] [ 0.03297549 0.99942977 0.00726296 -0.01615995] [ 0.01347456 -0.00771081 0.99987948 -0.25947508] [ 0. 0. 0. 1. ]] SLAMing on 27.091346184 meters Centerline goodness [0,1] 0.7762350003821559 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.02, Z:-0.26 [[ 0.99936255 -0.03293033 -0.01378694 0.86033337] [ 0.03303064 0.99942904 0.00711184 -0.01588281] [ 0.01354487 -0.0075627 0.99987966 -0.25944826] [ 0. 0. 0. 1. ]] SLAMing on 27.121346183999997 meters Centerline goodness [0,1] 0.7672209631006647 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.26 [[ 0.99936208 -0.03282651 -0.01406574 0.86109349] [ 0.03291748 0.99943831 0.00628524 -0.01303651] [ 0.01385151 -0.00674424 0.99988132 -0.25893111] [ 0. 0. 0. 1. ]] SLAMing on 27.151346183999998 meters Centerline goodness [0,1] 0.7827474407086875 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.26 [[ 0.99935994 -0.03273944 -0.01441666 0.86190394] [ 0.03282155 0.99944611 0.00549635 -0.01007647] [ 0.01422873 -0.005966 0.99988097 -0.2583448 ] [ 0. 0. 0. 1. ]] SLAMing on 27.181346184 meters Centerline goodness [0,1] 0.7887778631821676 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.26 [[ 0.99948062 -0.0288675 -0.014323 0.86132157] [ 0.02900376 0.99953512 0.0093987 -0.00966054] [ 0.01404503 -0.00980924 0.99985325 -0.25837133] [ 0. 0. 0. 1. ]] SLAMing on 27.211346183999996 meters Centerline goodness [0,1] 0.8120418713510456 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.26 [[ 0.99959177 -0.02445948 -0.01476574 0.86261292] [ 0.02464848 0.99961479 0.01275657 -0.00598617] [ 0.01444803 -0.01311532 0.9998096 -0.25849666] [ 0. 0. 0. 1. ]] SLAMing on 27.241346183999998 meters Centerline goodness [0,1] 0.8017268041237113 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.00, Z:-0.26 [[ 0.99959368 -0.02411507 -0.01519642 0.86426227] [ 0.02430332 0.99962862 0.01232729 -0.00388199] [ 0.0148935 -0.01269161 0.99980854 -0.25888408] [ 0. 0. 0. 1. ]] SLAMing on 27.271346184 meters Centerline goodness [0,1] 0.8060796375897661 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.26 [[ 0.99959593 -0.02370931 -0.01567973 0.8662269 ] [ 0.02389886 0.99964219 0.01201435 -0.00171095] [ 0.01538926 -0.01238422 0.99980488 -0.25960819] [ 0. 0. 0. 1. ]] SLAMing on 27.301346184 meters Centerline goodness [0,1] 0.8089495480947048 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.26 [[ 0.99967555 -0.02046467 -0.01516517 0.86472684] [ 0.02069433 0.99967114 0.01514478 0.0014012 ] [ 0.01485025 -0.0154537 0.9997703 -0.25980814] [ 0. 0. 0. 1. ]] SLAMing on 27.331346183999997 meters Centerline goodness [0,1] 0.8102244908588989 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.26 [[ 0.99966817 -0.02067567 -0.01536475 0.86491058] [ 0.02089558 0.9996795 0.01429236 0.00355865] [ 0.01506433 -0.01460868 0.9997798 -0.25897135] [ 0. 0. 0. 1. ]] SLAMing on 27.361346184 meters Centerline goodness [0,1] 0.8092763312527749 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.26 [[ 0.9996648 -0.0208424 -0.01535852 0.86491219] [ 0.02105602 0.99968193 0.01388118 0.00443121] [ 0.01506432 -0.01419991 0.99978569 -0.2588376 ] [ 0. 0. 0. 1. ]] SLAMing on 27.391346184 meters Centerline goodness [0,1] 0.8171279373368147 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.26 [[ 0.99966099 -0.02107885 -0.01528338 0.86495848] [ 0.02128681 0.99968125 0.0135749 0.00461531] [ 0.01499236 -0.01389563 0.99979105 -0.25916584] [ 0. 0. 0. 1. ]] SLAMing on 27.421346183999997 meters Centerline goodness [0,1] 0.8171279373368147 Centerline is valid? [False, False] Translation: X:0.86, Y:0.00, Z:-0.26 [[ 0.99966099 -0.02107885 -0.01528338 0.86495848] [ 0.02128681 0.99968125 0.0135749 0.00461531] [ 0.01499236 -0.01389563 0.99979105 -0.25916584] [ 0. 0. 0. 1. ]] SLAMing on 27.451346184 meters Centerline goodness [0,1] 0.8129520825172999 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.26 [[ 0.99957509 -0.02427759 -0.01613162 0.86774565] [ 0.02442286 0.99966237 0.00886975 0.00821735] [ 0.01591084 -0.00925996 0.99983053 -0.25849814] [ 0. 0. 0. 1. ]] SLAMing on 27.481346184 meters Centerline goodness [0,1] 0.8028711392869305 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.26 [[ 0.99956438 -0.02472794 -0.01611159 0.86721008] [ 0.02486521 0.99965573 0.00837552 0.00942946] [ 0.01589894 -0.00877249 0.99983512 -0.25791033] [ 0. 0. 0. 1. ]] SLAMing on 27.511346183999997 meters Centerline goodness [0,1] 0.796208654726108 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.26 [[ 0.99955519 -0.02506228 -0.01616502 0.86692524] [ 0.025191 0.99965215 0.00780914 0.01053105] [ 0.01596368 -0.00821288 0.99983884 -0.25717263] [ 0. 0. 0. 1. ]] SLAMing on 27.541346184 meters Centerline goodness [0,1] 0.8005455165359701 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.26 [[ 0.99954846 -0.02519356 -0.01637589 0.86701343] [ 0.02531225 0.99965451 0.00708124 0.01275162] [ 0.01619184 -0.00749255 0.99984083 -0.25608358] [ 0. 0. 0. 1. ]] SLAMing on 27.571346184 meters Centerline goodness [0,1] 0.810460778647612 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.26 [[ 0.99954533 -0.02517455 -0.0165947 0.86733862] [ 0.02528652 0.99965864 0.00657258 0.01415992] [ 0.01642357 -0.00698921 0.9998407 -0.25539706] [ 0. 0. 0. 1. ]] SLAMing on 27.601346183999997 meters Centerline goodness [0,1] 0.8043792170967996 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99954445 -0.02491662 -0.01703093 0.86829299] [ 0.02502393 0.99966814 0.00611725 0.0151948 ] [ 0.01687285 -0.00654064 0.99983625 -0.25460852] [ 0. 0. 0. 1. ]] SLAMing on 27.631346183999998 meters Centerline goodness [0,1] 0.8169886408560209 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99953968 -0.02512147 -0.01700994 0.86773331] [ 0.02521313 0.9996686 0.00519545 0.01727424] [ 0.01687378 -0.00562193 0.99984182 -0.25317276] [ 0. 0. 0. 1. ]] SLAMing on 27.661346184 meters Centerline goodness [0,1] 0.8159810126582279 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99953881 -0.02503961 -0.01718124 0.86822789] [ 0.02513085 0.99967108 0.0051151 0.01753407] [ 0.01704751 -0.00554452 0.99983931 -0.25314932] [ 0. 0. 0. 1. ]] SLAMing on 27.691346183999997 meters Centerline goodness [0,1] 0.8178780943361481 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99954454 -0.02467121 -0.01737931 0.86945621] [ 0.02477049 0.99967792 0.00552031 0.01669495] [ 0.01723752 -0.00594829 0.99983373 -0.2541722 ] [ 0. 0. 0. 1. ]] SLAMing on 27.721346183999998 meters Centerline goodness [0,1] 0.8322205866890968 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.26 [[ 0.9995581 -0.02384369 -0.01775063 0.87209923] [ 0.02396439 0.9996909 0.00661871 0.01542217] [ 0.01758733 -0.00704116 0.99982054 -0.25700996] [ 0. 0. 0. 1. ]] SLAMing on 27.751346184 meters Centerline goodness [0,1] 0.8234552001471864 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.26 [[ 0.99955522 -0.02369686 -0.01810561 0.87303449] [ 0.02381418 0.99969661 0.00629141 0.01675636] [ 0.01795103 -0.00671979 0.99981629 -0.25679018] [ 0. 0. 0. 1. ]] SLAMing on 27.781346183999997 meters Centerline goodness [0,1] 0.8171475331943088 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.26 [[ 0.99954866 -0.02391173 -0.01818541 0.87287222] [ 0.02402108 0.99969452 0.00581881 0.01818461] [ 0.01804071 -0.00625302 0.9998177 -0.25616489] [ 0. 0. 0. 1. ]] SLAMing on 27.811346183999998 meters Centerline goodness [0,1] 0.8206907469459909 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.26 [[ 0.99953676 -0.02458872 -0.017935 0.87153011] [ 0.02469164 0.99967977 0.00553987 0.01749744] [ 0.01779303 -0.00598014 0.99982381 -0.25543951] [ 0. 0. 0. 1. ]] SLAMing on 27.841346184 meters Centerline goodness [0,1] 0.8144969632954846 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99953029 -0.02502379 -0.01769207 0.87044244] [ 0.02512143 0.99967026 0.00531829 0.01699398] [ 0.01755316 -0.00576024 0.99982934 -0.25476394] [ 0. 0. 0. 1. ]] SLAMing on 27.871346183999997 meters Centerline goodness [0,1] 0.8045037443307668 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99952139 -0.02554207 -0.01745279 0.86926907] [ 0.0256336 0.99965869 0.00504133 0.01644083] [ 0.01731806 -0.00548629 0.99983498 -0.25401687] [ 0. 0. 0. 1. ]] SLAMing on 27.901346183999998 meters Centerline goodness [0,1] 0.7918652099512966 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99951591 -0.02589305 -0.01724824 0.86863862] [ 0.02598596 0.99964886 0.00518454 0.01504458] [ 0.01710794 -0.00563024 0.9998378 -0.25416552] [ 0. 0. 0. 1. ]] SLAMing on 27.931346184 meters Centerline goodness [0,1] 0.7809044961566811 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99949348 -0.02711133 -0.01666603 0.86657277] [ 0.02719944 0.9996171 0.00508338 0.01319241] [ 0.01652183 -0.00553412 0.99984819 -0.25430846] [ 0. 0. 0. 1. ]] SLAMing on 27.961346183999996 meters Centerline goodness [0,1] 0.7780650608131283 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.9994848 -0.02751641 -0.01652191 0.86591121] [ 0.02760151 0.99960678 0.0049448 0.01317118] [ 0.01637935 -0.00539828 0.99985128 -0.25412323] [ 0. 0. 0. 1. ]] SLAMing on 27.991346183999998 meters Centerline goodness [0,1] 0.7718731109884622 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99947877 -0.02771852 -0.01654915 0.86583594] [ 0.02780594 0.99960045 0.00507602 0.01238546] [ 0.01640184 -0.00553354 0.99985017 -0.25417824] [ 0. 0. 0. 1. ]] SLAMing on 28.021346184 meters Centerline goodness [0,1] 0.7713035224636153 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.9994649 -0.02845381 -0.01613381 0.86410625] [ 0.02853405 0.99958146 0.00476514 0.0117697 ] [ 0.01599147 -0.00522295 0.99985849 -0.25342444] [ 0. 0. 0. 1. ]] SLAMing on 28.051346184 meters Centerline goodness [0,1] 0.7525445125318886 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99941853 -0.03038445 -0.01547213 0.86007639] [ 0.03044103 0.99953066 0.00343433 0.01162142] [ 0.01536052 -0.00390332 0.9998744 -0.25037707] [ 0. 0. 0. 1. ]] SLAMing on 28.081346183999997 meters Centerline goodness [0,1] 0.7552843814242791 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99940751 -0.03081848 -0.01532468 0.85913302] [ 0.03087028 0.99951842 0.00315557 0.01177655] [ 0.01522005 -0.00362678 0.99987759 -0.24966648] [ 0. 0. 0. 1. ]] SLAMing on 28.111346184 meters Centerline goodness [0,1] 0.7584296218487395 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99940723 -0.03072877 -0.01552177 0.85983377] [ 0.03078604 0.99951999 0.00346413 0.01098908] [ 0.01540787 -0.00393993 0.99987353 -0.25017155] [ 0. 0. 0. 1. ]] SLAMing on 28.141346184 meters Centerline goodness [0,1] 0.7475896492841192 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99940615 -0.03082316 -0.01540372 0.86013326] [ 0.03088849 0.99951475 0.00402149 0.00898411] [ 0.01527229 -0.0044949 0.99987327 -0.2515147 ] [ 0. 0. 0. 1. ]] SLAMing on 28.171346183999997 meters Centerline goodness [0,1] 0.7561750269050056 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99940816 -0.03066254 -0.01559297 0.86077995] [ 0.03073148 0.99951885 0.00420085 0.00875453] [ 0.01545666 -0.00467756 0.9998696 -0.2518592 ] [ 0. 0. 0. 1. ]] SLAMing on 28.201346184 meters Centerline goodness [0,1] 0.7586578663651424 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99941536 -0.03027983 -0.01587654 0.86190506] [ 0.03035268 0.99952971 0.00436781 0.00863725] [ 0.01573682 -0.00484715 0.99986442 -0.25232717] [ 0. 0. 0. 1. ]] SLAMing on 28.231346184 meters Centerline goodness [0,1] 0.763055482513805 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99942367 -0.02977598 -0.01630068 0.86336605] [ 0.02985278 0.99954423 0.00448869 0.00881868] [ 0.0161596 -0.00497273 0.99985706 -0.25271537] [ 0. 0. 0. 1. ]] SLAMing on 28.261346183999997 meters Centerline goodness [0,1] 0.7673902709554745 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99953898 -0.02560661 -0.0163133 0.86330246] [ 0.02574386 0.99963445 0.00825959 0.01022205] [ 0.01609583 -0.00867575 0.99983281 -0.25275516] [ 0. 0. 0. 1. ]] SLAMing on 28.291346184 meters Centerline goodness [0,1] 0.7812632135306554 Centerline is valid? [False, False] Translation: X:0.86, Y:0.01, Z:-0.25 [[ 0.99953364 -0.02547709 -0.01683514 0.86402036] [ 0.02560082 0.99964649 0.00717526 0.01328468] [ 0.01664638 -0.0076029 0.99983253 -0.2510313 ] [ 0. 0. 0. 1. ]] SLAMing on 28.321346184 meters Centerline goodness [0,1] 0.7829088312306594 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.25 [[ 0.99952757 -0.02551785 -0.01713134 0.86408821] [ 0.02562933 0.99965154 0.00631996 0.01515193] [ 0.0169641 -0.00675604 0.99983327 -0.2494781 ] [ 0. 0. 0. 1. ]] SLAMing on 28.351346183999997 meters Centerline goodness [0,1] 0.776250890195975 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.25 [[ 0.99952871 -0.02531119 -0.01736972 0.86417782] [ 0.02540953 0.99966219 0.00546439 0.01637937] [ 0.01722554 -0.00590317 0.9998342 -0.24753475] [ 0. 0. 0. 1. ]] SLAMing on 28.381346183999998 meters Centerline goodness [0,1] 0.7896114195083267 Centerline is valid? [False, False] Translation: X:0.86, Y:0.02, Z:-0.25 [[ 0.99952981 -0.02519186 -0.01747942 0.86435905] [ 0.02528778 0.99966622 0.00528842 0.01664058] [ 0.01734036 -0.00572795 0.99983324 -0.24713731] [ 0. 0. 0. 1. ]] SLAMing on 28.411346184 meters Centerline goodness [0,1] 0.789862361037586 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99953494 -0.02495022 -0.01753274 0.86500125] [ 0.02505248 0.99967024 0.0056374 0.01600594] [ 0.0173863 -0.00607402 0.9998304 -0.24792739] [ 0. 0. 0. 1. ]] SLAMing on 28.441346183999997 meters Centerline goodness [0,1] 0.7902179074552841 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99955141 -0.0240455 -0.01785463 0.86788787] [ 0.02418248 0.99967946 0.00749582 0.01202535] [ 0.01766867 -0.00792423 0.99981249 -0.25184562] [ 0. 0. 0. 1. ]] SLAMing on 28.471346183999998 meters Centerline goodness [0,1] 0.7871113802090188 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99955306 -0.02388306 -0.0179802 0.86858312] [ 0.02402805 0.99968014 0.00789151 0.01102152] [ 0.01778598 -0.00832002 0.9998072 -0.25260188] [ 0. 0. 0. 1. ]] SLAMing on 28.501346184 meters Centerline goodness [0,1] 0.7921496311907271 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99954565 -0.02408331 -0.01812396 0.86852587] [ 0.02422076 0.99967923 0.0074028 0.01180359] [ 0.01793986 -0.00783841 0.99980834 -0.25178546] [ 0. 0. 0. 1. ]] SLAMing on 28.531346183999997 meters Centerline goodness [0,1] 0.7877926113173763 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99953448 -0.0244033 -0.01831112 0.86812482] [ 0.02452784 0.99967731 0.00660775 0.01342067] [ 0.01814396 -0.00705381 0.9998105 -0.25027992] [ 0. 0. 0. 1. ]] SLAMing on 28.561346183999998 meters Centerline goodness [0,1] 0.7856654931427671 Centerline is valid? [False, False] Translation: X:0.87, Y:0.02, Z:-0.25 [[ 0.99952211 -0.02461442 -0.01869979 0.86793343] [ 0.02472174 0.99967908 0.0055297 0.01538838] [ 0.01855768 -0.00598935 0.99980985 -0.24788072] [ 0. 0. 0. 1. ]] SLAMing on 28.591346184 meters Centerline goodness [0,1] 0.7886915740106445 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99952171 -0.02460773 -0.01873006 0.86778604] [ 0.02471586 0.99967904 0.00556335 0.01487791] [ 0.01858715 -0.00602361 0.9998091 -0.24757173] [ 0. 0. 0. 1. ]] SLAMing on 28.621346183999997 meters Centerline goodness [0,1] 0.792362956919919 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99952095 -0.02464212 -0.01872553 0.86758739] [ 0.02474947 0.99967843 0.00552285 0.01426697] [ 0.01858341 -0.00598366 0.99980941 -0.24723416] [ 0. 0. 0. 1. ]] SLAMing on 28.651346183999998 meters Centerline goodness [0,1] 0.7805519745323476 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99951961 -0.02459969 -0.01885213 0.86778611] [ 0.02470687 0.99967976 0.00547337 0.0140893 ] [ 0.01871145 -0.00593652 0.9998073 -0.24695911] [ 0. 0. 0. 1. ]] SLAMing on 28.681346184 meters Centerline goodness [0,1] 0.7876364592923846 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99952686 -0.02407237 -0.01914617 0.86949421] [ 0.02419573 0.99968778 0.00623728 0.01284962] [ 0.01899005 -0.00669758 0.99979724 -0.24860452] [ 0. 0. 0. 1. ]] SLAMing on 28.711346183999996 meters Centerline goodness [0,1] 0.7896641233383151 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99953672 -0.02347156 -0.01937597 0.87114172] [ 0.02361768 0.99969406 0.00734761 0.00986549] [ 0.01919758 -0.00780182 0.99978527 -0.25045916] [ 0. 0. 0. 1. ]] SLAMing on 28.741346183999998 meters Centerline goodness [0,1] 0.7890277705140945 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99945437 -0.02629792 -0.0199844 0.87416614] [ 0.02639137 0.99964189 0.00442677 0.00706021] [ 0.01986083 -0.00495177 0.99979049 -0.2519071 ] [ 0. 0. 0. 1. ]] SLAMing on 28.771346184 meters Centerline goodness [0,1] 0.7964128136177323 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99944879 -0.02653628 -0.01994871 0.8734349 ] [ 0.02662315 0.99963713 0.00410193 0.00720431] [ 0.01983262 -0.00463077 0.99979259 -0.25084011] [ 0. 0. 0. 1. ]] SLAMing on 28.801346183999996 meters Centerline goodness [0,1] 0.7947948992098469 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99943874 -0.02663806 -0.02031298 0.87339209] [ 0.02671339 0.99963719 0.00344618 0.00834888] [ 0.02021381 -0.00398688 0.99978773 -0.24903496] [ 0. 0. 0. 1. ]] SLAMing on 28.831346183999997 meters Centerline goodness [0,1] 0.7852018054214824 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99942896 -0.02688709 -0.02046548 0.87274889] [ 0.02695152 0.9996326 0.00287852 0.00931878] [ 0.02038057 -0.00342845 0.99978642 -0.24734883] [ 0. 0. 0. 1. ]] SLAMing on 28.861346184 meters Centerline goodness [0,1] 0.7915351918011839 Centerline is valid? [False, False] Translation: X:0.87, Y:0.01, Z:-0.25 [[ 0.99943259 -0.02668426 -0.02055347 0.87249021] [ 0.02675305 0.99963733 0.00307909 0.00755119] [ 0.02046386 -0.00362721 0.99978401 -0.24644429] [ 0. 0. 0. 1. ]] SLAMing on 28.891346184 meters Centerline goodness [0,1] 0.7963131483840774 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.25 [[ 0.99944304 -0.02623833 -0.02061953 0.87309111] [ 0.02632362 0.99964596 0.00387555 0.00468889] [ 0.02051055 -0.00441617 0.99977988 -0.24709572] [ 0. 0. 0. 1. ]] SLAMing on 28.921346183999997 meters Centerline goodness [0,1] 0.79244499792445 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.25 [[ 0.99945051 -0.02602522 -0.02052741 0.87320986] [ 0.02612092 0.99964907 0.0044078 0.00242939] [ 0.0204055 -0.00494158 0.99977957 -0.24762094] [ 0. 0. 0. 1. ]] SLAMing on 28.951346184 meters Centerline goodness [0,1] 0.798040537037997 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.25 [[ 9.99453385e-01 -2.59304453e-02 -2.05071337e-02 8.73334331e-01] [ 2.60351362e-02 9.99649240e-01 4.85465545e-03 7.00472907e-04] [ 2.03740573e-02 -5.38590785e-03 9.99777920e-01 -2.48030336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.981346184 meters Centerline goodness [0,1] 0.7942597328786587 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 9.99449534e-01 -2.60304733e-02 -2.05680177e-02 8.73430195e-01] [ 2.61439095e-02 9.99644321e-01 5.26561911e-03 -7.73599824e-04] [ 2.04236356e-02 -5.80044896e-03 9.99774590e-01 -2.48419248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.011346183999997 meters Centerline goodness [0,1] 0.7909784154064883 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99944785 -0.026071 -0.02059871 0.87329075] [ 0.02618395 0.99964345 0.00523266 -0.00105646] [ 0.02045494 -0.00576912 0.99977413 -0.24805029] [ 0. 0. 0. 1. ]] SLAMing on 29.041346184 meters Centerline goodness [0,1] 0.7993438048982122 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99944622 -0.02604258 -0.0207133 0.87317993] [ 0.02615424 0.99964471 0.00513865 -0.00159121] [ 0.02057211 -0.00567754 0.99977225 -0.24729578] [ 0. 0. 0. 1. ]] SLAMing on 29.071346184 meters Centerline goodness [0,1] 0.8078857113386111 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99944785 -0.02602128 -0.02066131 0.87261591] [ 0.02613006 0.99964599 0.00501214 -0.00238603] [ 0.02052358 -0.00554926 0.99977397 -0.24633875] [ 0. 0. 0. 1. ]] SLAMing on 29.101346183999997 meters Centerline goodness [0,1] 0.8053033429632687 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99944364 -0.0261599 -0.02068963 0.87227326] [ 0.02626505 0.99964336 0.00482686 -0.00253466] [ 0.02055598 -0.00536759 0.99977429 -0.24567305] [ 0. 0. 0. 1. ]] SLAMing on 29.131346183999998 meters Centerline goodness [0,1] 0.8033260281036483 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 0.99943764 -0.02636768 -0.02071582 0.87187427] [ 0.02646567 0.99963973 0.00447046 -0.00215016] [ 0.02059048 -0.00501621 0.99977541 -0.2448756 ] [ 0. 0. 0. 1. ]] SLAMing on 29.161346184 meters Centerline goodness [0,1] 0.7911968833045229 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 0.99943191 -0.02667105 -0.02060385 0.87105277] [ 0.02675997 0.99963368 0.00405203 -0.00177872] [ 0.02048823 -0.00460109 0.99977951 -0.24391869] [ 0. 0. 0. 1. ]] SLAMing on 29.191346183999997 meters Centerline goodness [0,1] 0.794739821915693 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 0.99943156 -0.02669337 -0.02059158 0.87055161] [ 0.0267825 0.99963302 0.00406489 -0.00320601] [ 0.02047552 -0.00461408 0.99977971 -0.24311212] [ 0. 0. 0. 1. ]] SLAMing on 29.221346183999998 meters Centerline goodness [0,1] 0.7956005550701547 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 0.99944004 -0.02637417 -0.0205917 0.87119336] [ 0.02647401 0.99963896 0.00459085 -0.00491244] [ 0.02046319 -0.00513342 0.99977743 -0.24398393] [ 0. 0. 0. 1. ]] SLAMing on 29.251346184 meters Centerline goodness [0,1] 0.8103589954290997 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99944559 -0.02608088 -0.02069537 0.87190738] [ 0.02619116 0.99964407 0.00507569 -0.00646543] [ 0.02055563 -0.00561491 0.99977294 -0.24469714] [ 0. 0. 0. 1. ]] SLAMing on 29.281346183999997 meters Centerline goodness [0,1] 0.810514449682312 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99944806 -0.02600921 -0.02066628 0.87195372] [ 0.0261239 0.99964467 0.00529907 -0.00730135] [ 0.02052111 -0.00583602 0.99977239 -0.24489814] [ 0. 0. 0. 1. ]] SLAMing on 29.311346183999998 meters Centerline goodness [0,1] 0.8076087234423337 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99944373 -0.02604296 -0.02083264 0.87211018] [ 0.02615264 0.99964541 0.00500955 -0.00674032] [ 0.02069479 -0.00555159 0.99977043 -0.24431799] [ 0. 0. 0. 1. ]] SLAMing on 29.341346184 meters Centerline goodness [0,1] 0.8076087234423337 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99944373 -0.02604296 -0.02083264 0.87211018] [ 0.02615264 0.99964541 0.00500955 -0.00674032] [ 0.02069479 -0.00555159 0.99977043 -0.24431799] [ 0. 0. 0. 1. ]] SLAMing on 29.371346183999997 meters Centerline goodness [0,1] 0.8072932717000514 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99943971 -0.02601438 -0.02106009 0.8724722 ] [ 0.02612247 0.99964687 0.00487351 -0.00635461] [ 0.02092587 -0.00542092 0.99976633 -0.24398048] [ 0. 0. 0. 1. ]] SLAMing on 29.401346183999998 meters Centerline goodness [0,1] 0.8060417843026538 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99943892 -0.02590988 -0.02122538 0.87284726] [ 0.02602158 0.99964886 0.00500324 -0.00680106] [ 0.02108829 -0.00555275 0.9997622 -0.243952 ] [ 0. 0. 0. 1. ]] SLAMing on 29.431346184 meters Centerline goodness [0,1] 0.8103399759535443 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.9994392 -0.02618651 -0.0208697 0.87126051] [ 0.02629926 0.99964087 0.00514642 -0.00987212] [ 0.02072744 -0.00569239 0.99976896 -0.24290057] [ 0. 0. 0. 1. ]] SLAMing on 29.461346183999996 meters Centerline goodness [0,1] 0.8169574533210897 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99943751 -0.02641358 -0.02066371 0.87007935] [ 0.02652342 0.99963539 0.00505969 -0.01167815] [ 0.02052253 -0.00560492 0.99977368 -0.24175062] [ 0. 0. 0. 1. ]] SLAMing on 29.491346183999998 meters Centerline goodness [0,1] 0.8150718130564555 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99943397 -0.02663569 -0.02054939 0.86914931] [ 0.02674218 0.99963023 0.00492471 -0.01275489] [ 0.02041062 -0.00547146 0.99977671 -0.24072572] [ 0. 0. 0. 1. ]] SLAMing on 29.521346184 meters Centerline goodness [0,1] 0.8141860938613459 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.9994297 -0.02668254 -0.02069558 0.86883682] [ 0.02678265 0.99963081 0.00457548 -0.01228011] [ 0.02056586 -0.00512715 0.99977535 -0.23946854] [ 0. 0. 0. 1. ]] SLAMing on 29.551346183999996 meters Centerline goodness [0,1] 0.8160438719551077 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99942859 -0.02651219 -0.02096644 0.8696462 ] [ 0.02661653 0.99963461 0.0047134 -0.01210621] [ 0.02083381 -0.00526876 0.99976907 -0.2397295 ] [ 0. 0. 0. 1. ]] SLAMing on 29.581346183999997 meters Centerline goodness [0,1] 0.8193663315943505 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.24 [[ 0.99943426 -0.02611971 -0.0211877 0.87086899] [ 0.02623967 0.99964108 0.00540347 -0.01382951] [ 0.02103896 -0.00595637 0.99976091 -0.24084663] [ 0. 0. 0. 1. ]] SLAMing on 29.611346184 meters Centerline goodness [0,1] 0.809037308122395 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.24 [[ 0.99944279 -0.02567001 -0.02133467 0.87237776] [ 0.0258169 0.99964465 0.00663824 -0.01736198] [ 0.02115669 -0.00718534 0.99975035 -0.24295009] [ 0. 0. 0. 1. ]] SLAMing on 29.641346184 meters Centerline goodness [0,1] 0.8168559172344183 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99935095 -0.02879504 -0.02164534 0.87516522] [ 0.02889674 0.99957272 0.0044004 -0.02224802] [ 0.02150938 -0.00502302 0.99975603 -0.24591067] [ 0. 0. 0. 1. ]] SLAMing on 29.671346183999997 meters Centerline goodness [0,1] 0.8034035493439244 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.25 [[ 0.99934908 -0.0290602 -0.0213758 0.87426326] [ 0.02916513 0.99956396 0.0046139 -0.02436918] [ 0.0212324 -0.00523432 0.99976086 -0.24565461] [ 0. 0. 0. 1. ]] SLAMing on 29.701346184 meters Centerline goodness [0,1] 0.7931304260044417 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.24 [[ 0.99933762 -0.02972638 -0.02099176 0.8722724 ] [ 0.02982001 0.99954662 0.00416119 -0.02481051] [ 0.02085855 -0.00478441 0.99977099 -0.24413793] [ 0. 0. 0. 1. ]] SLAMing on 29.731346184 meters Centerline goodness [0,1] 0.7959332795807297 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.24 [[ 0.99932547 -0.03021213 -0.02087675 0.87108219] [ 0.03029395 0.9995345 0.00361424 -0.02446302] [ 0.02075784 -0.00424424 0.99977552 -0.24265939] [ 0. 0. 0. 1. ]] SLAMing on 29.761346183999997 meters Centerline goodness [0,1] 0.7939152572278376 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.24 [[ 0.99930969 -0.03088281 -0.02064911 0.86928818] [ 0.0309525 0.99951616 0.00306409 -0.02422187] [ 0.02054449 -0.00370111 0.99978209 -0.24091438] [ 0. 0. 0. 1. ]] SLAMing on 29.791346184 meters Centerline goodness [0,1] 0.7849502957090726 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 0.99931086 -0.03096771 -0.02046453 0.86913362] [ 0.03104187 0.99951258 0.00331652 -0.02532436] [ 0.02035185 -0.00394949 0.99978508 -0.24141742] [ 0. 0. 0. 1. ]] SLAMing on 29.821346184 meters Centerline goodness [0,1] 0.7756537466402069 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 0.99931591 -0.03085803 -0.02038354 0.86954164] [ 0.03094362 0.99951353 0.00389713 -0.02724503] [ 0.02025337 -0.00452521 0.99978464 -0.24252335] [ 0. 0. 0. 1. ]] SLAMing on 29.851346183999997 meters Centerline goodness [0,1] 0.7755424161948189 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 9.99204635e-01 -3.39847881e-02 -2.08598098e-02 8.72982915e-01] [ 3.40111079e-02 9.99421042e-01 9.08173225e-04 -2.79098539e-02] [ 2.08168688e-02 -1.61691614e-03 9.99781998e-01 -2.45458355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.881346183999998 meters Centerline goodness [0,1] 0.7699363440429051 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99920453 -0.03408753 -0.02069654 0.87311623] [ 0.03412282 0.99941673 0.0013544 -0.0290957 ] [ 0.0206383 -0.00205954 0.99978489 -0.24657293] [ 0. 0. 0. 1. ]] SLAMing on 29.911346184 meters Centerline goodness [0,1] 0.7745186296574144 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99920529 -0.03409137 -0.02065343 0.87350774] [ 0.0341366 0.99941548 0.00184163 -0.03001582] [ 0.02057858 -0.00254521 0.999785 -0.24758624] [ 0. 0. 0. 1. ]] SLAMing on 29.941346183999997 meters Centerline goodness [0,1] 0.7650127928560678 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 9.99169751e-01 -3.53622999e-02 -2.02315764e-02 8.70658491e-01] [ 3.53834179e-02 9.99373575e-01 6.86686935e-04 -2.79834003e-02] [ 2.01946200e-02 -1.40197913e-03 9.99795085e-01 -2.45145649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.971346183999998 meters Centerline goodness [0,1] 0.7623638412420183 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 9.99159975e-01 -3.55349491e-02 -2.04110726e-02 8.70369315e-01] [ 3.55478420e-02 9.99367940e-01 2.69074428e-04 -2.74504987e-02] [ 2.03886100e-02 -9.94417982e-04 9.99791636e-01 -2.43872101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.001346184 meters Centerline goodness [0,1] 0.760390830514844 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 9.99160965e-01 -3.56065843e-02 -2.02370468e-02 8.69816088e-01] [ 3.56176256e-02 9.99365474e-01 1.85311000e-04 -2.79513559e-02] [ 2.02176076e-02 -9.05951076e-04 9.99795193e-01 -2.43456337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.031346183999997 meters Centerline goodness [0,1] 0.7534253437867896 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 9.99165600e-01 -3.55170867e-02 -2.01653024e-02 8.69872393e-01] [ 3.55307560e-02 9.99368532e-01 3.19870783e-04 -2.87021047e-02] [ 2.01412078e-02 -1.03609232e-03 9.99796608e-01 -2.43687931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.061346183999998 meters Centerline goodness [0,1] 0.757675576454022 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 0.9992876 -0.03215035 -0.01976499 0.86828508] [ 0.03223973 0.99947126 0.00421994 -0.02935522] [ 0.01961887 -0.00485415 0.99979575 -0.24379049] [ 0. 0. 0. 1. ]] SLAMing on 30.091346184 meters Centerline goodness [0,1] 0.7572350091614166 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 0.99928603 -0.03192352 -0.02020707 0.86955238] [ 0.03201076 0.99947949 0.00400847 -0.02764417] [ 0.02006859 -0.00465245 0.99978778 -0.24390627] [ 0. 0. 0. 1. ]] SLAMing on 30.121346183999997 meters Centerline goodness [0,1] 0.7592741935483871 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.24 [[ 0.99928705 -0.03178441 -0.020375 0.87046253] [ 0.03187064 0.99948431 0.00392154 -0.026791 ] [ 0.02023985 -0.00456811 0.99978472 -0.24446604] [ 0. 0. 0. 1. ]] SLAMing on 30.151346183999998 meters Centerline goodness [0,1] 0.7614844987553745 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99930551 -0.03104563 -0.02060753 0.87270776] [ 0.03114736 0.99950406 0.00463379 -0.02751331] [ 0.02045345 -0.00527244 0.9997769 -0.24680199] [ 0. 0. 0. 1. ]] SLAMing on 30.181346184 meters Centerline goodness [0,1] 0.7684008872756605 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99930648 -0.03088485 -0.02080093 0.87347755] [ 0.03098714 0.99950914 0.00461346 -0.02705941] [ 0.02064823 -0.00525482 0.99977299 -0.24717237] [ 0. 0. 0. 1. ]] SLAMing on 30.211346183999996 meters Centerline goodness [0,1] 0.775878131688279 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99930739 -0.03075037 -0.02095627 0.87404206] [ 0.03085091 0.99951391 0.00449141 -0.02644594] [ 0.02080797 -0.00513482 0.9997703 -0.24722316] [ 0. 0. 0. 1. ]] SLAMing on 30.241346183999998 meters Centerline goodness [0,1] 0.7706581398861977 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.9993038 -0.03094029 -0.02084762 0.87344518] [ 0.03103126 0.99951019 0.00405416 -0.02582629] [ 0.02071197 -0.00469827 0.99977444 -0.24649143] [ 0. 0. 0. 1. ]] SLAMing on 30.271346184 meters Centerline goodness [0,1] 0.7721471092725255 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99930511 -0.03075125 -0.02106306 0.8741446 ] [ 0.03084586 0.99951541 0.00418179 -0.02575389] [ 0.02092426 -0.00482859 0.9997694 -0.24670798] [ 0. 0. 0. 1. ]] SLAMing on 30.301346183999996 meters Centerline goodness [0,1] 0.7757488870444428 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.03, Z:-0.25 [[ 0.99930386 -0.03063175 -0.0212952 0.87493923] [ 0.03073009 0.99951844 0.00430606 -0.02516581] [ 0.02115305 -0.00495747 0.99976396 -0.24714071] [ 0. 0. 0. 1. ]] SLAMing on 30.331346183999997 meters Centerline goodness [0,1] 0.7675017028683873 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99929878 -0.03058817 -0.0215941 0.87583871] [ 0.03068676 0.99952002 0.00424898 -0.02421424] [ 0.02145377 -0.00490866 0.99975779 -0.24742827] [ 0. 0. 0. 1. ]] SLAMing on 30.361346184 meters Centerline goodness [0,1] 0.76008288688972 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99929753 -0.03050814 -0.02176473 0.87664614] [ 0.03061269 0.99952125 0.00448671 -0.02417023] [ 0.02161743 -0.00514983 0.99975305 -0.24820105] [ 0. 0. 0. 1. ]] SLAMing on 30.391346184 meters Centerline goodness [0,1] 0.754418299333468 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.25 [[ 0.99929253 -0.03080332 -0.02157788 0.87671394] [ 0.03091501 0.99951019 0.00486174 -0.02554735] [ 0.02141755 -0.00552539 0.99975535 -0.24952802] [ 0. 0. 0. 1. ]] SLAMing on 30.421346183999997 meters Centerline goodness [0,1] 0.753972658023508 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.25 [[ 0.99929774 -0.03066229 -0.02153713 0.87737318] [ 0.03078479 0.99951156 0.00537926 -0.02702261] [ 0.02136167 -0.0060385 0.99975358 -0.25080601] [ 0. 0. 0. 1. ]] SLAMing on 30.451346184 meters Centerline goodness [0,1] 0.751550446225987 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.25 [[ 0.99930096 -0.03056836 -0.02152115 0.87787541] [ 0.03069545 0.9995131 0.00559986 -0.02787278] [ 0.02133949 -0.00625655 0.99975271 -0.25157139] [ 0. 0. 0. 1. ]] SLAMing on 30.481346184 meters Centerline goodness [0,1] 0.7492297590787413 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.03, Z:-0.25 [[ 0.99929819 -0.0307243 -0.02142745 0.87763678] [ 0.03084018 0.99951133 0.00509837 -0.02648267] [ 0.02126034 -0.00575562 0.99975741 -0.2512842 ] [ 0. 0. 0. 1. ]] SLAMing on 30.511346183999997 meters Centerline goodness [0,1] 0.7555364110880252 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99928814 -0.0309975 -0.02150255 0.87722938] [ 0.03109155 0.99950832 0.00405344 -0.0234931 ] [ 0.02136633 -0.0047191 0.99976058 -0.24990185] [ 0. 0. 0. 1. ]] SLAMing on 30.541346184 meters Centerline goodness [0,1] 0.7609392490078355 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99927774 -0.03097736 -0.02200916 0.87797693] [ 0.03105043 0.99951336 0.00298563 -0.01886758] [ 0.02190596 -0.00366687 0.99975331 -0.2486467 ] [ 0. 0. 0. 1. ]] SLAMing on 30.571346184 meters Centerline goodness [0,1] 0.7676112118966707 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.02, Z:-0.25 [[ 0.99938082 -0.02758189 -0.02184513 0.87666276] [ 0.02772322 0.99959645 0.00619362 -0.01630463] [ 0.02166548 -0.00679541 0.99974218 -0.2478435 ] [ 0. 0. 0. 1. ]] SLAMing on 30.601346183999997 meters Centerline goodness [0,1] 0.7653579438529556 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.25 [[ 0.99946919 -0.02440353 -0.02158238 0.87502421] [ 0.02459118 0.99966169 0.00847239 -0.01140133] [ 0.02136832 -0.00899863 0.99973117 -0.24633009] [ 0. 0. 0. 1. ]] SLAMing on 30.631346183999998 meters Centerline goodness [0,1] 0.7781415130815827 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.25 [[ 0.99947261 -0.02418879 -0.02166586 0.87592847] [ 0.02437438 0.99966809 0.008343 -0.0110741 ] [ 0.02145686 -0.00886669 0.99973046 -0.24697341] [ 0. 0. 0. 1. ]] SLAMing on 30.661346184 meters Centerline goodness [0,1] 0.7790058102001292 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.25 [[ 0.99947785 -0.0240939 -0.02152922 0.87636708] [ 0.02428052 0.99966948 0.00844891 -0.01179851] [ 0.02131854 -0.00896724 0.99973252 -0.24796162] [ 0. 0. 0. 1. ]] SLAMing on 30.691346183999997 meters Centerline goodness [0,1] 0.7747512598526941 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.25 [[ 0.99947288 -0.02461833 -0.02116347 0.8758708 ] [ 0.02478489 0.99966358 0.00764396 -0.0095858 ] [ 0.02096817 -0.00816447 0.99974681 -0.24839085] [ 0. 0. 0. 1. ]] SLAMing on 30.721346183999998 meters Centerline goodness [0,1] 0.7694064519477823 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.25 [[ 0.99945591 -0.0254026 -0.02103772 0.87478237] [ 0.02554499 0.99965236 0.00652743 -0.00671149] [ 0.0208646 -0.00706129 0.99975737 -0.24719734] [ 0. 0. 0. 1. ]] SLAMing on 30.751346184 meters Centerline goodness [0,1] 0.7593758909364228 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.25 [[ 0.9994423 -0.02599437 -0.02096144 0.87415411] [ 0.02612258 0.99964154 0.00586593 -0.00510315] [ 0.02080144 -0.00641022 0.99976308 -0.24659547] [ 0. 0. 0. 1. ]] SLAMing on 30.781346183999997 meters Centerline goodness [0,1] 0.7533411184637343 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99942099 -0.02678286 -0.02098495 0.87366884] [ 0.02691001 0.99962103 0.00580028 -0.00496228] [ 0.02082165 -0.00636162 0.99976297 -0.2467549 ] [ 0. 0. 0. 1. ]] SLAMing on 30.811346183999998 meters Centerline goodness [0,1] 0.7498444467489371 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99941174 -0.02714601 -0.02095858 0.87321776] [ 0.02726662 0.99961312 0.00549031 -0.00497054] [ 0.02080143 -0.00605855 0.99976527 -0.2461885 ] [ 0. 0. 0. 1. ]] SLAMing on 30.841346184 meters Centerline goodness [0,1] 0.7335739884693295 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.25 [[ 0.99940136 -0.02759887 -0.02086222 0.87225441] [ 0.02770787 0.99960379 0.00495366 -0.00446924] [ 0.02071724 -0.00552874 0.99977009 -0.24510451] [ 0. 0. 0. 1. ]] SLAMing on 30.871346183999997 meters Centerline goodness [0,1] 0.7435517034954842 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 0.99939246 -0.02793236 -0.02084429 0.8716221 ] [ 0.02802556 0.99959841 0.00419259 -0.00305291] [ 0.02071881 -0.00477422 0.99977394 -0.24388187] [ 0. 0. 0. 1. ]] SLAMing on 30.901346183999998 meters Centerline goodness [0,1] 0.7500390889664877 Centerline is valid? [False, False] Translation: X:0.87, Y:0.00, Z:-0.24 [[ 0.99940862 -0.02730818 -0.02089672 0.87228016] [ 0.02737783 0.99962049 0.00305379 0.00107729] [ 0.02080539 -0.00362409 0.99977698 -0.24276696] [ 0. 0. 0. 1. ]] SLAMing on 30.931346184 meters Centerline goodness [0,1] 0.7610994764397906 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 9.99521808e-01 -2.29262286e-02 -2.07495625e-02 8.72742450e-01] [ 2.30892262e-02 9.99704137e-01 7.65026088e-03 -1.13336589e-05] [ 2.05680318e-02 -8.12569393e-03 9.99755435e-01 -2.44412541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.961346183999996 meters Centerline goodness [0,1] 0.780129521402622 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.25 [[ 0.99953574 -0.02146291 -0.02162507 0.87671774] [ 0.02164156 0.9997333 0.00806096 0.00172881] [ 0.02144629 -0.00852522 0.99973365 -0.2461815 ] [ 0. 0. 0. 1. ]] SLAMing on 30.991346183999998 meters Centerline goodness [0,1] 0.7916282985608671 Centerline is valid? [False, False] Translation: X:0.88, Y:0.00, Z:-0.25 [[ 0.99962464 -0.01515116 -0.02282575 0.88257278] [ 0.01546201 0.99978926 0.01350385 0.00204008] [ 0.02261634 -0.01385171 0.99964825 -0.25002962] [ 0. 0. 0. 1. ]] SLAMing on 31.021346184 meters Centerline goodness [0,1] 0.8138803762020501 Centerline is valid? [False, False] Translation: X:0.88, Y:0.01, Z:-0.25 [[ 0.99961508 -0.01459832 -0.02359198 0.88488135] [ 0.01490329 0.99980696 0.01280331 0.00533087] [ 0.02340052 -0.01314998 0.99963968 -0.24972144] [ 0. 0. 0. 1. ]] SLAMing on 31.051346183999996 meters Centerline goodness [0,1] 0.8089840025426422 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.25 [[ 0.99960003 -0.01451357 -0.02427223 0.88608601] [ 0.01479948 0.99982271 0.01164147 0.00886353] [ 0.02409897 -0.01199603 0.9996376 -0.24822509] [ 0. 0. 0. 1. ]] SLAMing on 31.081346183999997 meters Centerline goodness [0,1] 0.8182979063023756 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.25 [[ 0.99958584 -0.01465205 -0.02476832 0.88655471] [ 0.01491425 0.99983432 0.01043493 0.01223028] [ 0.02461132 -0.01080001 0.99963876 -0.24640713] [ 0. 0. 0. 1. ]] SLAMing on 31.111346184 meters Centerline goodness [0,1] 0.821506695833111 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99956924 -0.01505768 -0.02519115 0.88621186] [ 0.01527845 0.99984634 0.00859434 0.01611012] [ 0.02505787 -0.00897552 0.99964571 -0.24323812] [ 0. 0. 0. 1. ]] SLAMing on 31.141346184 meters Centerline goodness [0,1] 0.8277168547720056 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99956749 -0.0151575 -0.02520069 0.88634842] [ 0.01536927 0.99984801 0.00823101 0.01675642] [ 0.02507209 -0.00861476 0.99964853 -0.24317235] [ 0. 0. 0. 1. ]] SLAMing on 31.171346183999997 meters Centerline goodness [0,1] 0.8243484755528289 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99956933 -0.01486406 -0.02530238 0.88738276] [ 0.01508055 0.9998511 0.00838724 0.01619247] [ 0.02517394 -0.0087652 0.99964466 -0.24405027] [ 0. 0. 0. 1. ]] SLAMing on 31.201346184 meters Centerline goodness [0,1] 0.8386130938059722 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.25 [[ 0.9995755 -0.01442339 -0.02531356 0.88865316] [ 0.01464722 0.99985505 0.00867943 0.01572491] [ 0.0251847 -0.00904652 0.99964188 -0.2455924 ] [ 0. 0. 0. 1. ]] SLAMing on 31.231346184 meters Centerline goodness [0,1] 0.8386130938059722 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.25 [[ 0.9995755 -0.01442339 -0.02531356 0.88865316] [ 0.01464722 0.99985505 0.00867943 0.01572491] [ 0.0251847 -0.00904652 0.99964188 -0.2455924 ] [ 0. 0. 0. 1. ]] SLAMing on 31.261346183999997 meters Centerline goodness [0,1] 0.8325713216224165 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.25 [[ 0.99956839 -0.01443083 -0.0255887 0.88927979] [ 0.01464206 0.9998601 0.00808685 0.01733596] [ 0.02546842 -0.00845803 0.99963985 -0.24505206] [ 0. 0. 0. 1. ]] SLAMing on 31.291346184 meters Centerline goodness [0,1] 0.8296240682147262 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99956029 -0.01498439 -0.02558696 0.88846935] [ 0.0151687 0.99986028 0.00702415 0.01993498] [ 0.02547813 -0.00740918 0.99964792 -0.24361092] [ 0. 0. 0. 1. ]] SLAMing on 31.321346184 meters Centerline goodness [0,1] 0.8315253783313246 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99954996 -0.01537824 -0.02575617 0.88813678] [ 0.01554503 0.9998594 0.00628798 0.02150681] [ 0.02565585 -0.00668553 0.99964848 -0.24237296] [ 0. 0. 0. 1. ]] SLAMing on 31.351346183999997 meters Centerline goodness [0,1] 0.8046275939728672 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.9995336 -0.0173477 -0.02513259 0.88421372] [ 0.01748062 0.9998343 0.00507888 0.02205005] [ 0.02504031 -0.00551584 0.99967123 -0.23991382] [ 0. 0. 0. 1. ]] SLAMing on 31.381346183999998 meters Centerline goodness [0,1] 0.7889046865359337 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99952514 -0.01849507 -0.024646 0.88190469] [ 0.01862122 0.99981461 0.00489868 0.02039783] [ 0.02455083 -0.00535529 0.99968424 -0.23925488] [ 0. 0. 0. 1. ]] SLAMing on 31.411346184 meters Centerline goodness [0,1] 0.7718434917493514 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 9.99430612e-01 -2.28500468e-02 -2.48259352e-02 8.82047649e-01] [ 2.28707529e-02 9.99738279e-01 5.50394598e-04 2.06726810e-02] [ 2.48068612e-02 -1.11786904e-03 9.99691637e-01 -2.38472787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.441346183999997 meters Centerline goodness [0,1] 0.7610855149271618 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99932205 -0.02740347 -0.02458631 0.88172633] [ 0.02734006 0.99962195 -0.00291159 0.01797773] [ 0.0246568 0.00223742 0.99969347 -0.23930746] [ 0. 0. 0. 1. ]] SLAMing on 31.471346183999998 meters Centerline goodness [0,1] 0.7656817696088908 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 9.99424972e-01 -2.42686329e-02 -2.36803349e-02 8.81407435e-01] [ 2.42811474e-02 9.99705140e-01 2.41043706e-04 1.61423005e-02] [ 2.36675027e-02 -8.15890801e-04 9.99719552e-01 -2.41062638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.501346184 meters Centerline goodness [0,1] 0.7522957757725784 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 9.99428986e-01 -2.35084074e-02 -2.42704740e-02 8.83926935e-01] [ 2.35359515e-02 9.99722630e-01 8.49811984e-04 1.60453634e-02] [ 2.42437643e-02 -1.42055543e-03 9.99705067e-01 -2.42476378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.531346183999997 meters Centerline goodness [0,1] 0.766219924862114 Centerline is valid? [False, False] Translation: X:0.88, Y:0.02, Z:-0.24 [[ 0.99943037 -0.02325862 -0.02445355 0.88495028] [ 0.02329323 0.99972804 0.0011316 0.01581384] [ 0.02442058 -0.00170056 0.99970033 -0.2432858 ] [ 0. 0. 0. 1. ]] SLAMing on 31.561346183999998 meters Centerline goodness [0,1] 0.756970520092674 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.24 [[ 0.99943381 -0.02296548 -0.02458963 0.88608111] [ 0.02301496 0.99973362 0.00173102 0.01478017] [ 0.02454333 -0.00229597 0.99969613 -0.24464669] [ 0. 0. 0. 1. ]] SLAMing on 31.591346184 meters Centerline goodness [0,1] 0.7555478409485405 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 0.99942866 -0.02299053 -0.02477468 0.88634966] [ 0.02303294 0.99973369 0.00142772 0.01580883] [ 0.02473526 -0.00199753 0.99969204 -0.24418886] [ 0. 0. 0. 1. ]] SLAMing on 31.621346183999997 meters Centerline goodness [0,1] 0.7592998983032704 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99419053e-01 -2.32346950e-02 -2.49340070e-02 8.86202867e-01] [ 2.32612517e-02 9.99729120e-01 7.75527999e-04 1.77811458e-02] [ 2.49092337e-02 -1.35507367e-03 9.99688799e-01 -2.43203974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.651346183999998 meters Centerline goodness [0,1] 0.7563236870310825 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99413271e-01 -2.33507601e-02 -2.50570597e-02 8.86199169e-01] [ 2.33671120e-02 9.99726887e-01 3.59943568e-04 1.91972833e-02] [ 2.50418114e-02 -9.45243501e-04 9.99685958e-01 -2.42587535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.681346184 meters Centerline goodness [0,1] 0.7648621809495693 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99411779e-01 -2.29592076e-02 -2.54749212e-02 8.87309174e-01] [ 2.29593698e-02 9.99736358e-01 -2.86163571e-04 2.15200473e-02] [ 2.54747751e-02 -2.98892893e-04 9.99675421e-01 -2.41739507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.711346183999996 meters Centerline goodness [0,1] 0.7709419160711407 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99410367e-01 -2.25072771e-02 -2.59295528e-02 8.88635489e-01] [ 2.24966229e-02 9.99746672e-01 -7.02563818e-04 2.30016986e-02] [ 2.59387969e-02 1.18822191e-04 9.99663526e-01 -2.41205774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.741346183999998 meters Centerline goodness [0,1] 0.769919836444827 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99408249e-01 -2.19307296e-02 -2.64989693e-02 8.90271381e-01] [ 2.19108635e-02 9.99759387e-01 -1.03985282e-03 2.45607355e-02] [ 2.65153980e-02 4.58622181e-04 9.99648300e-01 -2.40709426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.771346184 meters Centerline goodness [0,1] 0.7738377098579423 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.24 [[ 9.99407342e-01 -2.14609471e-02 -2.69145506e-02 8.91590855e-01] [ 2.14365352e-02 9.99769497e-01 -1.19525181e-03 2.57028852e-02] [ 2.69339979e-02 6.17588724e-04 9.99637023e-01 -2.40597275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.801346183999996 meters Centerline goodness [0,1] 0.787256379885862 Centerline is valid? [False, False] Translation: X:0.89, Y:0.03, Z:-0.24 [[ 9.99412483e-01 -2.09008390e-02 -2.71632686e-02 8.92749231e-01] [ 2.08807884e-02 9.99781451e-01 -1.02162000e-03 2.52581739e-02] [ 2.71786848e-02 4.53829316e-04 9.99630488e-01 -2.40858305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.831346183999997 meters Centerline goodness [0,1] 0.7882024582684772 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99412589e-01 -2.05443100e-02 -2.74300494e-02 8.93711716e-01] [ 2.05316567e-02 9.99788927e-01 -7.42885713e-04 2.44735507e-02] [ 2.74395218e-02 1.79264975e-04 9.99623449e-01 -2.41134922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.861346184 meters Centerline goodness [0,1] 0.7891634063990567 Centerline is valid? [False, False] Translation: X:0.89, Y:0.02, Z:-0.24 [[ 9.99409448e-01 -2.02865692e-02 -2.77346517e-02 8.94568194e-01] [ 2.02778995e-02 9.99794206e-01 -5.93842636e-04 2.44308901e-02] [ 2.77409911e-02 3.10914615e-05 9.99615144e-01 -2.41167335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.891346184 meters Centerline goodness [0,1] 0.7932619918261992 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 9.99401009e-01 -2.01223782e-02 -2.81551652e-02 8.95433053e-01] [ 2.01178720e-02 9.99797517e-01 -4.43332665e-04 2.45157560e-02] [ 2.81583852e-02 -1.23354899e-04 9.99603466e-01 -2.40986144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.921346183999997 meters Centerline goodness [0,1] 0.7845207393079734 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 9.99401755e-01 -1.99155753e-02 -2.82754576e-02 8.95964103e-01] [ 1.99264557e-02 9.99801443e-01 1.03052581e-04 2.32678648e-02] [ 2.82677910e-02 -6.66420584e-04 9.99600164e-01 -2.41565626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.951346184 meters Centerline goodness [0,1] 0.7827890792291221 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 9.99399999e-01 -1.96685519e-02 -2.85094905e-02 8.96639891e-01] [ 1.96947700e-02 9.99805835e-01 6.39090530e-04 2.18609266e-02] [ 2.84913850e-02 -1.20019493e-03 9.99593318e-01 -2.41877509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.981346184 meters Centerline goodness [0,1] 0.7733654876741693 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 0.99940052 -0.01996829 -0.02828198 0.89584374] [ 0.02001138 0.99979898 0.00124139 0.0193396 ] [ 0.02825151 -0.00180661 0.99959921 -0.24234089] [ 0. 0. 0. 1. ]] SLAMing on 32.011346184 meters Centerline goodness [0,1] 0.762854621781331 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 0.99940489 -0.01971319 -0.02830631 0.89632844] [ 0.0197749 0.99980265 0.00190153 0.01715484] [ 0.02826324 -0.00246015 0.99959749 -0.24310587] [ 0. 0. 0. 1. ]] SLAMing on 32.041346184 meters Centerline goodness [0,1] 0.7681097414231088 Centerline is valid? [False, False] Translation: X:0.90, Y:0.02, Z:-0.24 [[ 0.99940938 -0.01979764 -0.02808813 0.89584028] [ 0.01986684 0.99980024 0.00218667 0.01512332] [ 0.02803923 -0.0027434 0.99960306 -0.24327648] [ 0. 0. 0. 1. ]] SLAMing on 32.071346184 meters Centerline goodness [0,1] 0.7600832821717428 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.24 [[ 0.99941328 -0.02000641 -0.02779985 0.8953433 ] [ 0.02009128 0.99979429 0.00277714 0.01184542] [ 0.02773857 -0.00333405 0.99960965 -0.24407813] [ 0. 0. 0. 1. ]] SLAMing on 32.101346184 meters Centerline goodness [0,1] 0.7642345675726037 Centerline is valid? [False, False] Translation: X:0.90, Y:0.01, Z:-0.24 [[ 0.99941017 -0.01983426 -0.028034 0.89589983] [ 0.01992539 0.99979704 0.00297519 0.01076186] [ 0.0279693 -0.00353202 0.99960254 -0.24393573] [ 0. 0. 0. 1. ]] SLAMing on 32.131346183999995 meters Centerline goodness [0,1] 0.7561183457164922 Centerline is valid? [False, False] Translation: X:0.89, Y:0.01, Z:-0.24 [[ 0.99940708 -0.02023986 -0.02785385 0.89473804] [ 0.02032401 0.99978969 0.00274132 0.01032812] [ 0.02779251 -0.0033058 0.99960825 -0.24301648] [ 0. 0. 0. 1. ]] SLAMing on 32.161346183999996 meters Centerline goodness [0,1] 0.7595825276151625 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:-0.25 [[ 0.9994797 -0.02328957 -0.02231438 0.9087586 ] [ 0.02351128 0.99967626 0.00972579 0.00570085] [ 0.02208065 -0.01024537 0.99970369 -0.24597497] [ 0. 0. 0. 1. ]] SLAMing on 32.191346184 meters Centerline goodness [0,1] 0.7625347268157163 Centerline is valid? [False, False] Translation: X:0.91, Y:0.01, Z:-0.25 [[ 0.99947185 -0.0237514 -0.02217885 0.90771789] [ 0.02396479 0.99966856 0.00940564 0.00551959] [ 0.02194811 -0.00993218 0.99970977 -0.24503499] [ 0. 0. 0. 1. ]] SLAMing on 32.221346184 meters Centerline goodness [0,1] 0.7581891305498227 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.24 [[ 0.99946418 -0.02418796 -0.02205207 0.90660547] [ 0.02439417 0.99966072 0.00913055 0.00487064] [ 0.02182374 -0.0096636 0.99971513 -0.24391019] [ 0. 0. 0. 1. ]] SLAMing on 32.251346184 meters Centerline goodness [0,1] 0.7420386339213167 Centerline is valid? [False, False] Translation: X:0.91, Y:0.00, Z:-0.24 [[ 0.99936313 -0.02794926 -0.02218498 0.90747577] [ 0.02807813 0.9995905 0.00551904 0.00299278] [ 0.02202165 -0.00613844 0.99973865 -0.24409861] [ 0. 0. 0. 1. ]] SLAMing on 32.281346184 meters Centerline goodness [0,1] 0.7393249607535322 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.00, Z:-0.24 [[ 9.99366608e-01 -2.80507486e-02 -2.18983819e-02 9.06954510e-01] [ 2.81902648e-02 9.99584033e-01 6.08852774e-03 -2.67685293e-04] [ 2.17184852e-02 -6.70199250e-03 9.99741662e-01 -2.44636046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.311346184 meters Centerline goodness [0,1] 0.7336468129571578 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.00, Z:-0.24 [[ 0.99936611 -0.02826701 -0.02164141 0.90619924] [ 0.02841135 0.99957588 0.00639146 -0.00271079] [ 0.02145156 -0.00700227 0.99974537 -0.24464887] [ 0. 0. 0. 1. ]] SLAMing on 32.341346183999995 meters Centerline goodness [0,1] 0.737903015782072 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.00, Z:-0.24 [[ 0.99936528 -0.02842034 -0.0214783 0.90570239] [ 0.02857021 0.99956931 0.00670349 -0.00479496] [ 0.02127854 -0.00731287 0.99974684 -0.24467674] [ 0. 0. 0. 1. ]] SLAMing on 32.371346184 meters Centerline goodness [0,1] 0.7287049052686219 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.24 [[ 0.9993525 -0.02900523 -0.02129053 0.90421241] [ 0.02915637 0.99955158 0.00682307 -0.00790272] [ 0.02108307 -0.00743941 0.99975005 -0.24362629] [ 0. 0. 0. 1. ]] SLAMing on 32.401346184 meters Centerline goodness [0,1] 0.720424540512555 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.24 [[ 0.99934993 -0.02910786 -0.02127094 0.90383599] [ 0.0292577 0.999549 0.00676701 -0.00860738] [ 0.02106438 -0.00738495 0.99975085 -0.24303512] [ 0. 0. 0. 1. ]] SLAMing on 32.431346184 meters Centerline goodness [0,1] 0.7263166075175504 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.24 [[ 0.99934595 -0.02908631 -0.02148623 0.90387016] [ 0.02923292 0.99955122 0.00654154 -0.00852298] [ 0.02128632 -0.00716537 0.99974774 -0.24206044] [ 0. 0. 0. 1. ]] SLAMing on 32.461346184 meters Centerline goodness [0,1] 0.7277931766961117 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.24 [[ 0.99934256 -0.02903963 -0.02170573 0.90387897] [ 0.02918136 0.99955465 0.00624137 -0.00851702] [ 0.02151482 -0.00687067 0.99974492 -0.24094212] [ 0. 0. 0. 1. ]] SLAMing on 32.491346184 meters Centerline goodness [0,1] 0.7390415037671854 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.24 [[ 0.99937129 -0.02763129 -0.02221583 0.90623162] [ 0.0278056 0.99958464 0.00757577 -0.01228819] [ 0.02199727 -0.00818873 0.99972449 -0.2420357 ] [ 0. 0. 0. 1. ]] SLAMing on 32.521346183999995 meters Centerline goodness [0,1] 0.7238944438717658 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.24 [[ 0.99938444 -0.0266686 -0.02279297 0.9083463 ] [ 0.0268589 0.99960655 0.00808377 -0.01384468] [ 0.02256842 -0.00869099 0.99970752 -0.24240981] [ 0. 0. 0. 1. ]] SLAMing on 32.551346183999996 meters Centerline goodness [0,1] 0.7542189193373587 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.24 [[ 0.99939327 -0.02605823 -0.02310991 0.90941477] [ 0.02625196 0.99962238 0.00811946 -0.0134856 ] [ 0.0228896 -0.00872121 0.99969996 -0.24224863] [ 0. 0. 0. 1. ]] SLAMing on 32.581346184 meters Centerline goodness [0,1] 0.7716044612729568 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.24 [[ 0.99942773 -0.02393375 -0.02390384 0.91200053] [ 0.02412295 0.99967966 0.00765844 -0.01191061] [ 0.02371288 -0.00823069 0.99968493 -0.23979483] [ 0. 0. 0. 1. ]] SLAMing on 32.611346184 meters Centerline goodness [0,1] 0.7915797605252993 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.01, Z:-0.24 [[ 0.99943233 -0.02320466 -0.02442468 0.91330726] [ 0.02340003 0.99969619 0.00774379 -0.01235325] [ 0.02423757 -0.00831093 0.99967168 -0.23915211] [ 0. 0. 0. 1. ]] SLAMing on 32.641346184 meters Centerline goodness [0,1] 0.8021319120586275 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.24 [[ 0.99943791 -0.02220469 -0.02511592 0.91547709] [ 0.02242123 0.99971355 0.00837297 -0.01431812] [ 0.0249228 -0.00893139 0.99964948 -0.23924319] [ 0. 0. 0. 1. ]] SLAMing on 32.671346184 meters Centerline goodness [0,1] 0.8132250877148053 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.24 [[ 0.99944562 -0.02147919 -0.02543818 0.91670967] [ 0.02171972 0.99972161 0.00921723 -0.0173383 ] [ 0.02523312 -0.00976463 0.9996339 -0.23965099] [ 0. 0. 0. 1. ]] SLAMing on 32.701346183999995 meters Centerline goodness [0,1] 0.8215043443119823 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.02, Z:-0.24 [[ 0.99937745 -0.02295392 -0.02679228 0.92191867] [ 0.02315974 0.99970441 0.00739701 -0.02394081] [ 0.02661457 -0.00801291 0.99961365 -0.24093097] [ 0. 0. 0. 1. ]] SLAMing on 32.731346183999996 meters Centerline goodness [0,1] 0.8262125436415242 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:-0.24 [[ 0.99938584 -0.02213178 -0.02716858 0.92370328] [ 0.02237693 0.99971129 0.0087524 -0.02877803] [ 0.02696703 -0.00935497 0.99959255 -0.24225349] [ 0. 0. 0. 1. ]] SLAMing on 32.761346184 meters Centerline goodness [0,1] 0.8423478718340557 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.24 [[ 0.99939484 -0.0211625 -0.02760614 0.92569186] [ 0.02144695 0.99971949 0.01004869 -0.03268282] [ 0.02738574 -0.01063468 0.99956837 -0.24345113] [ 0. 0. 0. 1. ]] SLAMing on 32.791346184 meters Centerline goodness [0,1] 0.8378681977034448 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:-0.24 [[ 0.99939668 -0.02050112 -0.0280355 0.92704846] [ 0.02081241 0.99972445 0.01085714 -0.03521427] [ 0.02780519 -0.01143407 0.99954796 -0.2437911 ] [ 0. 0. 0. 1. ]] SLAMing on 32.821346184 meters Centerline goodness [0,1] 0.862314716290119 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.04, Z:-0.24 [[ 0.99940466 -0.01904362 -0.02876908 0.92906544] [ 0.01941314 0.99973189 0.01262016 -0.0413393 ] [ 0.02852103 -0.01317115 0.99950641 -0.24384286] [ 0. 0. 0. 1. ]] SLAMing on 32.851346184 meters Centerline goodness [0,1] 0.8704336916681017 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:-0.24 [[ 0.99941073 -0.01849893 -0.0289134 0.92920477] [ 0.01889844 0.99972883 0.01360557 -0.0459365 ] [ 0.02865387 -0.01414397 0.99948932 -0.24346961] [ 0. 0. 0. 1. ]] SLAMing on 32.881346183999995 meters Centerline goodness [0,1] 0.8785528447302537 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.05, Z:-0.24 [[ 0.9994175 -0.01800852 -0.02898878 0.929172 ] [ 0.01843733 0.99972351 0.0145936 -0.05095428] [ 0.02871795 -0.01511957 0.9994732 -0.24306038] [ 0. 0. 0. 1. ]] SLAMing on 32.911346183999996 meters Centerline goodness [0,1] 0.8818739731323089 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:-0.24 [[ 0.99934598 -0.02073319 -0.02962666 0.93039768] [ 0.02110166 0.99970315 0.01217896 -0.05792194] [ 0.02936536 -0.01279617 0.99948684 -0.24181869] [ 0. 0. 0. 1. ]] SLAMing on 32.941346184 meters Centerline goodness [0,1] 0.8818615177195686 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.06, Z:-0.24 [[ 0.99935214 -0.02055772 -0.02954126 0.92987615] [ 0.02095351 0.99969395 0.01315123 -0.06341942] [ 0.02926186 -0.01376171 0.99947704 -0.24150503] [ 0. 0. 0. 1. ]] SLAMing on 32.971346184 meters Centerline goodness [0,1] 0.8848008786171331 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.24 [[ 0.99926273 -0.02405281 -0.02992424 0.93064062] [ 0.02434051 0.99966059 0.00928732 -0.06518189] [ 0.0296907 -0.01000884 0.99950902 -0.24022595] [ 0. 0. 0. 1. ]] SLAMing on 33.001346184 meters Centerline goodness [0,1] 0.8876660341555977 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.24 [[ 0.99925915 -0.02458708 -0.02960795 0.92773418] [ 0.02487803 0.99964536 0.00949896 -0.07129997] [ 0.0293639 -0.01022851 0.99951645 -0.23706316] [ 0. 0. 0. 1. ]] SLAMing on 33.031346184 meters Centerline goodness [0,1] 0.8859601427862226 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.24 [[ 0.9992517 -0.02490494 -0.02959371 0.92638703] [ 0.02518829 0.99964001 0.00924078 -0.0728087 ] [ 0.02935291 -0.00997928 0.99951929 -0.23501622] [ 0. 0. 0. 1. ]] SLAMing on 33.061346184 meters Centerline goodness [0,1] 0.8860404235749157 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.07, Z:-0.23 [[ 0.99924765 -0.02508646 -0.02957699 0.92556405] [ 0.02537295 0.99963432 0.00935116 -0.07483529] [ 0.02933159 -0.01009458 0.99951876 -0.2339009 ] [ 0. 0. 0. 1. ]] SLAMing on 33.091346183999995 meters Centerline goodness [0,1] 0.8840702348212397 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.08, Z:-0.23 [[ 0.99924598 -0.02526573 -0.02948068 0.92480524] [ 0.02556158 0.99962617 0.00970197 -0.07803226] [ 0.02922453 -0.01044823 0.99951826 -0.23324276] [ 0. 0. 0. 1. ]] SLAMing on 33.121346184 meters Centerline goodness [0,1] 0.8682926829268293 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.23 [[ 0.99911262 -0.03049232 -0.02905509 0.9236503 ] [ 0.03066544 0.9995144 0.00553136 -0.08575825] [ 0.02887232 -0.00641744 0.99956251 -0.23242606] [ 0. 0. 0. 1. ]] SLAMing on 33.151346184 meters Centerline goodness [0,1] 0.8682926829268293 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.23 [[ 0.99911262 -0.03049232 -0.02905509 0.9236503 ] [ 0.03066544 0.9995144 0.00553136 -0.08575825] [ 0.02887232 -0.00641744 0.99956251 -0.23242606] [ 0. 0. 0. 1. ]] SLAMing on 33.181346184 meters Centerline goodness [0,1] 0.8465658767332931 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.09, Z:-0.23 [[ 0.99899091 -0.03411925 -0.02920674 0.92491423] [ 0.03421425 0.99941071 0.00275888 -0.08984463] [ 0.0290954 -0.00375538 0.99956958 -0.23345289] [ 0. 0. 0. 1. ]] SLAMing on 33.211346184 meters Centerline goodness [0,1] 0.830639948287007 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.09, Z:-0.23 [[ 9.98856422e-01 -3.76481846e-02 -2.94697025e-02 9.26729507e-01] [ 3.76625199e-02 9.99290513e-01 -6.86759459e-05 -9.27968654e-02] [ 2.94513797e-02 -1.04130585e-03 9.99565672e-01 -2.34810597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.241346184 meters Centerline goodness [0,1] 0.7916905641331529 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:-0.24 [[ 0.99867572 -0.04180171 -0.02999023 0.92848065] [ 0.04175054 0.99912535 -0.00233067 -0.0975408 ] [ 0.03006143 0.00107548 0.99954747 -0.23644288] [ 0. 0. 0. 1. ]] SLAMing on 33.271346183999995 meters Centerline goodness [0,1] 0.7783713145948921 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.10, Z:-0.24 [[ 9.98665968e-01 -4.21223168e-02 -2.98662697e-02 9.28232197e-01] [ 4.21046395e-02 9.99112461e-01 -1.22080836e-03 -1.01734662e-01] [ 2.98911855e-02 -3.83287531e-05 9.99553158e-01 -2.37301265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.301346183999996 meters Centerline goodness [0,1] 0.7668216630196937 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.24 [[ 9.98654479e-01 -4.24595605e-02 -2.97727677e-02 9.28154141e-01] [ 4.24690127e-02 9.99097735e-01 -3.15087258e-04 -1.05960816e-01] [ 2.97592833e-02 -9.49756749e-04 9.99556643e-01 -2.38064261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.331346184 meters Centerline goodness [0,1] 0.7673297715130158 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.24 [[ 9.98644214e-01 -4.28531023e-02 -2.95524141e-02 9.27315812e-01] [ 4.28796919e-02 9.99080208e-01 2.66303630e-04 -1.09842841e-01] [ 2.95138201e-02 -1.53314099e-03 9.99563197e-01 -2.37924810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.361346184 meters Centerline goodness [0,1] 0.7608641443565389 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.11, Z:-0.24 [[ 0.99847434 -0.04657414 -0.02966223 0.92758165] [ 0.04650751 0.99891364 -0.00293252 -0.11373363] [ 0.02976659 0.00154853 0.99955568 -0.23725587] [ 0. 0. 0. 1. ]] SLAMing on 33.391346184 meters Centerline goodness [0,1] 0.7632556874830055 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 9.98491733e-01 -4.61293716e-02 -2.97714791e-02 9.28303341e-01] [ 4.60915789e-02 9.98935306e-01 -1.95480483e-03 -1.16690366e-01] [ 2.98299555e-02 5.79641985e-04 9.99554820e-01 -2.38012918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.421346184 meters Centerline goodness [0,1] 0.7606072929375085 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 9.98507132e-01 -4.56479368e-02 -2.99962061e-02 9.29281514e-01] [ 4.56323884e-02 9.98957576e-01 -1.20305221e-03 -1.18452160e-01] [ 3.00198542e-02 -1.67542310e-04 9.99549289e-01 -2.38636013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.451346183999995 meters Centerline goodness [0,1] 0.7634411028134377 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 9.98512449e-01 -4.52733196e-02 -3.03844690e-02 9.30307914e-01] [ 4.52693475e-02 9.98974482e-01 -8.18968214e-04 -1.18801375e-01] [ 3.03903866e-02 -5.57735130e-04 9.99537950e-01 -2.38759651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.481346183999996 meters Centerline goodness [0,1] 0.7637674628210906 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 9.98541785e-01 -4.42740176e-02 -3.08887615e-02 9.32337058e-01] [ 4.43008865e-02 9.99018217e-01 1.85703870e-04 -1.19812554e-01] [ 3.08502136e-02 -1.55383259e-03 9.99522811e-01 -2.39864515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.511346184 meters Centerline goodness [0,1] 0.7664991775759897 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 0.99856168 -0.04363454 -0.03115432 0.93384726] [ 0.04368848 0.99904465 0.00105238 -0.12186073] [ 0.03107863 -0.00241195 0.99951403 -0.24106837] [ 0. 0. 0. 1. ]] SLAMing on 33.541346184 meters Centerline goodness [0,1] 0.7875792656782434 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.12, Z:-0.24 [[ 0.99858188 -0.0432211 -0.03108335 0.9345744 ] [ 0.04329904 0.99906047 0.00183818 -0.12415056] [ 0.0309747 -0.00318145 0.99951511 -0.24231422] [ 0. 0. 0. 1. ]] SLAMing on 33.571346184 meters Centerline goodness [0,1] 0.7659794975780105 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99859806 -0.04270935 -0.03127035 0.93545578] [ 0.04281188 0.99907973 0.00261627 -0.12592885] [ 0.03112983 -0.00395134 0.99950754 -0.24289532] [ 0. 0. 0. 1. ]] SLAMing on 33.601346184 meters Centerline goodness [0,1] 0.7680379889273979 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99860404 -0.04249533 -0.03137079 0.93584633] [ 0.04260474 0.99908801 0.00282722 -0.12630432] [ 0.03122203 -0.00415982 0.99950382 -0.24298217] [ 0. 0. 0. 1. ]] SLAMing on 33.631346183999995 meters Centerline goodness [0,1] 0.7679407527462633 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.9986123 -0.04221278 -0.03148891 0.93630937] [ 0.04233258 0.99909862 0.0031473 -0.12735297] [ 0.03132767 -0.00447594 0.99949915 -0.24309673] [ 0. 0. 0. 1. ]] SLAMing on 33.661346183999996 meters Centerline goodness [0,1] 0.7750376887248835 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99863714 -0.04142819 -0.03174215 0.93733595] [ 0.04157147 0.99912805 0.00386693 -0.12919572] [ 0.03155427 -0.00518122 0.99948861 -0.24343643] [ 0. 0. 0. 1. ]] SLAMing on 33.691346184 meters Centerline goodness [0,1] 0.7811319057045168 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99864261 -0.04097843 -0.03215129 0.93843008] [ 0.04112757 0.99914593 0.00399086 -0.12846942] [ 0.03196029 -0.00530775 0.99947505 -0.24344078] [ 0. 0. 0. 1. ]] SLAMing on 33.721346184 meters Centerline goodness [0,1] 0.7829195898542903 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99864807 -0.04045504 -0.03264065 0.93981903] [ 0.04061011 0.99916665 0.00410167 -0.12737666] [ 0.03244752 -0.00542166 0.99945874 -0.24360656] [ 0. 0. 0. 1. ]] SLAMing on 33.751346184 meters Centerline goodness [0,1] 0.7890282061094478 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.99865486 -0.04005115 -0.03293001 0.94075196] [ 0.04021077 0.9991824 0.00419918 -0.12675622] [ 0.0327349 -0.00551767 0.99944884 -0.24374222] [ 0. 0. 0. 1. ]] SLAMing on 33.781346184 meters Centerline goodness [0,1] 0.7942888076871024 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.24 [[ 0.9986794 -0.03911994 -0.03330297 0.9424152 ] [ 0.03929505 0.99921697 0.0046198 -0.12591813] [ 0.03309617 -0.00592234 0.99943463 -0.24443385] [ 0. 0. 0. 1. ]] SLAMing on 33.811346184 meters Centerline goodness [0,1] 0.79876286797905 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.13, Z:-0.25 [[ 0.99868629 -0.03861609 -0.03368221 0.94404659] [ 0.03880085 0.9992352 0.00484877 -0.12527274] [ 0.03346921 -0.0061493 0.99942083 -0.2453613 ] [ 0. 0. 0. 1. ]] SLAMing on 33.841346183999995 meters Centerline goodness [0,1] 0.7973400886637112 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.13, Z:-0.25 [[ 0.99869787 -0.03814689 -0.03387311 0.94558232] [ 0.03834559 0.99925082 0.00523568 -0.12540198] [ 0.03364801 -0.00652775 0.99941243 -0.24675782] [ 0. 0. 0. 1. ]] SLAMing on 33.871346184 meters Centerline goodness [0,1] 0.8374436669157778 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.13, Z:-0.25 [[ 0.9987051 -0.03793172 -0.03390152 0.94646258] [ 0.03814091 0.99925699 0.00554498 -0.12621579] [ 0.033666 -0.00683083 0.9994098 -0.24785423] [ 0. 0. 0. 1. ]] SLAMing on 33.901346184 meters Centerline goodness [0,1] 0.8294378194207837 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99870388 -0.03779948 -0.03408464 0.9477414 ] [ 0.03800884 0.99926218 0.00551536 -0.12473211] [ 0.03385101 -0.00680373 0.99940373 -0.24899858] [ 0. 0. 0. 1. ]] SLAMing on 33.931346184 meters Centerline goodness [0,1] 0.8366507611906385 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99869041 -0.03790616 -0.03435962 0.94857496] [ 0.03810134 0.99926115 0.00504347 -0.12216155] [ 0.03414305 -0.00634601 0.99939681 -0.24918948] [ 0. 0. 0. 1. ]] SLAMing on 33.961346184 meters Centerline goodness [0,1] 0.8233017665270442 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99868557 -0.03795036 -0.03445146 0.94923946] [ 0.03813553 0.99926136 0.00473364 -0.1205048 ] [ 0.03424636 -0.00604124 0.99939516 -0.24967443] [ 0. 0. 0. 1. ]] SLAMing on 33.991346184 meters Centerline goodness [0,1] 0.8240988060178527 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99867406 -0.03831071 -0.03438617 0.94947224] [ 0.03847384 0.99925122 0.00409474 -0.11845181] [ 0.03420355 -0.00541228 0.99940023 -0.25012499] [ 0. 0. 0. 1. ]] SLAMing on 34.021346183999995 meters Centerline goodness [0,1] 0.8182959109163929 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99866292 -0.03839602 -0.03461396 0.95028657] [ 0.038548 0.99924977 0.00373393 -0.11661492] [ 0.03444462 -0.00506324 0.99939378 -0.25046516] [ 0. 0. 0. 1. ]] SLAMing on 34.051346183999996 meters Centerline goodness [0,1] 0.8105388073666674 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.25 [[ 0.99864714 -0.03857322 -0.03487102 0.95109148] [ 0.0387117 0.99924496 0.00330459 -0.11454962] [ 0.03471722 -0.00465004 0.99938636 -0.25071307] [ 0. 0. 0. 1. ]] SLAMing on 34.081346184 meters Centerline goodness [0,1] 0.8065195494918048 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.25 [[ 0.99863535 -0.03899198 -0.03474282 0.95078638] [ 0.03911116 0.99923106 0.00275709 -0.11313611] [ 0.0346086 -0.00411216 0.99939248 -0.25062196] [ 0. 0. 0. 1. ]] SLAMing on 34.111346184 meters Centerline goodness [0,1] 0.8016360386783374 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.25 [[ 9.98492961e-01 -4.22230931e-02 -3.50573498e-02 9.52866569e-01] [ 4.22128027e-02 9.99108107e-01 -1.03396993e-03 -1.08188251e-01] [ 3.50697398e-02 -4.47457289e-04 9.99384767e-01 -2.51719597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.141346184 meters Centerline goodness [0,1] 0.8103456168459602 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.26 [[ 0.99890356 -0.04167682 -0.02132432 0.95594553] [ 0.0417274 0.99912716 0.0019323 -0.10710046] [ 0.02122517 -0.00281999 0.99977074 -0.26004698] [ 0. 0. 0. 1. ]] SLAMing on 34.171346184 meters Centerline goodness [0,1] 0.801797659823912 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.26 [[ 0.99888389 -0.04218148 -0.02125309 0.9555164 ] [ 0.04221382 0.99910802 0.00107506 -0.10413531] [ 0.02118879 -0.00197103 0.99977355 -0.25957485] [ 0. 0. 0. 1. ]] SLAMing on 34.201346183999995 meters Centerline goodness [0,1] 0.7797483495502956 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.26 [[ 9.98864583e-01 -4.26233230e-02 -2.12790155e-02 9.55279252e-01] [ 4.26417225e-02 9.99090343e-01 4.11484700e-04 -1.02092706e-01] [ 2.12421201e-02 -1.31839137e-03 9.99773491e-01 -2.59091405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.231346183999996 meters Centerline goodness [0,1] 0.7696481344661987 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98830611e-01 -4.36202367e-02 -2.08490942e-02 9.54026615e-01] [ 4.36212712e-02 9.99048057e-01 -4.05379498e-04 -1.00651806e-01] [ 2.08469298e-02 -5.04558538e-04 9.99782552e-01 -2.58869059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.261346184 meters Centerline goodness [0,1] 0.7580689846239091 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98823433e-01 -4.38479161e-02 -2.07149881e-02 9.54187554e-01] [ 4.38497640e-02 9.99038070e-01 -3.65227739e-04 -1.00746396e-01] [ 2.07110762e-02 -5.43549314e-04 9.99785355e-01 -2.59649626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.291346184 meters Centerline goodness [0,1] 0.7576178246685639 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98798473e-01 -4.44727344e-02 -2.05860522e-02 9.54090958e-01] [ 4.44689052e-02 9.99010561e-01 -6.43966007e-04 -9.97494221e-02] [ 2.05943225e-02 -2.72246939e-04 9.99787877e-01 -2.60322953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.321346184 meters Centerline goodness [0,1] 0.7512980992118683 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98793447e-01 -4.45459283e-02 -2.06714822e-02 9.54616194e-01] [ 4.45440738e-02 9.99007269e-01 -5.50380508e-04 -9.93268497e-02] [ 2.06754781e-02 -3.71075582e-04 9.99786171e-01 -2.60901835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.351346184 meters Centerline goodness [0,1] 0.7476748231473964 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98779338e-01 -4.48612533e-02 -2.06712752e-02 9.54410912e-01] [ 4.48536689e-02 9.98993222e-01 -8.30634061e-04 -9.83635089e-02] [ 2.06877271e-02 -9.75623960e-05 9.99785981e-01 -2.60667231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.381346183999995 meters Centerline goodness [0,1] 0.7425719537448521 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.10, Z:-0.26 [[ 9.98767598e-01 -4.51444169e-02 -2.06219851e-02 9.54087891e-01] [ 4.51308359e-02 9.98980453e-01 -1.12372508e-03 -9.70586892e-02] [ 2.06516900e-02 1.91652766e-04 9.99786713e-01 -2.60416035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.411346183999996 meters Centerline goodness [0,1] 0.741848583372039 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99903842 -0.0432593 -0.00713275 0.95764584] [ 0.04327935 0.99905941 0.00268195 -0.09760713] [ 0.00701003 -0.00298807 0.99997097 -0.26762216] [ 0. 0. 0. 1. ]] SLAMing on 34.441346184 meters Centerline goodness [0,1] 0.7397681957043912 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99903413 -0.04334702 -0.00720031 0.95738614] [ 0.0433647 0.99905662 0.00231698 -0.09685143] [ 0.00709309 -0.00262698 0.99997139 -0.26681478] [ 0. 0. 0. 1. ]] SLAMing on 34.471346184 meters Centerline goodness [0,1] 0.7497209302325581 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99904204 -0.04314368 -0.00732324 0.95757582] [ 0.0431614 0.99906551 0.00227901 -0.09677877] [ 0.00721807 -0.00259291 0.99997059 -0.26643974] [ 0. 0. 0. 1. ]] SLAMing on 34.501346184 meters Centerline goodness [0,1] 0.748545090553564 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99905762 -0.04275319 -0.00748605 0.95829985] [ 0.04277288 0.99908172 0.00249016 -0.09670709] [ 0.00737272 -0.00280801 0.99996888 -0.26679244] [ 0. 0. 0. 1. ]] SLAMing on 34.531346184 meters Centerline goodness [0,1] 0.7612751270929528 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99923121 -0.03845343 -0.00763662 0.95948491] [ 0.03850689 0.99923395 0.00698083 -0.09691651] [ 0.00736233 -0.00726952 0.99994647 -0.26874239] [ 0. 0. 0. 1. ]] SLAMing on 34.561346184 meters Centerline goodness [0,1] 0.7681969052405218 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.27 [[ 0.99925797 -0.03764482 -0.00814696 0.96185665] [ 0.03770428 0.99926248 0.00727225 -0.09503556] [ 0.00786719 -0.00757403 0.99994037 -0.27020982] [ 0. 0. 0. 1. ]] SLAMing on 34.591346183999995 meters Centerline goodness [0,1] 0.774235142421756 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.27 [[ 0.99927631 -0.03702818 -0.0087044 0.96396105] [ 0.03709171 0.99928554 0.00725385 -0.09274664] [ 0.00842959 -0.00757146 0.99993581 -0.27115159] [ 0. 0. 0. 1. ]] SLAMing on 34.621346184 meters Centerline goodness [0,1] 0.7857562718957937 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:-0.27 [[ 0.99942423 -0.03273402 -0.00892667 0.96531809] [ 0.03283451 0.99939632 0.0113526 -0.09167471] [ 0.00854966 -0.01163917 0.99989571 -0.27287854] [ 0. 0. 0. 1. ]] SLAMing on 34.651346184 meters Centerline goodness [0,1] 0.7983222978863781 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:-0.27 [[ 0.99942777 -0.03255971 -0.00916496 0.96651242] [ 0.03266038 0.99940533 0.01105813 -0.09006935] [ 0.00879946 -0.01135113 0.99989686 -0.27363723] [ 0. 0. 0. 1. ]] SLAMing on 34.681346184 meters Centerline goodness [0,1] 0.8002595257756282 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:-0.27 [[ 0.99942857 -0.03248658 -0.0093359 0.96739699] [ 0.03258654 0.99941098 0.01076184 -0.08906388] [ 0.00898078 -0.01105992 0.99989851 -0.27415385] [ 0. 0. 0. 1. ]] SLAMing on 34.711346184 meters Centerline goodness [0,1] 0.8038946920640923 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.09, Z:-0.27 [[ 0.99941895 -0.03279086 -0.00930137 0.96724513] [ 0.03288511 0.99940742 0.01016717 -0.08789782] [ 0.00896246 -0.01046714 0.99990505 -0.27387948] [ 0. 0. 0. 1. ]] SLAMing on 34.741346184 meters Centerline goodness [0,1] 0.7914441030489245 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.08, Z:-0.27 [[ 0.99937687 -0.03408395 -0.00917335 0.96566831] [ 0.03416076 0.99938146 0.00835095 -0.08415188] [ 0.00888304 -0.00865912 0.99992305 -0.27187146] [ 0. 0. 0. 1. ]] SLAMing on 34.771346183999995 meters Centerline goodness [0,1] 0.7824548067558258 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99935002 -0.03492158 -0.00894565 0.96428734] [ 0.03498706 0.99936132 0.00726992 -0.08213277] [ 0.00868606 -0.00757818 0.99993356 -0.27057858] [ 0. 0. 0. 1. ]] SLAMing on 34.801346183999996 meters Centerline goodness [0,1] 0.7679491135214678 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99933895 -0.03522461 -0.00899343 0.9644014 ] [ 0.0352896 0.99935139 0.00717237 -0.08197737] [ 0.00873496 -0.007485 0.99993384 -0.27074532] [ 0. 0. 0. 1. ]] SLAMing on 34.831346184 meters Centerline goodness [0,1] 0.7587581885502706 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99931808 -0.03587075 -0.00875572 0.96356801] [ 0.03593163 0.99933045 0.00689761 -0.08232698] [ 0.00850243 -0.00720751 0.99993788 -0.27052195] [ 0. 0. 0. 1. ]] SLAMing on 34.861346184 meters Centerline goodness [0,1] 0.7430956355831146 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99925691 -0.03769487 -0.00804464 0.96082442] [ 0.03774123 0.99927134 0.00569065 -0.08173709] [ 0.00782426 -0.00599004 0.99995145 -0.26948934] [ 0. 0. 0. 1. ]] SLAMing on 34.891346184 meters Centerline goodness [0,1] 0.7457360647927584 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99924962 -0.03787724 -0.00809403 0.96120066] [ 0.03792303 0.99926508 0.00557999 -0.08132481] [ 0.00787673 -0.00588275 0.99995167 -0.2698986 ] [ 0. 0. 0. 1. ]] SLAMing on 34.921346184 meters Centerline goodness [0,1] 0.7293872965025938 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99924311 -0.03806426 -0.00801933 0.96123441] [ 0.03810712 0.99925981 0.00526132 -0.07996798] [ 0.00781313 -0.00556293 0.999954 -0.27017614] [ 0. 0. 0. 1. ]] SLAMing on 34.951346183999995 meters Centerline goodness [0,1] 0.7342230970498571 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.27 [[ 0.99923026 -0.03836275 -0.00819649 0.9614515 ] [ 0.03839859 0.99925341 0.00426153 -0.07562871] [ 0.00802689 -0.00457298 0.99995733 -0.26964917] [ 0. 0. 0. 1. ]] SLAMing on 34.981346183999996 meters Centerline goodness [0,1] 0.7354578613937416 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99922262 -0.03852773 -0.00835236 0.96155239] [ 0.03855987 0.99924936 0.00372215 -0.07403648] [ 0.00820269 -0.00404132 0.99995819 -0.26904904] [ 0. 0. 0. 1. ]] SLAMing on 35.011346184 meters Centerline goodness [0,1] 0.7309006061772347 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99920778 -0.03895802 -0.00812947 0.96050509] [ 0.03898475 0.99923482 0.00315596 -0.07334331] [ 0.0080003 -0.00347038 0.99996198 -0.26812405] [ 0. 0. 0. 1. ]] SLAMing on 35.041346184 meters Centerline goodness [0,1] 0.7309006061772347 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99920778 -0.03895802 -0.00812947 0.96050509] [ 0.03898475 0.99923482 0.00315596 -0.07334331] [ 0.0080003 -0.00347038 0.99996198 -0.26812405] [ 0. 0. 0. 1. ]] SLAMing on 35.071346184 meters Centerline goodness [0,1] 0.7173923479429696 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99918915 -0.03949211 -0.00783709 0.95948502] [ 0.03951427 0.99921538 0.00269256 -0.07246597] [ 0.00772461 -0.00300005 0.99996566 -0.26765299] [ 0. 0. 0. 1. ]] SLAMing on 35.101346184 meters Centerline goodness [0,1] 0.7120786179389221 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99918294 -0.03967353 -0.00771159 0.95929418] [ 0.03969448 0.99920853 0.00258265 -0.07223687] [ 0.00760303 -0.00288664 0.99996693 -0.26779113] [ 0. 0. 0. 1. ]] SLAMing on 35.131346183999995 meters Centerline goodness [0,1] 0.7065285322821018 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99917852 -0.03981325 -0.00756289 0.95899498] [ 0.03983431 0.99920277 0.00265467 -0.07280587] [ 0.00745117 -0.00295375 0.99996788 -0.26794875] [ 0. 0. 0. 1. ]] SLAMing on 35.161346183999996 meters Centerline goodness [0,1] 0.7041688679698381 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.9991736 -0.03996345 -0.00741935 0.95867713] [ 0.0399842 0.99919674 0.00267047 -0.07301882] [ 0.00730666 -0.00296492 0.99996891 -0.26804794] [ 0. 0. 0. 1. ]] SLAMing on 35.191346184 meters Centerline goodness [0,1] 0.696560668652128 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99917233 -0.03995815 -0.00761636 0.95917666] [ 0.0399785 0.99919731 0.0025388 -0.07144899] [ 0.0075088 -0.00284119 0.99996777 -0.26812029] [ 0. 0. 0. 1. ]] SLAMing on 35.221346184 meters Centerline goodness [0,1] 0.724523752109959 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99917805 -0.03976309 -0.00788224 0.96013698] [ 0.0397848 0.99920485 0.00261595 -0.07092638] [ 0.00777196 -0.00292739 0.99996551 -0.26859442] [ 0. 0. 0. 1. ]] SLAMing on 35.251346184 meters Centerline goodness [0,1] 0.7028256474439203 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99919364 -0.0392888 -0.00827413 0.96177448] [ 0.03931574 0.99922197 0.0031193 -0.07124122] [ 0.00814514 -0.00344209 0.9999609 -0.269686 ] [ 0. 0. 0. 1. ]] SLAMing on 35.281346184 meters Centerline goodness [0,1] 0.7144477150991652 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99921123 -0.03875116 -0.00867548 0.96289215] [ 0.03877877 0.99924321 0.00303672 -0.07011966] [ 0.00855124 -0.00337075 0.99995776 -0.26955607] [ 0. 0. 0. 1. ]] SLAMing on 35.311346183999994 meters Centerline goodness [0,1] 0.71324680328461 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.27 [[ 0.99923506 -0.03800962 -0.00919614 0.96478525] [ 0.03804217 0.99927038 0.0033901 -0.06949831] [ 0.00906058 -0.00373734 0.99995197 -0.27026582] [ 0. 0. 0. 1. ]] SLAMing on 35.341346183999995 meters Centerline goodness [0,1] 0.7390126502672762 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:-0.27 [[ 0.99925003 -0.03750289 -0.00963901 0.96620213] [ 0.03753666 0.99928965 0.0033471 -0.06829632] [ 0.00950664 -0.0037064 0.99994794 -0.27052609] [ 0. 0. 0. 1. ]] SLAMing on 35.371346184 meters Centerline goodness [0,1] 0.7488949542281587 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:-0.27 [[ 0.99931272 -0.03557656 -0.01041135 0.97011661] [ 0.03562604 0.99935458 0.00460583 -0.06678167] [ 0.01024077 -0.00497358 0.99993519 -0.27306145] [ 0. 0. 0. 1. ]] SLAMing on 35.401346184 meters Centerline goodness [0,1] 0.7535332476788441 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.07, Z:-0.27 [[ 0.9993208 -0.03525036 -0.0107401 0.97128244] [ 0.03530115 0.99936624 0.0045767 -0.06550729] [ 0.01057197 -0.00495273 0.99993185 -0.27342902] [ 0. 0. 0. 1. ]] SLAMing on 35.431346184 meters Centerline goodness [0,1] 0.7533541985103234 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99931842 -0.03521394 -0.01107571 0.97205273] [ 0.03526246 0.99936919 0.00421589 -0.06363513] [ 0.01092027 -0.00460357 0.99992977 -0.273315 ] [ 0. 0. 0. 1. ]] SLAMing on 35.461346184 meters Centerline goodness [0,1] 0.7520991019494269 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.9993196 -0.03510806 -0.01130309 0.97281966] [ 0.03515549 0.99937375 0.00402483 -0.06221735] [ 0.01115471 -0.00441946 0.99992802 -0.27353975] [ 0. 0. 0. 1. ]] SLAMing on 35.491346184 meters Centerline goodness [0,1] 0.7737712895377129 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99931965 -0.03509872 -0.01132727 0.97306495] [ 0.03514305 0.9993753 0.00373813 -0.06186284] [ 0.01118899 -0.00413366 0.99992886 -0.27354308] [ 0. 0. 0. 1. ]] SLAMing on 35.521346183999995 meters Centerline goodness [0,1] 0.7720193405739 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99931348 -0.03530368 -0.01123505 0.97254006] [ 0.03534276 0.9993698 0.00329903 -0.06158381] [ 0.0111115 -0.00369384 0.99993144 -0.27286721] [ 0. 0. 0. 1. ]] SLAMing on 35.551346183999996 meters Centerline goodness [0,1] 0.778764075001824 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99931171 -0.03535707 -0.01122405 0.9723184 ] [ 0.0353916 0.99936934 0.00289242 -0.06072404] [ 0.01111471 -0.00328767 0.99993282 -0.27229989] [ 0. 0. 0. 1. ]] SLAMing on 35.581346184 meters Centerline goodness [0,1] 0.7781890799279139 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99931196 -0.03530819 -0.01135489 0.97258415] [ 0.03533835 0.99937236 0.00246582 -0.05920837] [ 0.0112607 -0.00286539 0.99993249 -0.2719237 ] [ 0. 0. 0. 1. ]] SLAMing on 35.611346184 meters Centerline goodness [0,1] 0.7618138658444069 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99942746 -0.03204713 -0.01085007 0.97041848] [ 0.03210991 0.99946831 0.00566212 -0.05740088] [ 0.01066284 -0.00600727 0.99992511 -0.27092857] [ 0. 0. 0. 1. ]] SLAMing on 35.641346184 meters Centerline goodness [0,1] 0.7611877978091074 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.27 [[ 0.99942544 -0.03202166 -0.01110878 0.970831 ] [ 0.03207919 0.99947263 0.0050394 -0.05446188] [ 0.01094155 -0.00539287 0.9999256 -0.27030947] [ 0. 0. 0. 1. ]] SLAMing on 35.671346184 meters Centerline goodness [0,1] 0.7822411711067846 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.27 [[ 0.99942254 -0.03201805 -0.01137685 0.97119061] [ 0.03207084 0.99947552 0.00448848 -0.05206749] [ 0.01122717 -0.00485075 0.99992521 -0.26968448] [ 0. 0. 0. 1. ]] SLAMing on 35.701346183999995 meters Centerline goodness [0,1] 0.768651185770751 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.27 [[ 0.99942818 -0.03178254 -0.01154084 0.97189018] [ 0.03183652 0.99948285 0.00452412 -0.05159819] [ 0.01139108 -0.00488895 0.99992317 -0.2699939 ] [ 0. 0. 0. 1. ]] SLAMing on 35.731346183999996 meters Centerline goodness [0,1] 0.783725751517844 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.27 [[ 0.9994301 -0.03179128 -0.01134813 0.97189158] [ 0.03184692 0.99948144 0.00475678 -0.05286762] [ 0.01119102 -0.00511547 0.99992429 -0.27064637] [ 0. 0. 0. 1. ]] SLAMing on 35.761346184 meters Centerline goodness [0,1] 0.7740068467847203 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.05, Z:-0.27 [[ 0.99943304 -0.03169005 -0.01137237 0.97250671] [ 0.03175106 0.99948215 0.00522457 -0.05411196] [ 0.01120091 -0.00558269 0.99992168 -0.27162148] [ 0. 0. 0. 1. ]] SLAMing on 35.791346184 meters Centerline goodness [0,1] 0.757897322525178 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99940985 -0.03246908 -0.0112124 0.97190965] [ 0.03253027 0.9994566 0.00531881 -0.0551901 ] [ 0.01103361 -0.00568041 0.99992299 -0.27204074] [ 0. 0. 0. 1. ]] SLAMing on 35.821346184 meters Centerline goodness [0,1] 0.774507874015748 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.999398 -0.03289265 -0.01103249 0.97126203] [ 0.03295151 0.99944344 0.0051966 -0.05557336] [ 0.01085542 -0.005557 0.99992564 -0.27191754] [ 0. 0. 0. 1. ]] SLAMing on 35.851346184 meters Centerline goodness [0,1] 0.7667165607439943 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99939812 -0.0328165 -0.01124651 0.97195516] [ 0.0328792 0.99944455 0.00543647 -0.05615818] [ 0.01106186 -0.00580298 0.99992198 -0.27228165] [ 0. 0. 0. 1. ]] SLAMing on 35.881346183999995 meters Centerline goodness [0,1] 0.7596035610643844 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99939402 -0.03297079 -0.01115918 0.97179469] [ 0.03303246 0.99943976 0.00538811 -0.05648635] [ 0.01097528 -0.00575346 0.99992322 -0.27231965] [ 0. 0. 0. 1. ]] SLAMing on 35.911346183999996 meters Centerline goodness [0,1] 0.757159333513288 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99940193 -0.03269267 -0.01126853 0.97254371] [ 0.03275857 0.99944696 0.00571396 -0.05754237] [ 0.01107549 -0.00607968 0.99992018 -0.27286559] [ 0. 0. 0. 1. ]] SLAMing on 35.941346184 meters Centerline goodness [0,1] 0.7609565665741855 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99940764 -0.03242248 -0.01153884 0.9734077 ] [ 0.03249105 0.99945516 0.00580584 -0.05738529] [ 0.01134432 -0.00617731 0.99991657 -0.27306015] [ 0. 0. 0. 1. ]] SLAMing on 35.971346184 meters Centerline goodness [0,1] 0.7815000245422864 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.9994134 -0.03211553 -0.01189286 0.9742704 ] [ 0.03218421 0.9994661 0.00562968 -0.05629806] [ 0.01170571 -0.00600914 0.99991343 -0.27278435] [ 0. 0. 0. 1. ]] SLAMing on 36.001346184 meters Centerline goodness [0,1] 0.7907852012201122 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99952863 -0.02835171 -0.01177727 0.97295496] [ 0.02846067 0.99955267 0.00918962 -0.05566357] [ 0.01151146 -0.00952047 0.99988842 -0.27148742] [ 0. 0. 0. 1. ]] SLAMing on 36.031346184 meters Centerline goodness [0,1] 0.8037321138811034 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99952994 -0.02822607 -0.01196594 0.97334774] [ 0.02833556 0.99955722 0.00908115 -0.05561083] [ 0.01170432 -0.00941595 0.99988717 -0.27118551] [ 0. 0. 0. 1. ]] SLAMing on 36.061346183999994 meters Centerline goodness [0,1] 0.7969187675070029 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.06, Z:-0.27 [[ 0.99953742 -0.02791937 -0.01206076 0.97403499] [ 0.02803505 0.9995615 0.00953073 -0.05726461] [ 0.01178938 -0.00986445 0.99988184 -0.27176195] [ 0. 0. 0. 1. ]] SLAMing on 36.091346183999995 meters Centerline goodness [0,1] 0.7932593606413139 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99945533 -0.03053981 -0.01250424 0.97679327] [ 0.0306179 0.99951254 0.00610158 -0.05650599] [ 0.0123118 -0.00648111 0.9999032 -0.27282592] [ 0. 0. 0. 1. ]] SLAMing on 36.121346184 meters Centerline goodness [0,1] 0.7942441121860647 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99945372 -0.03065746 -0.01234437 0.97627954] [ 0.03073503 0.99950868 0.00614402 -0.05771481] [ 0.01214994 -0.00652007 0.99990493 -0.27252998] [ 0. 0. 0. 1. ]] SLAMing on 36.151346184 meters Centerline goodness [0,1] 0.7933813652460617 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99945546 -0.03063878 -0.01224914 0.97629093] [ 0.0307173 0.99950842 0.00627387 -0.05833039] [ 0.01205089 -0.00664672 0.99990529 -0.27280588] [ 0. 0. 0. 1. ]] SLAMing on 36.181346184 meters Centerline goodness [0,1] 0.7998830580324514 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99947403 -0.02994291 -0.0124537 0.97777339] [ 0.03003261 0.99952385 0.00707884 -0.0603302 ] [ 0.01223581 -0.00744913 0.99989739 -0.27417515] [ 0. 0. 0. 1. ]] SLAMing on 36.211346184 meters Centerline goodness [0,1] 0.8065207333998881 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99948167 -0.02954182 -0.01279358 0.97903762] [ 0.02963537 0.99953495 0.00718533 -0.05998069] [ 0.01257536 -0.00756075 0.99989234 -0.27464954] [ 0. 0. 0. 1. ]] SLAMing on 36.241346184 meters Centerline goodness [0,1] 0.8077731605964312 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99948399 -0.02933524 -0.01308416 0.97985052] [ 0.02942736 0.99954307 0.00690456 -0.05837401] [ 0.01287563 -0.00728603 0.99989056 -0.27454403] [ 0. 0. 0. 1. ]] SLAMing on 36.271346183999995 meters Centerline goodness [0,1] 0.8091629180520242 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.9994841 -0.02919926 -0.01337646 0.98041969] [ 0.02928695 0.99955051 0.00640722 -0.056592 ] [ 0.01318336 -0.00679567 0.99989 -0.27394444] [ 0. 0. 0. 1. ]] SLAMing on 36.301346183999996 meters Centerline goodness [0,1] 0.8264588016811651 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99949111 -0.02870188 -0.01391878 0.9814236 ] [ 0.02878207 0.99957005 0.00559589 -0.05370714] [ 0.01375219 -0.00599365 0.99988747 -0.27243683] [ 0. 0. 0. 1. ]] SLAMing on 36.331346184 meters Centerline goodness [0,1] 0.8385540398226837 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99949357 -0.02844088 -0.01427299 0.9821556 ] [ 0.02851881 0.99957928 0.00528625 -0.05253122] [ 0.01411664 -0.00569062 0.99988416 -0.27191436] [ 0. 0. 0. 1. ]] SLAMing on 36.361346184 meters Centerline goodness [0,1] 0.8505544539913343 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.9994998 -0.02805593 -0.01459491 0.9831312 ] [ 0.02813329 0.99959106 0.00512235 -0.05164985] [ 0.01444523 -0.00553039 0.99988037 -0.27176058] [ 0. 0. 0. 1. ]] SLAMing on 36.391346184 meters Centerline goodness [0,1] 0.8461349753452886 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99950241 -0.02790759 -0.01470003 0.98370644] [ 0.02798846 0.99959407 0.00532406 -0.0520882 ] [ 0.01454548 -0.00573284 0.99987777 -0.27221883] [ 0. 0. 0. 1. ]] SLAMing on 36.421346184 meters Centerline goodness [0,1] 0.8405864499706286 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99950475 -0.02776503 -0.01481085 0.98450157] [ 0.0278514 0.99959606 0.0056576 -0.05277762] [ 0.01464779 -0.0060673 0.99987431 -0.27306377] [ 0. 0. 0. 1. ]] SLAMing on 36.451346183999995 meters Centerline goodness [0,1] 0.8360699865410498 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99950371 -0.02781557 -0.01478611 0.9847457 ] [ 0.02790474 0.99959342 0.00585887 -0.05347637] [ 0.01461713 -0.00626857 0.99987351 -0.27362884] [ 0. 0. 0. 1. ]] SLAMing on 36.481346183999996 meters Centerline goodness [0,1] 0.823309098920467 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99949246 -0.02834638 -0.01453661 0.98441189] [ 0.02843451 0.99957829 0.005892 -0.05339794] [ 0.01436346 -0.00630235 0.99987698 -0.27442492] [ 0. 0. 0. 1. ]] SLAMing on 36.511346184 meters Centerline goodness [0,1] 0.8195015667841755 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99948382 -0.02873084 -0.01437502 0.98402205] [ 0.02881657 0.99956793 0.00579246 -0.05318187] [ 0.01420239 -0.00620371 0.9998799 -0.27464915] [ 0. 0. 0. 1. ]] SLAMing on 36.541346184 meters Centerline goodness [0,1] 0.8122748106571239 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99947668 -0.02916798 -0.01398542 0.98308757] [ 0.02925107 0.99955542 0.0057738 -0.05387811] [ 0.01381079 -0.00617987 0.99988553 -0.27476389] [ 0. 0. 0. 1. ]] SLAMing on 36.571346184 meters Centerline goodness [0,1] 0.7932128131937837 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99933634 -0.03380198 -0.01357575 0.98169338] [ 0.03382233 0.99942705 0.00127261 -0.05424802] [ 0.01352496 -0.00173093 0.99990704 -0.27353544] [ 0. 0. 0. 1. ]] SLAMing on 36.601346184 meters Centerline goodness [0,1] 0.7890107742298014 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.05, Z:-0.27 [[ 0.99932014 -0.03441797 -0.01321616 0.98044944] [ 0.03443498 0.99940638 0.00106141 -0.05492683] [ 0.01317178 -0.00151579 0.9999121 -0.27311018] [ 0. 0. 0. 1. ]] SLAMing on 36.631346183999995 meters Centerline goodness [0,1] 0.7792777425800478 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99931479 -0.03456194 -0.01324462 0.98072409] [ 0.03458207 0.99940102 0.00129428 -0.05517606] [ 0.01319195 -0.00175142 0.99991145 -0.27368791] [ 0. 0. 0. 1. ]] SLAMing on 36.661346183999996 meters Centerline goodness [0,1] 0.7559346819400439 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99927773 -0.03570474 -0.01300756 0.97956002] [ 0.03572376 0.99936094 0.00123321 -0.05617968] [ 0.01295521 -0.001697 0.99991464 -0.27382431] [ 0. 0. 0. 1. ]] SLAMing on 36.691346184 meters Centerline goodness [0,1] 0.7574622327097574 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.27 [[ 0.99926403 -0.03624385 -0.0125612 0.9784912 ] [ 0.0362636 0.99934135 0.00134842 -0.0581546 ] [ 0.01250406 -0.00180294 0.9999202 -0.2740801 ] [ 0. 0. 0. 1. ]] SLAMing on 36.721346184 meters Centerline goodness [0,1] 0.7444827084444876 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99926275 -0.03642292 -0.01213775 0.9781814 ] [ 0.03644848 0.99933374 0.00189119 -0.06003678] [ 0.01206078 -0.0023322 0.99992455 -0.27529571] [ 0. 0. 0. 1. ]] SLAMing on 36.751346184 meters Centerline goodness [0,1] 0.7388718994223582 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99924464 -0.0369942 -0.01189847 0.97765415] [ 0.03702152 0.9993123 0.00208354 -0.06080849] [ 0.0118132 -0.00252247 0.99992704 -0.27595847] [ 0. 0. 0. 1. ]] SLAMing on 36.781346184 meters Centerline goodness [0,1] 0.7416175006676864 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923911 -0.03711873 -0.01197517 0.97790315] [ 0.03714533 0.99930786 0.00200662 -0.06021002] [ 0.0118924 -0.00244991 0.99992628 -0.2761026 ] [ 0. 0. 0. 1. ]] SLAMing on 36.811346183999994 meters Centerline goodness [0,1] 0.7310119642291479 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923422 -0.03723529 -0.01202149 0.97794185] [ 0.03725859 0.99930418 0.00172011 -0.05890298] [ 0.01194907 -0.00216669 0.99992626 -0.27593841] [ 0. 0. 0. 1. ]] SLAMing on 36.841346183999995 meters Centerline goodness [0,1] 0.7380123225287972 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923452 -0.03710784 -0.01238509 0.97870826] [ 0.03712905 0.99930937 0.00148698 -0.05744849] [ 0.01232136 -0.00194568 0.9999222 -0.27559512] [ 0. 0. 0. 1. ]] SLAMing on 36.871346184 meters Centerline goodness [0,1] 0.7345000611920205 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923241 -0.03715186 -0.01242264 0.97880999] [ 0.03717135 0.99930801 0.00134161 -0.05632933] [ 0.0123642 -0.00180234 0.99992194 -0.27554611] [ 0. 0. 0. 1. ]] SLAMing on 36.901346184 meters Centerline goodness [0,1] 0.7332112779201758 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923803 -0.03700779 -0.01240111 0.97916844] [ 0.03703467 0.99931209 0.00194465 -0.05787089] [ 0.01232062 -0.00240244 0.99992121 -0.27637337] [ 0. 0. 0. 1. ]] SLAMing on 36.931346184 meters Centerline goodness [0,1] 0.7302686101496612 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923398 -0.03719606 -0.01216147 0.97874155] [ 0.03722364 0.99930486 0.00204959 -0.05862408] [ 0.01207678 -0.00250072 0.99992395 -0.27666261] [ 0. 0. 0. 1. ]] SLAMing on 36.961346184 meters Centerline goodness [0,1] 0.7302686101496612 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923398 -0.03719606 -0.01216147 0.97874155] [ 0.03722364 0.99930486 0.00204959 -0.05862408] [ 0.01207678 -0.00250072 0.99992395 -0.27666261] [ 0. 0. 0. 1. ]] SLAMing on 36.991346184 meters Centerline goodness [0,1] 0.6970323522257358 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923276 -0.03727069 -0.01203261 0.97860684] [ 0.03729874 0.99930192 0.00211523 -0.05864786] [ 0.01194538 -0.0025624 0.99992537 -0.27688407] [ 0. 0. 0. 1. ]] SLAMing on 37.021346183999995 meters Centerline goodness [0,1] 0.714425284548874 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99922202 -0.03767685 -0.01165391 0.97773421] [ 0.03770159 0.99928722 0.0019102 -0.05882439] [ 0.01157363 -0.00234808 0.99993027 -0.27696079] [ 0. 0. 0. 1. ]] SLAMing on 37.051346183999996 meters Centerline goodness [0,1] 0.7224769523437882 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99923732 -0.03721562 -0.01182256 0.9789629 ] [ 0.03724901 0.99930259 0.00261703 -0.06014644] [ 0.01171692 -0.00305541 0.99992669 -0.27823316] [ 0. 0. 0. 1. ]] SLAMing on 37.081346184 meters Centerline goodness [0,1] 0.688914386153358 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99924055 -0.03709199 -0.01193802 0.97963528] [ 0.03712664 0.99930694 0.0026943 -0.06001192] [ 0.01182981 -0.00313547 0.99992511 -0.27877517] [ 0. 0. 0. 1. ]] SLAMing on 37.111346184 meters Centerline goodness [0,1] 0.7245916071603248 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99937372 -0.03327254 -0.01204567 0.97950188] [ 0.03335558 0.99942069 0.00675953 -0.06020188] [ 0.01181378 -0.00715708 0.9999046 -0.27904182] [ 0. 0. 0. 1. ]] SLAMing on 37.141346184 meters Centerline goodness [0,1] 0.7379688344885218 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99937964 -0.03292957 -0.01248933 0.98072166] [ 0.03301336 0.99943337 0.00656238 -0.05851087] [ 0.01226616 -0.00697062 0.99990047 -0.27902547] [ 0. 0. 0. 1. ]] SLAMing on 37.171346184 meters Centerline goodness [0,1] 0.7245432414488406 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.99938974 -0.03240802 -0.01303346 0.98226779] [ 0.03249544 0.9994504 0.00655302 -0.05745277] [ 0.01281392 -0.00697255 0.99989359 -0.27911126] [ 0. 0. 0. 1. ]] SLAMing on 37.201346183999995 meters Centerline goodness [0,1] 0.7428726180511103 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.06, Z:-0.28 [[ 0.9994193 -0.03120792 -0.0136794 0.98495679] [ 0.03130598 0.99948524 0.00701384 -0.05610821] [ 0.01345347 -0.00743801 0.99988183 -0.2801966 ] [ 0. 0. 0. 1. ]] SLAMing on 37.231346183999996 meters Centerline goodness [0,1] 0.7408239885392481 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.06, Z:-0.28 [[ 0.99942619 -0.03076869 -0.01416247 0.98652871] [ 0.03087008 0.99949891 0.00699701 -0.05509673] [ 0.01394008 -0.00743019 0.99987523 -0.28056617] [ 0. 0. 0. 1. ]] SLAMing on 37.261346184 meters Centerline goodness [0,1] 0.7641684617098715 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99943085 -0.03039522 -0.01463239 0.98797405] [ 0.03049651 0.99951208 0.00674988 -0.0535926 ] [ 0.01442009 -0.00719227 0.99987016 -0.28072709] [ 0. 0. 0. 1. ]] SLAMing on 37.291346184 meters Centerline goodness [0,1] 0.7669548036552235 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99943434 -0.0300714 -0.01505722 0.98944797] [ 0.03017359 0.99952284 0.00660602 -0.05252808] [ 0.01485138 -0.00705661 0.99986481 -0.28112625] [ 0. 0. 0. 1. ]] SLAMing on 37.321346184 meters Centerline goodness [0,1] 0.7753326890194038 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99943983 -0.02972208 -0.01538253 0.99079653] [ 0.02982819 0.99953248 0.00671516 -0.05204764] [ 0.01517575 -0.00717024 0.99985913 -0.28183552] [ 0. 0. 0. 1. ]] SLAMing on 37.351346184 meters Centerline goodness [0,1] 0.782299789577918 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99944886 -0.02929312 -0.01561692 0.99204513] [ 0.02940475 0.99954331 0.00696666 -0.05221023] [ 0.01540572 -0.00742203 0.99985378 -0.28266501] [ 0. 0. 0. 1. ]] SLAMing on 37.381346183999995 meters Centerline goodness [0,1] 0.7679549792994025 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99945061 -0.02912187 -0.01582376 0.99276636] [ 0.02923603 0.9995478 0.00703148 -0.05225415] [ 0.01561183 -0.00749024 0.99985007 -0.28292799] [ 0. 0. 0. 1. ]] SLAMing on 37.411346183999996 meters Centerline goodness [0,1] 0.7751840011895026 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99944095 -0.02928106 -0.01613699 0.99313638] [ 0.02938705 0.99954781 0.0063702 -0.05027971] [ 0.01594316 -0.00684086 0.9998495 -0.28206363] [ 0. 0. 0. 1. ]] SLAMing on 37.441346184 meters Centerline goodness [0,1] 0.7816735634462423 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99942201 -0.02992044 -0.01613704 0.99200212] [ 0.03000812 0.99953603 0.00521895 -0.04819449] [ 0.01597339 -0.00570017 0.99985617 -0.28007666] [ 0. 0. 0. 1. ]] SLAMing on 37.471346184 meters Centerline goodness [0,1] 0.7676079114317701 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99941046 -0.03034283 -0.01606376 0.99106738] [ 0.03042031 0.9995266 0.00460119 -0.04705707] [ 0.01591654 -0.00508714 0.99986038 -0.27882938] [ 0. 0. 0. 1. ]] SLAMing on 37.501346184 meters Centerline goodness [0,1] 0.7654949695689977 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99939335 -0.03121431 -0.01544698 0.98864274] [ 0.03127811 0.99950309 0.00390645 -0.04800341] [ 0.01531736 -0.00438723 0.99987306 -0.2773271 ] [ 0. 0. 0. 1. ]] SLAMing on 37.531346184 meters Centerline goodness [0,1] 0.7616817798919776 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99939235 -0.03130853 -0.0153202 0.98863957] [ 0.03137436 0.9994994 0.00407536 -0.0490775 ] [ 0.01518494 -0.00455355 0.99987433 -0.27780287] [ 0. 0. 0. 1. ]] SLAMing on 37.561346183999994 meters Centerline goodness [0,1] 0.7637656737869851 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99938816 -0.03144462 -0.01531449 0.98850845] [ 0.03150793 0.99949585 0.00391064 -0.04911252] [ 0.0151838 -0.00439078 0.99987508 -0.27752981] [ 0. 0. 0. 1. ]] SLAMing on 37.591346183999995 meters Centerline goodness [0,1] 0.7709829165635058 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99938072 -0.03164195 -0.01539344 0.98822774] [ 0.03169548 0.9994923 0.00324547 -0.04764888] [ 0.01528293 -0.00373136 0.99987625 -0.27642624] [ 0. 0. 0. 1. ]] SLAMing on 37.621346184 meters Centerline goodness [0,1] 0.7661334257837651 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99938287 -0.03144369 -0.01565802 0.98911767] [ 0.0315 0.9994981 0.00336261 -0.04706599] [ 0.01554443 -0.00385376 0.99987175 -0.27681012] [ 0. 0. 0. 1. ]] SLAMing on 37.651346184 meters Centerline goodness [0,1] 0.7720186674610268 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99938279 -0.03128269 -0.01598219 0.98999125] [ 0.03133832 0.99950358 0.00324196 -0.04591598] [ 0.01587283 -0.00374082 0.99986702 -0.27682691] [ 0. 0. 0. 1. ]] SLAMing on 37.681346184 meters Centerline goodness [0,1] 0.7729493891797556 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.9994858 -0.02796463 -0.01568813 0.98821035] [ 0.02807528 0.99958215 0.00687797 -0.04580479] [ 0.01548924 -0.00731488 0.99985328 -0.27598525] [ 0. 0. 0. 1. ]] SLAMing on 37.711346184 meters Centerline goodness [0,1] 0.778485738463836 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99948403 -0.02786414 -0.01597695 0.98869557] [ 0.02797274 0.9995868 0.00661458 -0.04557491] [ 0.01578604 -0.00705809 0.99985048 -0.2754214 ] [ 0. 0. 0. 1. ]] SLAMing on 37.741346184 meters Centerline goodness [0,1] 0.7793860743698527 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.28 [[ 0.99948456 -0.02787518 -0.01592432 0.98856054] [ 0.02798187 0.99958719 0.00651672 -0.04593184] [ 0.01573609 -0.00695895 0.99985196 -0.27522577] [ 0. 0. 0. 1. ]] SLAMing on 37.771346183999995 meters Centerline goodness [0,1] 0.7838975662008321 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.05, Z:-0.27 [[ 0.99948405 -0.02784387 -0.0160109 0.98875695] [ 0.0279476 0.99958959 0.00629189 -0.04567455] [ 0.01582913 -0.00673611 0.99985202 -0.27497481] [ 0. 0. 0. 1. ]] SLAMing on 37.801346183999996 meters Centerline goodness [0,1] 0.790206817215595 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.04, Z:-0.27 [[ 0.99958367 -0.02408946 -0.01588034 0.98771273] [ 0.02424647 0.99965827 0.00976983 -0.04477251] [ 0.01563956 -0.0101508 0.99982617 -0.27409819] [ 0. 0. 0. 1. ]] SLAMing on 37.831346184 meters Centerline goodness [0,1] 0.7964300040112314 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.04, Z:-0.27 [[ 0.99958035 -0.02380593 -0.01650443 0.98933389] [ 0.02396044 0.99967031 0.00922844 -0.04227861] [ 0.0162793 -0.00962002 0.9998212 -0.27391455] [ 0. 0. 0. 1. ]] SLAMing on 37.861346184 meters Centerline goodness [0,1] 0.8096814647604715 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.04, Z:-0.28 [[ 0.99958587 -0.02316197 -0.01707678 0.99166675] [ 0.02332587 0.99968314 0.00946196 -0.04156619] [ 0.01685221 -0.00985638 0.99980941 -0.27510964] [ 0. 0. 0. 1. ]] SLAMing on 37.891346184 meters Centerline goodness [0,1] 0.8201229456780831 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99960983 -0.02139141 -0.01796116 0.99675902] [ 0.02159852 0.99970153 0.01141765 -0.0446468 ] [ 0.01771156 -0.01180113 0.99977349 -0.27956097] [ 0. 0. 0. 1. ]] SLAMing on 37.921346184 meters Centerline goodness [0,1] 0.8262506589020808 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99961189 -0.02098682 -0.01831984 0.99840516] [ 0.02120299 0.99970689 0.01168612 -0.04469977] [ 0.01806922 -0.01207002 0.99976388 -0.28065002] [ 0. 0. 0. 1. ]] SLAMing on 37.951346183999995 meters Centerline goodness [0,1] 0.8362470129543453 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99960303 -0.02090638 -0.01888655 0.99963461] [ 0.02111806 0.9997156 0.01107904 -0.04231532] [ 0.01864956 -0.01147349 0.99976025 -0.28018378] [ 0. 0. 0. 1. ]] SLAMing on 37.981346183999996 meters Centerline goodness [0,1] 0.8342570799483714 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99958868 -0.02124838 -0.01926097 0.99956284] [ 0.0214395 0.9997224 0.00977069 -0.0386782 ] [ 0.01904801 -0.01017962 0.99976675 -0.27825064] [ 0. 0. 0. 1. ]] SLAMing on 38.011346184 meters Centerline goodness [0,1] 0.8283917112638547 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99957374 -0.02143248 -0.01982385 0.99965936] [ 0.0216014 0.99973182 0.00834653 -0.03575178] [ 0.01963965 -0.00877119 0.99976865 -0.27547703] [ 0. 0. 0. 1. ]] SLAMing on 38.041346184 meters Centerline goodness [0,1] 0.8441384198668456 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.9995731 -0.02132511 -0.0199714 1.00012272] [ 0.02149558 0.99973399 0.00836026 -0.03635481] [ 0.0197878 -0.00878599 0.9997656 -0.27547191] [ 0. 0. 0. 1. ]] SLAMing on 38.071346184 meters Centerline goodness [0,1] 0.8278400323780133 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99957282 -0.02134369 -0.01996541 1.00021939] [ 0.021513 0.99973408 0.0083042 -0.03684085] [ 0.01978286 -0.00873017 0.99976618 -0.27552107] [ 0. 0. 0. 1. ]] SLAMing on 38.101346184 meters Centerline goodness [0,1] 0.8404325364667747 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99957055 -0.0214279 -0.01998882 1.00018275] [ 0.02158632 0.999737 0.00774366 -0.03594665] [ 0.01981763 -0.00817182 0.99977022 -0.27492256] [ 0. 0. 0. 1. ]] SLAMing on 38.131346183999995 meters Centerline goodness [0,1] 0.8430717017450549 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99956889 -0.02144088 -0.02005806 1.000479 ] [ 0.02159796 0.99973749 0.00764745 -0.03607738] [ 0.01988882 -0.00807737 0.99976957 -0.27500553] [ 0. 0. 0. 1. ]] SLAMing on 38.161346183999996 meters Centerline goodness [0,1] 0.843085578165784 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.28 [[ 0.99957013 -0.02143631 -0.02000124 1.00066161] [ 0.02159512 0.99973669 0.00775835 -0.03679673] [ 0.01982966 -0.00818694 0.99976985 -0.2754307 ] [ 0. 0. 0. 1. ]] SLAMing on 38.191346184 meters Centerline goodness [0,1] 0.8288507319049789 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99955857 -0.02223524 -0.01970419 0.99867438] [ 0.02236984 0.99972773 0.00663711 -0.03566596] [ 0.01955124 -0.00707496 0.99978382 -0.27327317] [ 0. 0. 0. 1. ]] SLAMing on 38.221346184 meters Centerline goodness [0,1] 0.8245356174450723 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:-0.27 [[ 0.99954007 -0.0228541 -0.01993318 0.99778903] [ 0.02296596 0.99972166 0.00540122 -0.03329918] [ 0.01980419 -0.00585652 0.99978672 -0.27084905] [ 0. 0. 0. 1. ]] SLAMing on 38.251346184 meters Centerline goodness [0,1] 0.8176078302102087 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:-0.27 [[ 0.99952634 -0.02354124 -0.01982202 0.99640466] [ 0.02363341 0.99971088 0.00442838 -0.03187408] [ 0.01971204 -0.00489474 0.99979372 -0.26899228] [ 0. 0. 0. 1. ]] SLAMing on 38.281346184 meters Centerline goodness [0,1] 0.8230543318649046 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.03, Z:-0.27 [[ 9.99419340e-01 -2.76577320e-02 -1.99005939e-02 9.96684893e-01] [ 2.76725952e-02 9.99616929e-01 4.71833699e-04 -3.28745116e-02] [ 1.98799208e-02 -1.02226081e-03 9.99801852e-01 -2.68708538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.311346183999994 meters Centerline goodness [0,1] 0.8046470513953782 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99942142 -0.02778764 -0.01961285 0.9965659 ] [ 0.02781924 0.99961207 0.00134055 -0.03644036] [ 0.01956799 -0.00188539 0.99980675 -0.27006813] [ 0. 0. 0. 1. ]] SLAMing on 38.341346183999995 meters Centerline goodness [0,1] 0.7958727126483008 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99941661 -0.02814307 -0.01934952 0.99618261] [ 0.02818443 0.99960099 0.00186833 -0.03897046] [ 0.01928922 -0.00241259 0.99981103 -0.27096688] [ 0. 0. 0. 1. ]] SLAMing on 38.371346184 meters Centerline goodness [0,1] 0.7808009629611055 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99939672 -0.02894325 -0.01919604 0.99546181] [ 0.02899436 0.99957672 0.00238934 -0.04129698] [ 0.01911876 -0.00294447 0.99981288 -0.2716788 ] [ 0. 0. 0. 1. ]] SLAMing on 38.401346184 meters Centerline goodness [0,1] 0.7671888707858128 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99939881 -0.02885932 -0.01921328 0.99584501] [ 0.02892137 0.99957731 0.00295945 -0.04254698] [ 0.01911975 -0.00351334 0.99981103 -0.27249386] [ 0. 0. 0. 1. ]] SLAMing on 38.431346184 meters Centerline goodness [0,1] 0.7766890537289495 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99940013 -0.02871201 -0.01936512 0.99646091] [ 0.02877977 0.99958056 0.00322957 -0.04322533] [ 0.01926427 -0.00378495 0.99980726 -0.27288334] [ 0. 0. 0. 1. ]] SLAMing on 38.461346184 meters Centerline goodness [0,1] 0.7586483304526439 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99940782 -0.02821009 -0.01970279 0.99774537] [ 0.02828833 0.99959294 0.00370362 -0.04380609] [ 0.01959029 -0.00425879 0.99979902 -0.27351832] [ 0. 0. 0. 1. ]] SLAMing on 38.491346184 meters Centerline goodness [0,1] 0.7791140509120065 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99940884 -0.02802062 -0.01992036 0.99831697] [ 0.02809971 0.99959827 0.00370184 -0.04350226] [ 0.01980863 -0.00425941 0.99979472 -0.27345769] [ 0. 0. 0. 1. ]] SLAMing on 38.521346183999995 meters Centerline goodness [0,1] 0.7776914789667527 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99940446 -0.02806071 -0.02008296 0.99833607] [ 0.02813338 0.99959858 0.00334507 -0.04275764] [ 0.01998104 -0.00390808 0.99979272 -0.27267537] [ 0. 0. 0. 1. ]] SLAMing on 38.551346183999996 meters Centerline goodness [0,1] 0.77733787711737 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99939255 -0.02834197 -0.02027963 0.99732309] [ 0.02838797 0.99959501 0.00198381 -0.04066764] [ 0.02021519 -0.00255831 0.99979238 -0.26954807] [ 0. 0. 0. 1. ]] SLAMing on 38.581346184 meters Centerline goodness [0,1] 0.7777220145040276 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99939597 -0.02811412 -0.02042779 0.99758417] [ 0.02815859 0.99960168 0.0018927 -0.04042516] [ 0.02036645 -0.00246678 0.99978954 -0.26908741] [ 0. 0. 0. 1. ]] SLAMing on 38.611346184 meters Centerline goodness [0,1] 0.7870956399437412 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99940381 -0.02755396 -0.02080417 0.99886351] [ 0.02760479 0.99961658 0.00215985 -0.04077789] [ 0.02073668 -0.00273286 0.99978124 -0.26933163] [ 0. 0. 0. 1. ]] SLAMing on 38.641346184 meters Centerline goodness [0,1] 0.787560601873948 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.04, Z:-0.27 [[ 0.99941285 -0.02694746 -0.02116123 1.00052112] [ 0.02700892 0.99963175 0.00262398 -0.04154741] [ 0.02108273 -0.00319398 0.99977263 -0.27030125] [ 0. 0. 0. 1. ]] SLAMing on 38.671346184 meters Centerline goodness [0,1] 0.8112881406884113 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99944718 -0.02497144 -0.02194887 1.00563084] [ 0.02507781 0.99967499 0.00458444 -0.04322123] [ 0.02182725 -0.00513233 0.99974858 -0.27469496] [ 0. 0. 0. 1. ]] SLAMing on 38.701346183999995 meters Centerline goodness [0,1] 0.8279858515415297 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.28 [[ 0.99945328 -0.02401515 -0.02272462 1.00881224] [ 0.02413632 0.99969581 0.00507289 -0.04200846] [ 0.02259588 -0.00561861 0.99972889 -0.27633056] [ 0. 0. 0. 1. ]] SLAMing on 38.731346183999996 meters Centerline goodness [0,1] 0.809657226513201 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.28 [[ 0.9995485 -0.01984463 -0.02256075 1.00895912] [ 0.02006599 0.9997523 0.00962797 -0.0428723 ] [ 0.0223641 -0.01007633 0.99969911 -0.27768582] [ 0. 0. 0. 1. ]] SLAMing on 38.761346184 meters Centerline goodness [0,1] 0.8534430225472273 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.28 [[ 0.99962073 -0.01567443 -0.02264295 1.00848766] [ 0.01597395 0.99978648 0.01310821 -0.04161035] [ 0.02243265 -0.01346493 0.99965768 -0.27644786] [ 0. 0. 0. 1. ]] SLAMing on 38.791346184 meters Centerline goodness [0,1] 0.8614546005148135 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99956307 -0.01696427 -0.02420514 1.01423463] [ 0.01711099 0.99983638 0.00586708 -0.03729091] [ 0.02410165 -0.00627869 0.9996898 -0.2702897 ] [ 0. 0. 0. 1. ]] SLAMing on 38.821346184 meters Centerline goodness [0,1] 0.8738515275000633 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99956383 -0.01699069 -0.0241549 1.01352804] [ 0.01712851 0.99983811 0.00551023 -0.03777253] [ 0.02405736 -0.00592156 0.99969304 -0.26899502] [ 0. 0. 0. 1. ]] SLAMing on 38.851346184 meters Centerline goodness [0,1] 0.876256376584676 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99956304 -0.01738764 -0.02390415 1.01211793] [ 0.01751664 0.99983306 0.00519764 -0.04034546] [ 0.02380979 -0.00561409 0.99970074 -0.26763411] [ 0. 0. 0. 1. ]] SLAMing on 38.881346183999995 meters Centerline goodness [0,1] 0.876256376584676 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99956304 -0.01738764 -0.02390415 1.01211793] [ 0.01751664 0.99983306 0.00519764 -0.04034546] [ 0.02380979 -0.00561409 0.99970074 -0.26763411] [ 0. 0. 0. 1. ]] SLAMing on 38.911346183999996 meters Centerline goodness [0,1] 0.8729846835953244 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99956086 -0.01738601 -0.0239962 1.0125638 ] [ 0.01752057 0.99983187 0.00540873 -0.04127067] [ 0.02389813 -0.00582678 0.99969742 -0.26796667] [ 0. 0. 0. 1. ]] SLAMing on 38.941346184 meters Centerline goodness [0,1] 0.8652970347130857 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99955709 -0.01772738 -0.02390329 1.01235179] [ 0.01786004 0.9998262 0.00534753 -0.04151722] [ 0.02380434 -0.00577207 0.99969997 -0.2681566 ] [ 0. 0. 0. 1. ]] SLAMing on 38.971346184 meters Centerline goodness [0,1] 0.8337465216291424 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99946306 -0.02160113 -0.02463711 1.01479586] [ 0.02165434 0.99976372 0.00189499 -0.04152798] [ 0.02459036 -0.00242747 0.99969466 -0.26936741] [ 0. 0. 0. 1. ]] SLAMing on 39.001346184 meters Centerline goodness [0,1] 0.8220841855414993 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.04, Z:-0.27 [[ 0.99946279 -0.0219745 -0.02431575 1.01430122] [ 0.02203744 0.99975445 0.00232346 -0.0441395 ] [ 0.02425872 -0.00285807 0.99970163 -0.27008721] [ 0. 0. 0. 1. ]] SLAMing on 39.031346184 meters Centerline goodness [0,1] 0.8058598854156196 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.27 [[ 9.99364534e-01 -2.56915292e-02 -2.47077462e-02 1.01584872e+00] [ 2.56627978e-02 9.99669562e-01 -1.47928444e-03 -4.46498076e-02] [ 2.47375869e-02 8.44274511e-04 9.99693623e-01 -2.70360344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.061346183999994 meters Centerline goodness [0,1] 0.8083139723700317 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.27 [[ 0.99929752 -0.03267862 -0.01834584 1.02864723] [ 0.03271742 0.99946299 0.00181866 -0.04999935] [ 0.01827656 -0.00241761 0.99983005 -0.27388535] [ 0. 0. 0. 1. ]] SLAMing on 39.091346183999995 meters Centerline goodness [0,1] 0.7661016949152543 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.05, Z:-0.27 [[ 0.99928076 -0.03339886 -0.01795764 1.02693444] [ 0.03342903 0.99944014 0.00138253 -0.05009451] [ 0.01790141 -0.00198185 0.99983779 -0.27274589] [ 0. 0. 0. 1. ]] SLAMing on 39.121346184 meters Centerline goodness [0,1] 0.7819249527222056 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.28 [[ 0.99927459 -0.03603982 -0.01230572 1.04022958] [ 0.036145 0.99931096 0.00843416 -0.0514211 ] [ 0.01199328 -0.00887283 0.99988871 -0.27523453] [ 0. 0. 0. 1. ]] SLAMing on 39.151346184 meters Centerline goodness [0,1] 0.7740995366910776 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.27 [[ 0.99925 -0.0367518 -0.01219612 1.03886203] [ 0.03684631 0.99929191 0.00761699 -0.05023368] [ 0.01190755 -0.00806066 0.99989661 -0.27357578] [ 0. 0. 0. 1. ]] SLAMing on 39.181346184 meters Centerline goodness [0,1] 0.7682250396196514 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.27 [[ 0.99924294 -0.03695277 -0.01216701 1.03883174] [ 0.03704898 0.99928317 0.00777956 -0.05238034] [ 0.01187081 -0.00822445 0.99989572 -0.27365991] [ 0. 0. 0. 1. ]] SLAMing on 39.211346184 meters Centerline goodness [0,1] 0.761235746617527 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.27 [[ 0.9992503 -0.03675915 -0.0121493 1.03932684] [ 0.03685946 0.99928732 0.00813862 -0.05437591] [ 0.01184148 -0.00858033 0.99989307 -0.2742577 ] [ 0. 0. 0. 1. ]] SLAMing on 39.241346184 meters Centerline goodness [0,1] 0.766962962962963 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:-0.27 [[ 0.9992594 -0.03644298 -0.01235194 1.04043157] [ 0.03654847 0.99929637 0.00842518 -0.05563586] [ 0.01203621 -0.00887038 0.99988822 -0.27490289] [ 0. 0. 0. 1. ]] SLAMing on 39.271346183999995 meters Centerline goodness [0,1] 0.7660073585697706 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.28 [[ 0.99927215 -0.0359848 -0.01265978 1.04203425] [ 0.03609268 0.99931316 0.00839852 -0.05429289] [ 0.01234887 -0.00884934 0.99988459 -0.27568431] [ 0. 0. 0. 1. ]] SLAMing on 39.301346183999996 meters Centerline goodness [0,1] 0.7708482972136224 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.28 [[ 0.99928027 -0.03555844 -0.0132114 1.04364114] [ 0.03566774 0.99933062 0.00813152 -0.052476 ] [ 0.01291341 -0.00859689 0.99987966 -0.27565789] [ 0. 0. 0. 1. ]] SLAMing on 39.331346184 meters Centerline goodness [0,1] 0.778269297678811 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99929278 -0.03500122 -0.01374264 1.04530491] [ 0.03511305 0.99935147 0.00798213 -0.05068845] [ 0.01345434 -0.00845904 0.9998737 -0.27570207] [ 0. 0. 0. 1. ]] SLAMing on 39.361346184 meters Centerline goodness [0,1] 0.7887320443361996 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99930903 -0.03431019 -0.01429261 1.0473821 ] [ 0.03442714 0.99937505 0.00801773 -0.0495645 ] [ 0.01400858 -0.00850425 0.99986571 -0.27625876] [ 0. 0. 0. 1. ]] SLAMing on 39.391346184 meters Centerline goodness [0,1] 0.8082415947634632 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99935455 -0.03274861 -0.01476493 1.05034772] [ 0.03288209 0.9994197 0.00888979 -0.05019647] [ 0.01446524 -0.00936955 0.99985147 -0.27799626] [ 0. 0. 0. 1. ]] SLAMing on 39.421346184 meters Centerline goodness [0,1] 0.8117129871097534 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99936366 -0.03239016 -0.01493821 1.05100472] [ 0.03252346 0.99943251 0.00876835 -0.04969208] [ 0.01464572 -0.00924862 0.99984997 -0.27784885] [ 0. 0. 0. 1. ]] SLAMing on 39.451346183999995 meters Centerline goodness [0,1] 0.834923165051929 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.9993657 -0.032216 -0.01517635 1.0511832 ] [ 0.0323387 0.99944567 0.00791004 -0.0477886 ] [ 0.01491311 -0.00839581 0.99985354 -0.27628938] [ 0. 0. 0. 1. ]] SLAMing on 39.481346183999996 meters Centerline goodness [0,1] 0.8478412777639132 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.9994732 -0.0288713 -0.01482435 1.04819638] [ 0.02903131 0.99952129 0.01069437 -0.04669276] [ 0.01450849 -0.01111911 0.99983292 -0.27301653] [ 0. 0. 0. 1. ]] SLAMing on 39.511346184 meters Centerline goodness [0,1] 0.8479665431233097 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99947605 -0.02865912 -0.01504234 1.0487885 ] [ 0.02881713 0.99953065 0.01039468 -0.04580975] [ 0.01473738 -0.01082271 0.99983283 -0.27264299] [ 0. 0. 0. 1. ]] SLAMing on 39.541346184 meters Centerline goodness [0,1] 0.8516111222646054 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99948064 -0.02832676 -0.01536381 1.05009315] [ 0.0284902 0.99953865 0.01052553 -0.04589092] [ 0.01505857 -0.01095778 0.99982657 -0.27324287] [ 0. 0. 0. 1. ]] SLAMing on 39.571346184 meters Centerline goodness [0,1] 0.8503136167128971 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99949066 -0.02773959 -0.01577764 1.05213591] [ 0.02791555 0.99954928 0.01104391 -0.04698643] [ 0.01546417 -0.01147872 0.99981453 -0.27462829] [ 0. 0. 0. 1. ]] SLAMing on 39.601346184 meters Centerline goodness [0,1] 0.857282087165134 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99949913 -0.02746288 -0.015725 1.05325813] [ 0.02764164 0.99955442 0.01126526 -0.04744487] [ 0.01540862 -0.01169428 0.99981289 -0.27611905] [ 0. 0. 0. 1. ]] SLAMing on 39.631346183999995 meters Centerline goodness [0,1] 0.8542422952707609 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99950016 -0.02732629 -0.01589668 1.05402699] [ 0.02750391 0.99956046 0.01106467 -0.04676079] [ 0.01558734 -0.01149636 0.99981242 -0.27631233] [ 0. 0. 0. 1. ]] SLAMing on 39.661346183999996 meters Centerline goodness [0,1] 0.8533686923019189 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99949902 -0.02729383 -0.01602355 1.0545554 ] [ 0.02746871 0.99956435 0.01079729 -0.04611736] [ 0.01572187 -0.01123203 0.99981331 -0.27637238] [ 0. 0. 0. 1. ]] SLAMing on 39.691346184 meters Centerline goodness [0,1] 0.8643177097670228 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.28 [[ 0.99949946 -0.02716762 -0.01620929 1.05527208] [ 0.02734343 0.99956856 0.0107255 -0.04620907] [ 0.01591091 -0.01116334 0.99981109 -0.27650639] [ 0. 0. 0. 1. ]] SLAMing on 39.721346184 meters Centerline goodness [0,1] 0.8592448014413332 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.28 [[ 0.99949275 -0.02747982 -0.01609684 1.05455224] [ 0.0276442 0.999567 0.01008038 -0.04557363] [ 0.01581286 -0.01052025 0.99981962 -0.27538604] [ 0. 0. 0. 1. ]] SLAMing on 39.751346184 meters Centerline goodness [0,1] 0.8644063549340951 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.27 [[ 0.99948346 -0.02776622 -0.016182 1.05415054] [ 0.02791958 0.99956663 0.00933009 -0.04434586] [ 0.01591592 -0.00977707 0.99982553 -0.27404811] [ 0. 0. 0. 1. ]] SLAMing on 39.781346184 meters Centerline goodness [0,1] 0.8459534604112917 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.27 [[ 0.99945937 -0.02864206 -0.01614342 1.0523417 ] [ 0.02877076 0.99955562 0.00779758 -0.04222382] [ 0.0159129 -0.00825783 0.99983928 -0.27088865] [ 0. 0. 0. 1. ]] SLAMing on 39.811346183999994 meters Centerline goodness [0,1] 0.8533784630813589 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.27 [[ 0.99945443 -0.02890116 -0.01598641 1.05183405] [ 0.02902477 0.99955014 0.00755501 -0.0424942 ] [ 0.01576087 -0.00801489 0.99984367 -0.27050157] [ 0. 0. 0. 1. ]] SLAMing on 39.841346183999995 meters Centerline goodness [0,1] 0.8436765514827225 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.04, Z:-0.27 [[ 0.99945072 -0.02911448 -0.01583033 1.0514639 ] [ 0.02923631 0.99954424 0.00752015 -0.04384219] [ 0.01560417 -0.00797884 0.99984641 -0.2703382 ] [ 0. 0. 0. 1. ]] SLAMing on 39.871346184 meters Centerline goodness [0,1] 0.8424357659302995 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99944717 -0.02940448 -0.01551564 1.05073704] [ 0.02952285 0.99953629 0.00745639 -0.04539298] [ 0.01528919 -0.00791033 0.99985182 -0.27020259] [ 0. 0. 0. 1. ]] SLAMing on 39.901346184 meters Centerline goodness [0,1] 0.8165254554997375 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99944214 -0.02975751 -0.01516273 1.04986936] [ 0.02987063 0.99952719 0.00728936 -0.04663789] [ 0.01493865 -0.00773821 0.99985847 -0.26994087] [ 0. 0. 0. 1. ]] SLAMing on 39.931346184 meters Centerline goodness [0,1] 0.8298143474675795 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99942877 -0.03044649 -0.01466775 1.04793949] [ 0.03054287 0.99951302 0.00639236 -0.04612363] [ 0.01446598 -0.00683671 0.99987199 -0.26831338] [ 0. 0. 0. 1. ]] SLAMing on 39.961346184 meters Centerline goodness [0,1] 0.8261685047640484 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99942663 -0.03055666 -0.01458406 1.04778943] [ 0.0306504 0.99951064 0.00624776 -0.04621695] [ 0.01438601 -0.00669119 0.99987413 -0.26813303] [ 0. 0. 0. 1. ]] SLAMing on 39.991346184 meters Centerline goodness [0,1] 0.8192383470085044 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99942753 -0.03051273 -0.0146148 1.04835981] [ 0.03061159 0.99950963 0.0065895 -0.04747118] [ 0.01440657 -0.00703311 0.99987148 -0.26888721] [ 0. 0. 0. 1. ]] SLAMing on 40.021346183999995 meters Centerline goodness [0,1] 0.789212030822769 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.9993224 -0.03350853 -0.01522885 1.05160303] [ 0.03356877 0.9994295 0.00371687 -0.04908388] [ 0.01509561 -0.00422557 0.99987713 -0.27090456] [ 0. 0. 0. 1. ]] SLAMing on 40.051346183999996 meters Centerline goodness [0,1] 0.8194382523406152 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99933355 -0.03316114 -0.0152576 1.05242544] [ 0.0332312 0.99943817 0.00436144 -0.05104722] [ 0.0151044 -0.00486557 0.99987408 -0.27191196] [ 0. 0. 0. 1. ]] SLAMing on 40.081346184 meters Centerline goodness [0,1] 0.8105753044855927 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.9993322 -0.03322441 -0.01520849 1.05221011] [ 0.0332934 0.99943635 0.00430563 -0.05179046] [ 0.01505686 -0.0048091 0.99987507 -0.27151312] [ 0. 0. 0. 1. ]] SLAMing on 40.111346184 meters Centerline goodness [0,1] 0.7909135802469136 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.9993178 -0.03369677 -0.01511477 1.05064257] [ 0.03374774 0.99942548 0.0031293 -0.0505179 ] [ 0.01500064 -0.00363725 0.99988087 -0.26859908] [ 0. 0. 0. 1. ]] SLAMing on 40.141346184 meters Centerline goodness [0,1] 0.8237585679767248 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99932244 -0.0335846 -0.01505744 1.05038986] [ 0.03363419 0.99942955 0.00305213 -0.05080586] [ 0.01494634 -0.0035565 0.99988197 -0.26796043] [ 0. 0. 0. 1. ]] SLAMing on 40.171346184 meters Centerline goodness [0,1] 0.8303215323255699 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99933047 -0.03332638 -0.01509879 1.05075242] [ 0.03338026 0.99943717 0.00333083 -0.05196448] [ 0.01497929 -0.0038326 0.99988046 -0.2681309 ] [ 0. 0. 0. 1. ]] SLAMing on 40.201346183999995 meters Centerline goodness [0,1] 0.8301529998280901 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.27 [[ 0.99934289 -0.03286368 -0.01528966 1.05179934] [ 0.0329273 0.99945003 0.00392828 -0.05374562] [ 0.01515215 -0.00442914 0.99987539 -0.26881704] [ 0. 0. 0. 1. ]] SLAMing on 40.231346183999996 meters Centerline goodness [0,1] 0.8300687285223367 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.27 [[ 0.9993565 -0.03228519 -0.01562872 1.05333638] [ 0.03236068 0.99946566 0.00460181 -0.05517806] [ 0.0154718 -0.00510461 0.99986727 -0.26985753] [ 0. 0. 0. 1. ]] SLAMing on 40.261346184 meters Centerline goodness [0,1] 0.8343663490041402 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99938799 -0.03095375 -0.01629454 1.05680599] [ 0.03106038 0.99949745 0.00633195 -0.05798651] [ 0.01609035 -0.00683419 0.99984719 -0.27269692] [ 0. 0. 0. 1. ]] SLAMing on 40.291346184 meters Centerline goodness [0,1] 0.8413880992059601 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99939921 -0.03036322 -0.01671224 1.05856671] [ 0.03048273 0.99951118 0.00694306 -0.0589961 ] [ 0.01649326 -0.00744832 0.99983623 -0.27375941] [ 0. 0. 0. 1. ]] SLAMing on 40.321346184 meters Centerline goodness [0,1] 0.843886702998607 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99940547 -0.02994879 -0.01708163 1.06000815] [ 0.03007459 0.99952204 0.00715566 -0.05933976] [ 0.01685916 -0.00766513 0.99982849 -0.2743121 ] [ 0. 0. 0. 1. ]] SLAMing on 40.351346184 meters Centerline goodness [0,1] 0.8452619734846631 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99940294 -0.02996595 -0.01719885 1.06009428] [ 0.03009012 0.99952263 0.00700694 -0.0593122 ] [ 0.01698067 -0.00752027 0.99982754 -0.2738308 ] [ 0. 0. 0. 1. ]] SLAMing on 40.381346183999995 meters Centerline goodness [0,1] 0.8425964380817433 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99940277 -0.03001937 -0.01711567 1.05961051] [ 0.03014715 0.99951913 0.00725685 -0.06184251] [ 0.01688959 -0.00776851 0.99982718 -0.27333124] [ 0. 0. 0. 1. ]] SLAMing on 40.411346183999996 meters Centerline goodness [0,1] 0.8636418956746099 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.06, Z:-0.27 [[ 0.99941018 -0.0297462 -0.01715989 1.06013127] [ 0.02988412 0.99952265 0.0078371 -0.06449064] [ 0.01691858 -0.00834529 0.99982204 -0.27383919] [ 0. 0. 0. 1. ]] SLAMing on 40.441346184 meters Centerline goodness [0,1] 0.8644265603345571 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941579 -0.02962431 -0.01704357 1.06008221] [ 0.02976755 0.9995231 0.00821343 -0.06676221] [ 0.01679212 -0.00871598 0.99982101 -0.27403158] [ 0. 0. 0. 1. ]] SLAMing on 40.471346184 meters Centerline goodness [0,1] 0.8721226380769884 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941868 -0.02949979 -0.01709004 1.06028897] [ 0.02964462 0.99952617 0.00828453 -0.06794492] [ 0.01683755 -0.00878634 0.99981963 -0.27388798] [ 0. 0. 0. 1. ]] SLAMing on 40.501346184 meters Centerline goodness [0,1] 0.8712097379183505 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941755 -0.02946966 -0.01720778 1.0603777 ] [ 0.02961125 0.99952922 0.00803226 -0.06799348] [ 0.01696297 -0.00853712 0.99981967 -0.27325736] [ 0. 0. 0. 1. ]] SLAMing on 40.531346184 meters Centerline goodness [0,1] 0.8830146774816532 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941828 -0.02910664 -0.01777399 1.06117913] [ 0.02924724 0.99954253 0.00770235 -0.06703396] [ 0.01754167 -0.00821771 0.99981236 -0.27182504] [ 0. 0. 0. 1. ]] SLAMing on 40.561346183999994 meters Centerline goodness [0,1] 0.881158230293663 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941741 -0.02903045 -0.01794631 1.06156865] [ 0.02917073 0.99954552 0.00760464 -0.06654874] [ 0.01771738 -0.00812372 0.99981003 -0.27163302] [ 0. 0. 0. 1. ]] SLAMing on 40.591346183999995 meters Centerline goodness [0,1] 0.8872469586668924 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99941685 -0.02891986 -0.01815492 1.06198797] [ 0.02906109 0.99954902 0.00756416 -0.06664567] [ 0.01792798 -0.00808735 0.99980657 -0.27134153] [ 0. 0. 0. 1. ]] SLAMing on 40.621346184 meters Centerline goodness [0,1] 0.8946216911499532 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99932543 -0.0316498 -0.01862726 1.0641168 ] [ 0.03173626 0.99948675 0.00436407 -0.06884591] [ 0.01847957 -0.00495229 0.99981697 -0.27142701] [ 0. 0. 0. 1. ]] SLAMing on 40.651346184 meters Centerline goodness [0,1] 0.8955943753899314 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99933617 -0.03144034 -0.01840445 1.06415673] [ 0.0315383 0.99948975 0.00505673 -0.07222876] [ 0.01823607 -0.00563382 0.99981784 -0.27210664] [ 0. 0. 0. 1. ]] SLAMing on 40.681346184 meters Centerline goodness [0,1] 0.8948334644636768 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.07, Z:-0.27 [[ 0.99933754 -0.03133883 -0.01850303 1.06452072] [ 0.03144214 0.99949142 0.00531898 -0.07430038] [ 0.01832693 -0.00589723 0.99981466 -0.27218768] [ 0. 0. 0. 1. ]] SLAMing on 40.711346184 meters Centerline goodness [0,1] 0.8979178578235182 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.08, Z:-0.27 [[ 0.9993351 -0.03148726 -0.01838239 1.06387464] [ 0.03159131 0.9994863 0.00539735 -0.07526543] [ 0.018203 -0.00597448 0.99981646 -0.27154229] [ 0. 0. 0. 1. ]] SLAMing on 40.741346184 meters Centerline goodness [0,1] 0.8850099743516672 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.27 [[ 0.9993382 -0.03113186 -0.01881417 1.0652348 ] [ 0.03124923 0.99949376 0.00597653 -0.0765554 ] [ 0.01861858 -0.0065605 0.99980514 -0.27210064] [ 0. 0. 0. 1. ]] SLAMing on 40.771346183999995 meters Centerline goodness [0,1] 0.8850099743516672 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.27 [[ 0.9993382 -0.03113186 -0.01881417 1.0652348 ] [ 0.03124923 0.99949376 0.00597653 -0.0765554 ] [ 0.01861858 -0.0065605 0.99980514 -0.27210064] [ 0. 0. 0. 1. ]] SLAMing on 40.801346183999996 meters Centerline goodness [0,1] 0.893068038987834 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.27 [[ 0.99934035 -0.03102136 -0.01888227 1.06573587] [ 0.03114988 0.99949326 0.00655073 -0.07859017] [ 0.01866949 -0.00713459 0.99980025 -0.27275383] [ 0. 0. 0. 1. ]] SLAMing on 40.831346184 meters Centerline goodness [0,1] 0.8927711412247982 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.27 [[ 0.99922686 -0.03409819 -0.01957044 1.06853936] [ 0.03416702 0.99941104 0.00319336 -0.07887572] [ 0.01945003 -0.00385955 0.99980338 -0.27372318] [ 0. 0. 0. 1. ]] SLAMing on 40.861346184 meters Centerline goodness [0,1] 0.889129004979799 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.08, Z:-0.27 [[ 9.99102902e-01 -3.74138865e-02 -1.98391554e-02 1.07022055e+00] [ 3.74308734e-02 9.99299101e-01 4.85454775e-04 -8.33742636e-02] [ 1.98070875e-02 -1.22761619e-03 9.99803067e-01 -2.74790316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.891346184 meters Centerline goodness [0,1] 0.8880528795443359 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.28 [[ 0.99911436 -0.03716027 -0.0197386 1.07043426] [ 0.03719582 0.99930696 0.00143677 -0.08656048] [ 0.01967153 -0.0021697 0.99980414 -0.27553211] [ 0. 0. 0. 1. ]] SLAMing on 40.921346184 meters Centerline goodness [0,1] 0.8804238732114931 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.28 [[ 0.99911287 -0.03714234 -0.01984723 1.07036814] [ 0.03718466 0.99930685 0.00176761 -0.08836545] [ 0.01976782 -0.00250406 0.99980146 -0.27502722] [ 0. 0. 0. 1. ]] SLAMing on 40.951346183999995 meters Centerline goodness [0,1] 0.8900475923852184 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.27 [[ 0.99916689 -0.0359412 -0.01933272 1.06588857] [ 0.0360065 0.99934693 0.00304034 -0.09070587] [ 0.01921083 -0.00373391 0.99980848 -0.2703689 ] [ 0. 0. 0. 1. ]] SLAMing on 40.981346183999996 meters Centerline goodness [0,1] 0.8977434153838988 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.27 [[ 0.99916064 -0.03590344 -0.01972226 1.06598555] [ 0.0359629 0.99934956 0.00266861 -0.0902721 ] [ 0.01961362 -0.00337564 0.99980194 -0.26891662] [ 0. 0. 0. 1. ]] SLAMing on 41.011346184 meters Centerline goodness [0,1] 0.9009213916030357 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.27 [[ 0.9991665 -0.03547417 -0.02019643 1.06704254] [ 0.03554016 0.99936399 0.00291802 -0.09096017] [ 0.02008007 -0.00363338 0.99979177 -0.26867445] [ 0. 0. 0. 1. ]] SLAMing on 41.041346184 meters Centerline goodness [0,1] 0.903382312170779 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.09, Z:-0.27 [[ 0.99908461 -0.03729334 -0.02095572 1.07176204] [ 0.03732594 0.99930246 0.00116617 -0.09489248] [ 0.02089761 -0.0019473 0.99977972 -0.27199402] [ 0. 0. 0. 1. ]] SLAMing on 41.071346184 meters Centerline goodness [0,1] 0.9057485553790547 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.27 [[ 0.99910611 -0.03669857 -0.02098093 1.07341342] [ 0.03676184 0.99932057 0.00263757 -0.09930951] [ 0.02086988 -0.00340651 0.9997764 -0.27444999] [ 0. 0. 0. 1. ]] SLAMing on 41.101346184 meters Centerline goodness [0,1] 0.902631940941813 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.28 [[ 0.99911869 -0.03632349 -0.02103438 1.07438531] [ 0.03640641 0.99933068 0.00357276 -0.10158721] [ 0.02089052 -0.0043354 0.99977237 -0.27578051] [ 0. 0. 0. 1. ]] SLAMing on 41.131346183999995 meters Centerline goodness [0,1] 0.8940002294367329 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.27 [[ 0.99910047 -0.03678256 -0.02110179 1.07338294] [ 0.03685563 0.99931584 0.00308389 -0.10022261] [ 0.02097392 -0.00385883 0.99977258 -0.27393424] [ 0. 0. 0. 1. ]] SLAMing on 41.161346183999996 meters Centerline goodness [0,1] 0.887024197621562 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.27 [[ 0.99909649 -0.03688512 -0.0211112 1.0732497 ] [ 0.03696452 0.99931085 0.003383 -0.10127961] [ 0.02097186 -0.00416031 0.99977141 -0.27383236] [ 0. 0. 0. 1. ]] SLAMing on 41.191346184 meters Centerline goodness [0,1] 0.8799075684085294 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.10, Z:-0.27 [[ 0.99909161 -0.03700979 -0.02112432 1.07339859] [ 0.03710279 0.99930334 0.00402743 -0.10486689] [ 0.02096055 -0.00480755 0.99976874 -0.27425456] [ 0. 0. 0. 1. ]] SLAMing on 41.221346184 meters Centerline goodness [0,1] 0.8594079618917999 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.11, Z:-0.28 [[ 0.99894291 -0.04095643 -0.02087178 1.07374344] [ 0.04099171 0.99915869 0.00126515 -0.11131066] [ 0.0208024 -0.00211938 0.99978136 -0.27510323] [ 0. 0. 0. 1. ]] SLAMing on 41.251346184 meters Centerline goodness [0,1] 0.8586066500791676 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.11, Z:-0.28 [[ 0.99894064 -0.04105719 -0.02078234 1.07372812] [ 0.04110635 0.99915289 0.00194368 -0.11412427] [ 0.02068493 -0.00279591 0.99978213 -0.27558104] [ 0. 0. 0. 1. ]] SLAMing on 41.281346184 meters Centerline goodness [0,1] 0.8633960047003525 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:-0.28 [[ 0.99893074 -0.04132736 -0.02072282 1.07365694] [ 0.04138246 0.99914087 0.00223697 -0.11541904] [ 0.02061256 -0.00309214 0.99978276 -0.27587564] [ 0. 0. 0. 1. ]] SLAMing on 41.311346183999994 meters Centerline goodness [0,1] 0.8529059113634821 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.12, Z:-0.28 [[ 0.99892677 -0.04132286 -0.02092208 1.07439885] [ 0.04138722 0.99913966 0.00265237 -0.11638427] [ 0.02079448 -0.00351543 0.99977759 -0.2764644 ] [ 0. 0. 0. 1. ]] SLAMing on 41.341346183999995 meters Centerline goodness [0,1] 0.8287376618672462 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99892448 -0.0411632 -0.02134202 1.07634923] [ 0.04124989 0.99914224 0.00363754 -0.11773457] [ 0.02117398 -0.00451398 0.99976562 -0.27844775] [ 0. 0. 0. 1. ]] SLAMing on 41.371346184 meters Centerline goodness [0,1] 0.8138072484673639 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99893796 -0.04067018 -0.02165387 1.07818634] [ 0.04077879 0.99915762 0.00459796 -0.11981639] [ 0.02144863 -0.0054761 0.99975495 -0.28008499] [ 0. 0. 0. 1. ]] SLAMing on 41.401346184 meters Centerline goodness [0,1] 0.8089454709328526 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99893571 -0.04082435 -0.02146668 1.07820167] [ 0.04094124 0.99914887 0.00503409 -0.12275297] [ 0.0212429 -0.0059076 0.99975689 -0.28080272] [ 0. 0. 0. 1. ]] SLAMing on 41.431346184 meters Centerline goodness [0,1] 0.8057686683015727 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.28 [[ 0.99892855 -0.04105088 -0.02136759 1.07865756] [ 0.04117776 0.99913652 0.00553187 -0.12609769] [ 0.02112205 -0.00640581 0.99975638 -0.28190894] [ 0. 0. 0. 1. ]] SLAMing on 41.461346184 meters Centerline goodness [0,1] 0.7886777211838356 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.28 [[ 0.99889916 -0.04187963 -0.02113202 1.07794655] [ 0.04200239 0.99910292 0.005399 -0.12764326] [ 0.02088695 -0.00628066 0.99976212 -0.28197592] [ 0. 0. 0. 1. ]] SLAMing on 41.491346184 meters Centerline goodness [0,1] 0.7827417105322356 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.28 [[ 0.99889105 -0.04203309 -0.02121052 1.07799116] [ 0.04214882 0.99909864 0.0050388 -0.12615316] [ 0.0209796 -0.00592721 0.99976233 -0.28157076] [ 0. 0. 0. 1. ]] SLAMing on 41.521346183999995 meters Centerline goodness [0,1] 0.7743890077711454 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.27 [[ 0.99874121 -0.04531912 -0.02149826 1.07890614] [ 0.04525922 0.99896994 -0.00326495 -0.11848248] [ 0.02162408 0.00228785 0.99976355 -0.2745859 ] [ 0. 0. 0. 1. ]] SLAMing on 41.551346183999996 meters Centerline goodness [0,1] 0.7759700186261529 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.27 [[ 0.99874586 -0.045062 -0.02182046 1.07990991] [ 0.04500561 0.99898202 -0.0030683 -0.11853321] [ 0.02193652 0.00208241 0.9997572 -0.27484194] [ 0. 0. 0. 1. ]] SLAMing on 41.581346184 meters Centerline goodness [0,1] 0.7866540719249713 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99875787 -0.04481644 -0.021776 1.08064405] [ 0.0447736 0.99899415 -0.00245149 -0.12022131] [ 0.02186396 0.00147345 0.99975987 -0.27602906] [ 0. 0. 0. 1. ]] SLAMing on 41.611346184 meters Centerline goodness [0,1] 0.7789201930631945 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 9.98773857e-01 -4.44421265e-02 -2.18101113e-02 1.08201160e+00] [ 4.44240862e-02 9.99011902e-01 -1.31120124e-03 -1.23776728e-01] [ 2.18468334e-02 3.40699254e-04 9.99761271e-01 -2.78053708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.641346184 meters Centerline goodness [0,1] 0.7654174147217235 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.28 [[ 9.98754715e-01 -4.49866334e-02 -2.15690145e-02 1.08219218e+00] [ 4.49855761e-02 9.98987494e-01 -5.34468215e-04 -1.26183080e-01] [ 2.15712196e-02 -4.36491893e-04 9.99767219e-01 -2.80006378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.671346184 meters Centerline goodness [0,1] 0.7570896526967603 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 9.98737578e-01 -4.52344708e-02 -2.18424659e-02 1.08263368e+00] [ 4.52256542e-02 9.98976393e-01 -8.97707036e-04 -1.24000869e-01] [ 2.18607151e-02 -9.12660584e-05 9.99761022e-01 -2.79741548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.701346183999995 meters Centerline goodness [0,1] 0.7034558889790034 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99886141 -0.04230419 -0.02205091 1.0820485 ] [ 0.04237888 0.99909731 0.00293032 -0.12431983] [ 0.02190704 -0.00386148 0.99975255 -0.27970598] [ 0. 0. 0. 1. ]] SLAMing on 41.731346183999996 meters Centerline goodness [0,1] 0.7434466620165155 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.12, Z:-0.28 [[ 0.99885944 -0.04219005 -0.02235654 1.08327994] [ 0.04226955 0.99910145 0.00309484 -0.1237249 ] [ 0.02220588 -0.00403631 0.99974527 -0.28048458] [ 0. 0. 0. 1. ]] SLAMing on 41.761346184 meters Centerline goodness [0,1] 0.7358851029398543 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.28 [[ 9.98702364e-01 -4.56784080e-02 -2.25182356e-02 1.08508793e+00] [ 4.56769647e-02 9.98956095e-01 -5.78706763e-04 -1.24282461e-01] [ 2.25211631e-02 -4.50608838e-04 9.99746265e-01 -2.81507633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.791346184 meters Centerline goodness [0,1] 0.7314733893557424 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.28 [[ 9.98713371e-01 -4.55146097e-02 -2.23611855e-02 1.08536430e+00] [ 4.55243242e-02 9.98963228e-01 -7.46874812e-05 -1.26211583e-01] [ 2.23414014e-02 -9.43386471e-04 9.99749955e-01 -2.82288330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.821346184 meters Centerline goodness [0,1] 0.7291848666084269 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.28 [[ 9.98713491e-01 -4.55510432e-02 -2.22814911e-02 1.08547622e+00] [ 4.55621277e-02 9.98961507e-01 -1.01928803e-05 -1.26354174e-01] [ 2.22588163e-02 -1.00501238e-03 9.99751737e-01 -2.82633386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.851346184 meters Centerline goodness [0,1] 0.7170550489699425 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.13, Z:-0.28 [[ 0.99881247 -0.04325403 -0.02242163 1.08462232] [ 0.04333582 0.99905552 0.00317439 -0.12565542] [ 0.02226315 -0.00414228 0.99974356 -0.28260233] [ 0. 0. 0. 1. ]] SLAMing on 41.881346183999995 meters Centerline goodness [0,1] 0.7070577657900652 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.28 [[ 0.99880634 -0.04322067 -0.02275669 1.08590496] [ 0.04330763 0.99905619 0.00334211 -0.12513627] [ 0.02259076 -0.00432365 0.99973545 -0.28339491] [ 0. 0. 0. 1. ]] SLAMing on 41.911346183999996 meters Centerline goodness [0,1] 0.6987794442192496 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.28 [[ 0.99879932 -0.04339898 -0.02272531 1.0862892 ] [ 0.04349202 0.99904723 0.00361577 -0.12587558] [ 0.02254674 -0.00459979 0.99973521 -0.28423544] [ 0. 0. 0. 1. ]] SLAMing on 41.941346184 meters Centerline goodness [0,1] 0.6882721616015872 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.29 [[ 0.99879312 -0.04355576 -0.02269802 1.08667043] [ 0.04365602 0.99903885 0.00393992 -0.12730154] [ 0.0225046 -0.00492607 0.9997346 -0.28503217] [ 0. 0. 0. 1. ]] SLAMing on 41.971346184 meters Centerline goodness [0,1] 0.6760114037469453 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.29 [[ 0.99877354 -0.0441388 -0.02243177 1.08628705] [ 0.0442337 0.99901417 0.0037519 -0.12738772] [ 0.02224406 -0.00473954 0.99974134 -0.28559892] [ 0. 0. 0. 1. ]] SLAMing on 42.001346184 meters Centerline goodness [0,1] 0.6706554378993475 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.29 [[ 0.99877911 -0.04380427 -0.02283575 1.08807727] [ 0.04390662 0.99902763 0.00399987 -0.12654941] [ 0.02263834 -0.00499763 0.99973123 -0.2867717 ] [ 0. 0. 0. 1. ]] SLAMing on 42.031346184 meters Centerline goodness [0,1] 0.6661234836139779 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.13, Z:-0.29 [[ 0.99877428 -0.04383098 -0.02299545 1.08869526] [ 0.04392736 0.99902786 0.00370309 -0.12525107] [ 0.02281079 -0.00470868 0.99972871 -0.28693426] [ 0. 0. 0. 1. ]] SLAMing on 42.061346183999994 meters Centerline goodness [0,1] 0.6643871289146532 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.29 [[ 0.9987728 -0.04387736 -0.02297106 1.08882212] [ 0.04396594 0.99902736 0.00336536 -0.12449533] [ 0.02280105 -0.00437117 0.99973047 -0.28685299] [ 0. 0. 0. 1. ]] SLAMing on 42.091346183999995 meters Centerline goodness [0,1] 0.6672187684349049 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.29 [[ 0.99876749 -0.04384203 -0.0232674 1.08968441] [ 0.04391134 0.99903236 0.0024758 -0.12113502] [ 0.02313634 -0.00349445 0.99972621 -0.2865643 ] [ 0. 0. 0. 1. ]] SLAMing on 42.121346184 meters Centerline goodness [0,1] 0.6666287145622225 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.29 [[ 0.99891866 -0.04028832 -0.02320257 1.08908349] [ 0.04044206 0.99916268 0.00619472 -0.12075949] [ 0.02293357 -0.00712639 0.99971159 -0.28667682] [ 0. 0. 0. 1. ]] SLAMing on 42.151346184 meters Centerline goodness [0,1] 0.6638586585310322 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.29 [[ 0.99890521 -0.04037648 -0.02362477 1.08985859] [ 0.04051277 0.99916486 0.00531884 -0.11790417] [ 0.02339029 -0.00627012 0.99970675 -0.28598548] [ 0. 0. 0. 1. ]] SLAMing on 42.181346184 meters Centerline goodness [0,1] 0.7127258606117368 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.12, Z:-0.29 [[ 0.99888847 -0.04068816 -0.0237969 1.08995366] [ 0.04080421 0.99915742 0.0044118 -0.11521722] [ 0.02359734 -0.00537791 0.99970708 -0.28521594] [ 0. 0. 0. 1. ]] SLAMing on 42.211346184 meters Centerline goodness [0,1] 0.7178319758396632 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99888404 -0.04073773 -0.02389791 1.09049191] [ 0.04085048 0.99915624 0.00424865 -0.11466209] [ 0.02370466 -0.00522015 0.99970538 -0.28554436] [ 0. 0. 0. 1. ]] SLAMing on 42.241346183999994 meters Centerline goodness [0,1] 0.6507827676836933 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99888696 -0.04052325 -0.02413949 1.09173082] [ 0.04064111 0.99916407 0.00441205 -0.11419783] [ 0.02394052 -0.00538819 0.99969886 -0.28645228] [ 0. 0. 0. 1. ]] SLAMing on 42.271346183999995 meters Centerline goodness [0,1] 0.6985883163089637 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99886847 -0.04073238 -0.02454883 1.09237646] [ 0.04083019 0.99915998 0.00349597 -0.10997262] [ 0.02438581 -0.00449435 0.99969252 -0.28573043] [ 0. 0. 0. 1. ]] SLAMing on 42.301346183999996 meters Centerline goodness [0,1] 0.6931303327890344 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99886248 -0.0407201 -0.02481153 1.09326427] [ 0.04081264 0.99916158 0.00323448 -0.10840377] [ 0.02465902 -0.00424342 0.99968691 -0.2859292 ] [ 0. 0. 0. 1. ]] SLAMing on 42.331346184 meters Centerline goodness [0,1] 0.7068342425707248 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99886393 -0.04075412 -0.02469703 1.09357239] [ 0.04084793 0.99915991 0.00330568 -0.10845412] [ 0.02454157 -0.00431075 0.99968952 -0.28669958] [ 0. 0. 0. 1. ]] SLAMing on 42.361346184 meters Centerline goodness [0,1] 0.7106937082277023 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.11, Z:-0.29 [[ 0.99887008 -0.04063501 -0.02464471 1.09421928] [ 0.04073757 0.99916313 0.00367364 -0.10978659] [ 0.0244748 -0.00467346 0.99968952 -0.28778548] [ 0. 0. 0. 1. ]] SLAMing on 42.391346184 meters Centerline goodness [0,1] 0.7164361175685318 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.29 [[ 0.99887742 -0.04040432 -0.02472641 1.09564196] [ 0.04051745 0.99917045 0.00409129 -0.11027229] [ 0.02454059 -0.00508855 0.99968588 -0.28957044] [ 0. 0. 0. 1. ]] SLAMing on 42.421346184 meters Centerline goodness [0,1] 0.7155480700459128 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.29 [[ 0.99887566 -0.04028104 -0.02499709 1.09656111] [ 0.04038887 0.99917672 0.00382388 -0.10806225] [ 0.02482248 -0.00482919 0.99968021 -0.28976966] [ 0. 0. 0. 1. ]] SLAMing on 42.451346183999995 meters Centerline goodness [0,1] 0.6788872215167956 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.11, Z:-0.29 [[ 0.9988759 -0.03995773 -0.02550132 1.09809605] [ 0.04006486 0.99919022 0.00370353 -0.10581221] [ 0.02533268 -0.00472108 0.99966793 -0.29007734] [ 0. 0. 0. 1. ]] SLAMing on 42.481346183999996 meters Centerline goodness [0,1] 0.6997106146544738 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.29 [[ 0.99887219 -0.03979047 -0.02590476 1.0994035 ] [ 0.03989325 0.99919795 0.00346255 -0.1039073 ] [ 0.02574621 -0.00449207 0.99965842 -0.29042717] [ 0. 0. 0. 1. ]] SLAMing on 42.511346184 meters Centerline goodness [0,1] 0.7185981956974323 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.29 [[ 0.99887889 -0.03923521 -0.02648709 1.10104648] [ 0.03933824 0.99922023 0.00338009 -0.10319559] [ 0.02633382 -0.00441825 0.99964344 -0.29034266] [ 0. 0. 0. 1. ]] SLAMing on 42.541346184 meters Centerline goodness [0,1] 0.7296915524268248 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.29 [[ 0.99888029 -0.03904933 -0.02670803 1.10142541] [ 0.03914628 0.99922863 0.00311641 -0.10273423] [ 0.02656573 -0.00415844 0.99963842 -0.28977208] [ 0. 0. 0. 1. ]] SLAMing on 42.571346184 meters Centerline goodness [0,1] 0.7304388097719116 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.29 [[ 0.99887753 -0.03874376 -0.02725061 1.1025418 ] [ 0.03883166 0.99924211 0.00270376 -0.10128434] [ 0.0271252 -0.00375892 0.99962498 -0.28912216] [ 0. 0. 0. 1. ]] SLAMing on 42.601346184 meters Centerline goodness [0,1] 0.7154703832752614 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.10, Z:-0.29 [[ 0.99901092 -0.03470897 -0.0277933 1.10341969] [ 0.03489334 0.99937196 0.00617605 -0.09877011] [ 0.02756148 -0.00713974 0.99959461 -0.28894764] [ 0. 0. 0. 1. ]] SLAMing on 42.631346183999995 meters Centerline goodness [0,1] 0.7036365748809108 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.29 [[ 0.99901572 -0.03407213 -0.02840205 1.10562333] [ 0.03426534 0.99939263 0.00634409 -0.0976595 ] [ 0.02816864 -0.00731105 0.99957645 -0.28976613] [ 0. 0. 0. 1. ]] SLAMing on 42.661346183999996 meters Centerline goodness [0,1] 0.7036365748809108 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.29 [[ 0.99901572 -0.03407213 -0.02840205 1.10562333] [ 0.03426534 0.99939263 0.00634409 -0.0976595 ] [ 0.02816864 -0.00731105 0.99957645 -0.28976613] [ 0. 0. 0. 1. ]] SLAMing on 42.691346184 meters Centerline goodness [0,1] 0.7502272144671529 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.29 [[ 0.99902723 -0.03344779 -0.02873752 1.10759955] [ 0.03365689 0.99941015 0.00682348 -0.09798228] [ 0.02849234 -0.00778406 0.9995637 -0.29127625] [ 0. 0. 0. 1. ]] SLAMing on 42.721346184 meters Centerline goodness [0,1] 0.7560096712698191 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.29 [[ 0.9990432 -0.03238962 -0.02938703 1.11067326] [ 0.03263342 0.99943653 0.00785446 -0.0996723 ] [ 0.02911606 -0.00880595 0.99953725 -0.29333076] [ 0. 0. 0. 1. ]] SLAMing on 42.751346184 meters Centerline goodness [0,1] 0.7640807404306776 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.10, Z:-0.30 [[ 0.99906778 -0.03100816 -0.03003437 1.11417005] [ 0.0312776 0.99947422 0.00854321 -0.09901957] [ 0.02975367 -0.00947465 0.99951236 -0.29548237] [ 0. 0. 0. 1. ]] SLAMing on 42.781346184 meters Centerline goodness [0,1] 0.7706248687985445 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.10, Z:-0.30 [[ 0.99906858 -0.03040145 -0.03062226 1.11579975] [ 0.0306616 0.99949731 0.00806173 -0.0962674 ] [ 0.03036178 -0.00899315 0.99949852 -0.29505135] [ 0. 0. 0. 1. ]] SLAMing on 42.811346183999994 meters Centerline goodness [0,1] 0.7811283590489143 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:-0.29 [[ 0.99906055 -0.02987745 -0.03139048 1.11735298] [ 0.03010995 0.99952236 0.00695993 -0.09212819] [ 0.03116754 -0.00789856 0.99948296 -0.29354558] [ 0. 0. 0. 1. ]] SLAMing on 42.841346183999995 meters Centerline goodness [0,1] 0.7923053377598832 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:-0.29 [[ 0.99905359 -0.02910055 -0.03232781 1.11936463] [ 0.02931061 0.99955209 0.00604293 -0.08859973] [ 0.03213747 -0.00698476 0.99945905 -0.29198739] [ 0. 0. 0. 1. ]] SLAMing on 42.871346184 meters Centerline goodness [0,1] 0.8045357902197023 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:-0.29 [[ 0.99916092 -0.02404806 -0.03315333 1.12124197] [ 0.02439525 0.99965129 0.01010757 -0.08782064] [ 0.0328987 -0.01090787 0.99939917 -0.29159571] [ 0. 0. 0. 1. ]] SLAMing on 42.901346184 meters Centerline goodness [0,1] 0.8175018875047187 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.09, Z:-0.29 [[ 0.99915235 -0.02300002 -0.03414055 1.1244821 ] [ 0.023372 0.99967131 0.01053674 -0.0877915 ] [ 0.03388698 -0.01132574 0.9993615 -0.2924395 ] [ 0. 0. 0. 1. ]] SLAMing on 42.931346184 meters Centerline goodness [0,1] 0.8336100569259962 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:-0.29 [[ 0.99923433 -0.01828343 -0.03459011 1.12609354] [ 0.01880828 0.99971194 0.01490926 -0.08787209] [ 0.03430755 -0.01554843 0.99929037 -0.29351815] [ 0. 0. 0. 1. ]] SLAMing on 42.961346184 meters Centerline goodness [0,1] 0.8509875605355617 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.09, Z:-0.29 [[ 0.99921643 -0.01774368 -0.03537912 1.12826533] [ 0.01826832 0.99972708 0.01456142 -0.08559217] [ 0.03511109 -0.01519633 0.99926787 -0.29342348] [ 0. 0. 0. 1. ]] SLAMing on 42.991346183999994 meters Centerline goodness [0,1] 0.8672773245551262 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:-0.29 [[ 0.99920105 -0.01736856 -0.03599444 1.12984851] [ 0.01788547 0.99974077 0.01408909 -0.08378139] [ 0.0357404 -0.01472162 0.99925267 -0.29312223] [ 0. 0. 0. 1. ]] SLAMing on 43.021346183999995 meters Centerline goodness [0,1] 0.8709107828867307 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.08, Z:-0.29 [[ 0.99919337 -0.01674524 -0.03649942 1.13170096] [ 0.01727136 0.99975075 0.0141472 -0.08334098] [ 0.03625342 -0.01476619 0.99923353 -0.29361938] [ 0. 0. 0. 1. ]] SLAMing on 43.051346183999996 meters Centerline goodness [0,1] 0.8966587112171838 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:-0.29 [[ 0.99919149 -0.01496186 -0.03731636 1.13518841] [ 0.01551104 0.99977497 0.0144712 -0.08177174] [ 0.03709144 -0.01503832 0.99919872 -0.29445157] [ 0. 0. 0. 1. ]] SLAMing on 43.081346184 meters Centerline goodness [0,1] 0.902969966894515 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:-0.29 [[ 0.9991702 -0.01425156 -0.03815509 1.13741402] [ 0.01479501 0.99979255 0.01399902 -0.07872848] [ 0.03794767 -0.01455191 0.99917377 -0.29398993] [ 0. 0. 0. 1. ]] SLAMing on 43.111346184 meters Centerline goodness [0,1] 0.9086477574135583 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.08, Z:-0.29 [[ 0.99915061 -0.01390353 -0.03879116 1.13865865] [ 0.01442251 0.99980977 0.01313105 -0.07544508] [ 0.03860122 -0.01367936 0.99916106 -0.29279663] [ 0. 0. 0. 1. ]] SLAMing on 43.141346184 meters Centerline goodness [0,1] 0.912414518674382 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.07, Z:-0.29 [[ 0.99912886 -0.01356597 -0.039465 1.13986127] [ 0.0140712 0.9998222 0.0125525 -0.0736171 ] [ 0.0392877 -0.01309688 0.99914211 -0.29167098] [ 0. 0. 0. 1. ]] SLAMing on 43.171346184 meters Centerline goodness [0,1] 0.9183405383457929 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.07, Z:-0.29 [[ 0.99906054 -0.0164491 -0.04009323 1.1419816 ] [ 0.01677948 0.99982786 0.00791784 -0.07051382] [ 0.03995608 -0.00858314 0.99916457 -0.29031122] [ 0. 0. 0. 1. ]] SLAMing on 43.201346183999995 meters Centerline goodness [0,1] 0.9194085995904957 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.07, Z:-0.29 [[ 0.99897808 -0.01969388 -0.04068112 1.14304788] [ 0.01982088 0.99979984 0.00272102 -0.06860919] [ 0.04061939 -0.00352458 0.99916848 -0.2871087 ] [ 0. 0. 0. 1. ]] SLAMing on 43.231346183999996 meters Centerline goodness [0,1] 0.9239218489397188 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.07, Z:-0.29 [[ 0.99897315 -0.01931518 -0.04098256 1.14425272] [ 0.01946694 0.99980503 0.00330716 -0.0702432 ] [ 0.04091069 -0.00410157 0.99915439 -0.28778018] [ 0. 0. 0. 1. ]] SLAMing on 43.261346184 meters Centerline goodness [0,1] 0.9218163682135563 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.07, Z:-0.29 [[ 0.99896734 -0.01888827 -0.04132182 1.14584089] [ 0.01907549 0.99980947 0.00414118 -0.07233887] [ 0.04123573 -0.00492514 0.99913731 -0.28902819] [ 0. 0. 0. 1. ]] SLAMing on 43.291346184 meters Centerline goodness [0,1] 0.9151686192667078 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 0.99895641 -0.01886532 -0.04159555 1.14727886] [ 0.01909432 0.9998046 0.00511497 -0.07503902] [ 0.04149093 -0.00590387 0.99912144 -0.29095752] [ 0. 0. 0. 1. ]] SLAMing on 43.321346184 meters Centerline goodness [0,1] 0.9146841868077134 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 0.99894661 -0.01861633 -0.04194165 1.14882957] [ 0.01887293 0.99980547 0.00573026 -0.07610089] [ 0.04182682 -0.00651578 0.99910363 -0.2921342 ] [ 0. 0. 0. 1. ]] SLAMing on 43.351346184 meters Centerline goodness [0,1] 0.9065812877979367 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 0.99893731 -0.01867901 -0.04213491 1.14931393] [ 0.01895458 0.99980143 0.00615025 -0.07803414] [ 0.04201166 -0.00694237 0.999093 -0.29245284] [ 0. 0. 0. 1. ]] SLAMing on 43.381346183999995 meters Centerline goodness [0,1] 0.8959484127924895 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 0.99884068 -0.02283397 -0.04237822 1.14953224] [ 0.02295712 0.99973352 0.00242158 -0.08034314] [ 0.04231164 -0.00339166 0.9990987 -0.29173561] [ 0. 0. 0. 1. ]] SLAMing on 43.411346183999996 meters Centerline goodness [0,1] 0.8966934341048654 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 9.98726571e-01 -2.58720510e-02 -4.33113477e-02 1.15282917e+00] [ 2.58567030e-02 9.99665241e-01 -9.14625895e-04 -8.05040646e-02] [ 4.33205121e-02 -2.06427473e-04 9.99061205e-01 -2.92546576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.441346184 meters Centerline goodness [0,1] 0.8894847504075221 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.08, Z:-0.29 [[ 9.98728556e-01 -2.55222757e-02 -4.34728170e-02 1.15369162e+00] [ 2.55439511e-02 9.99673698e-01 -5.69175135e-05 -8.28606345e-02] [ 4.34600844e-02 -1.05362236e-03 9.99054609e-01 -2.93384000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.471346184 meters Centerline goodness [0,1] 0.8898909741681776 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.08, Z:-0.29 [[ 9.98721679e-01 -2.50455415e-02 -4.39059088e-02 1.15503669e+00] [ 2.50909451e-02 9.99685056e-01 4.83242861e-04 -8.37808653e-02] [ 4.38799778e-02 -1.58426587e-03 9.99035554e-01 -2.93793738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.501346184 meters Centerline goodness [0,1] 0.8975852473706551 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:-0.30 [[ 0.9989593 -0.02432707 -0.03858122 1.16896775] [ 0.02475836 0.99963577 0.0107406 -0.08474673] [ 0.03830588 -0.01168463 0.99919774 -0.29691117] [ 0. 0. 0. 1. ]] SLAMing on 43.531346184 meters Centerline goodness [0,1] 0.8966658002315745 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:-0.30 [[ 0.99894501 -0.02439567 -0.03890654 1.16946525] [ 0.02481785 0.99963784 0.01040529 -0.08408895] [ 0.03863861 -0.01135988 0.99918868 -0.29640202] [ 0. 0. 0. 1. ]] SLAMing on 43.561346183999994 meters Centerline goodness [0,1] 0.8975339233038349 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.08, Z:-0.30 [[ 0.99884246 -0.02739441 -0.03953846 1.17227788] [ 0.02768888 0.99959264 0.00691927 -0.08395932] [ 0.0393328 -0.00800604 0.99919409 -0.29732472] [ 0. 0. 0. 1. ]] SLAMing on 43.591346183999995 meters Centerline goodness [0,1] 0.8924121779859485 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.30 [[ 0.99873192 -0.03109055 -0.03959703 1.17315154] [ 0.03126698 0.99950368 0.00384409 -0.08885668] [ 0.03945787 -0.00507729 0.99920834 -0.29790285] [ 0. 0. 0. 1. ]] SLAMing on 43.621346184 meters Centerline goodness [0,1] 0.8874334547492295 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.30 [[ 0.99872189 -0.03118259 -0.0397774 1.17346087] [ 0.03137389 0.99949892 0.0041939 -0.09089124] [ 0.0396267 -0.00543651 0.99919976 -0.29794968] [ 0. 0. 0. 1. ]] SLAMing on 43.651346184 meters Centerline goodness [0,1] 0.8811962023840071 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.30 [[ 0.99870821 -0.03127621 -0.04004627 1.17380209] [ 0.03146581 0.99949637 0.00411277 -0.09032962] [ 0.03989747 -0.00536754 0.99918936 -0.29752714] [ 0. 0. 0. 1. ]] SLAMing on 43.681346184 meters Centerline goodness [0,1] 0.8757630329536684 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.30 [[ 0.9986827 -0.03149209 -0.04051067 1.17414404] [ 0.03166209 0.99949228 0.00356154 -0.0880796 ] [ 0.04037794 -0.0048395 0.99917276 -0.29640831] [ 0. 0. 0. 1. ]] SLAMing on 43.711346184 meters Centerline goodness [0,1] 0.8687268637833279 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.09, Z:-0.30 [[ 0.99865874 -0.03169431 -0.04094122 1.17432049] [ 0.03186342 0.99948616 0.00348452 -0.08791294] [ 0.04080974 -0.00478437 0.99915548 -0.29539368] [ 0. 0. 0. 1. ]] SLAMing on 43.741346183999994 meters Centerline goodness [0,1] 0.8630489144406273 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.30 [[ 9.98530470e-01 -3.49993238e-02 -4.13757031e-02 1.17660233e+00] [ 3.50417969e-02 9.99385802e-01 3.01495197e-04 -8.98950376e-02] [ 4.13397381e-02 -1.75093113e-03 9.99143613e-01 -2.96496621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.771346183999995 meters Centerline goodness [0,1] 0.8600382052835112 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.09, Z:-0.30 [[ 9.98399616e-01 -3.84104482e-02 -4.15071630e-02 1.17834950e+00] [ 3.83286643e-02 9.99261362e-01 -2.76465673e-03 -9.29766286e-02] [ 4.15826959e-02 1.16931811e-03 9.99134381e-01 -2.97865382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.801346183999996 meters Centerline goodness [0,1] 0.8528534775674363 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.10, Z:-0.30 [[ 0.99825754 -0.04152273 -0.04192557 1.18108186] [ 0.0413194 0.9991297 -0.00570516 -0.0950038 ] [ 0.04212598 0.00396288 0.99910445 -0.29951524] [ 0. 0. 0. 1. ]] SLAMing on 43.831346184 meters Centerline goodness [0,1] 0.8356484156516514 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.30 [[ 0.99842095 -0.04311114 -0.03601435 1.19208864] [ 0.04329164 0.99905345 0.00424689 -0.09627631] [ 0.03579717 -0.0057993 0.99934225 -0.30344102] [ 0. 0. 0. 1. ]] SLAMing on 43.861346184 meters Centerline goodness [0,1] 0.8327383160237389 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:-0.30 [[ 0.99839237 -0.04331414 -0.03655889 1.19255094] [ 0.0434797 0.99904729 0.00374542 -0.09334511] [ 0.03636183 -0.00532897 0.99932448 -0.30238062] [ 0. 0. 0. 1. ]] SLAMing on 43.891346184 meters Centerline goodness [0,1] 0.8202452992047483 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.09, Z:-0.30 [[ 0.99837745 -0.04333009 -0.03694541 1.19304118] [ 0.0435015 0.99904595 0.00384805 -0.09319087] [ 0.03674343 -0.00544899 0.99930988 -0.30191353] [ 0. 0. 0. 1. ]] SLAMing on 43.921346184 meters Centerline goodness [0,1] 0.8097574459263355 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.10, Z:-0.30 [[ 0.99820575 -0.04701406 -0.03708043 1.19452048] [ 0.04709497 0.99888956 0.00131127 -0.09957949] [ 0.03697761 -0.00305522 0.99931142 -0.30323063] [ 0. 0. 0. 1. ]] SLAMing on 43.951346183999995 meters Centerline goodness [0,1] 0.7904007348719715 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:-0.30 [[ 9.98025473e-01 -5.07015471e-02 -3.70743719e-02 1.19569286e+00] [ 5.06703875e-02 9.98713844e-01 -1.78019419e-03 -1.02833310e-01] [ 3.71169470e-02 -1.01893640e-04 9.99310924e-01 -3.04220821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.981346183999996 meters Centerline goodness [0,1] 0.773596559454637 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.10, Z:-0.30 [[ 0.99781585 -0.05455502 -0.0372463 1.19699638] [ 0.05439466 0.99850542 -0.00530599 -0.10422126] [ 0.0374801 0.0032684 0.99929203 -0.30473684] [ 0. 0. 0. 1. ]] SLAMing on 44.011346184 meters Centerline goodness [0,1] 0.742777004993957 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 0.9976687 -0.06084002 -0.03091358 1.2059063 ] [ 0.06091228 0.99814214 0.00140048 -0.10742377] [ 0.03077094 -0.00328023 0.99952108 -0.30826076] [ 0. 0. 0. 1. ]] SLAMing on 44.041346184 meters Centerline goodness [0,1] 0.7322454189078311 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 0.99764247 -0.06125559 -0.03093948 1.20558863] [ 0.06133316 0.99811612 0.00156353 -0.1084896 ] [ 0.03078542 -0.00345746 0.99952004 -0.3079511 ] [ 0. 0. 0. 1. ]] SLAMing on 44.071346184 meters Centerline goodness [0,1] 0.7384031455260347 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 0.99763433 -0.06139223 -0.03093121 1.20561153] [ 0.06148487 0.99810591 0.00205194 -0.11031262] [ 0.03074665 -0.00394889 0.99951941 -0.30820595] [ 0. 0. 0. 1. ]] SLAMing on 44.101346184 meters Centerline goodness [0,1] 0.732056217398237 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 0.99762815 -0.06158741 -0.03074204 1.20543294] [ 0.06168819 0.99809273 0.00233958 -0.11195767] [ 0.03053931 -0.00423045 0.99952461 -0.30856215] [ 0. 0. 0. 1. ]] SLAMing on 44.131346183999995 meters Centerline goodness [0,1] 0.7083654325463362 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 9.97418575e-01 -6.45866945e-02 -3.13806442e-02 1.20893601e+00] [ 6.46019755e-02 9.97910971e-01 -5.27735196e-04 -1.13415312e-01] [ 3.13491738e-02 -1.50087872e-03 9.99507367e-01 -3.10402287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.161346183999996 meters Centerline goodness [0,1] 0.7178394067892696 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 9.97426531e-01 -6.44379351e-02 -3.14335345e-02 1.20958743e+00] [ 6.44675333e-02 9.97919802e-01 -7.20061769e-05 -1.14745164e-01] [ 3.13727865e-02 -1.95462156e-03 9.99505842e-01 -3.11150133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.191346184 meters Centerline goodness [0,1] 0.716114970712437 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.11, Z:-0.31 [[ 9.97419387e-01 -6.44456047e-02 -3.16438183e-02 1.20992465e+00] [ 6.44720114e-02 9.97919498e-01 -1.86178937e-04 -1.14144447e-01] [ 3.15899817e-02 -1.85444213e-03 9.99499192e-01 -3.10829626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.221346184 meters Centerline goodness [0,1] 0.7105532670292907 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.31 [[ 0.99753403 -0.06527818 -0.02578012 1.2226712 ] [ 0.06546964 0.99783238 0.00665312 -0.11258089] [ 0.02528994 -0.00832453 0.9996455 -0.3108765 ] [ 0. 0. 0. 1. ]] SLAMing on 44.251346184 meters Centerline goodness [0,1] 0.7069482970306034 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.31 [[ 0.99753392 -0.06533094 -0.02565057 1.22268091] [ 0.06552192 0.9978288 0.00667614 -0.11313288] [ 0.02515872 -0.00834035 0.99964868 -0.31110157] [ 0. 0. 0. 1. ]] SLAMing on 44.281346184 meters Centerline goodness [0,1] 0.6898922291548497 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.12, Z:-0.31 [[ 0.99753081 -0.06542891 -0.02552128 1.22284149] [ 0.06562531 0.99782024 0.00693426 -0.11516889] [ 0.02501195 -0.00859198 0.99965023 -0.31165707] [ 0. 0. 0. 1. ]] SLAMing on 44.311346183999994 meters Centerline goodness [0,1] 0.6912538559245146 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.9972924 -0.06887332 -0.02577485 1.22526706] [ 0.06898619 0.99761142 0.00351483 -0.11544517] [ 0.02547121 -0.00528342 0.99966159 -0.31311056] [ 0. 0. 0. 1. ]] SLAMing on 44.341346183999995 meters Centerline goodness [0,1] 0.6870177031320925 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99728501 -0.06896678 -0.02581055 1.22555874] [ 0.06908171 0.99760456 0.00358711 -0.11525229] [ 0.02550133 -0.00536041 0.99966042 -0.3134301 ] [ 0. 0. 0. 1. ]] SLAMing on 44.371346184 meters Centerline goodness [0,1] 0.6779822550999569 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:-0.31 [[ 0.99728059 -0.06899206 -0.02591381 1.22601494] [ 0.06910881 0.9976025 0.00363593 -0.11483808] [ 0.02560083 -0.00541692 0.99965757 -0.31366263] [ 0. 0. 0. 1. ]] SLAMing on 44.401346184 meters Centerline goodness [0,1] 0.6722585644929684 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.11, Z:-0.31 [[ 0.99726968 -0.06916374 -0.02587576 1.22589711] [ 0.06927727 0.99759125 0.00351569 -0.11446483] [ 0.02557027 -0.00529869 0.99965898 -0.31355063] [ 0. 0. 0. 1. ]] SLAMing on 44.431346184 meters Centerline goodness [0,1] 0.6979074364392339 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99726155 -0.06925145 -0.02595438 1.2266542 ] [ 0.06937841 0.99758231 0.00402235 -0.11681191] [ 0.02561308 -0.00581201 0.99965504 -0.31438043] [ 0. 0. 0. 1. ]] SLAMing on 44.461346184 meters Centerline goodness [0,1] 0.675732075214916 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99725586 -0.069408 -0.02575427 1.22624633] [ 0.06953527 0.99757116 0.00407865 -0.11815097] [ 0.02540863 -0.00585828 0.99965998 -0.31420734] [ 0. 0. 0. 1. ]] SLAMing on 44.491346183999994 meters Centerline goodness [0,1] 0.6914961346066394 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99723039 -0.06983213 -0.0255936 1.22515803] [ 0.06994566 0.99754443 0.00356698 -0.11802821] [ 0.02528166 -0.00534726 0.99966607 -0.31294585] [ 0. 0. 0. 1. ]] SLAMing on 44.521346183999995 meters Centerline goodness [0,1] 0.6934970441109596 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.12, Z:-0.31 [[ 0.9971716 -0.07062535 -0.02570706 1.22389431] [ 0.07069918 0.99749573 0.00197339 -0.11502708] [ 0.02550332 -0.00378528 0.99966757 -0.30999931] [ 0. 0. 0. 1. ]] SLAMing on 44.551346183999996 meters Centerline goodness [0,1] 0.6976262545802134 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.31 [[ 0.99717967 -0.07048526 -0.02577873 1.22443317] [ 0.07056029 0.99750549 0.00201155 -0.11475951] [ 0.02557264 -0.00382483 0.99966565 -0.31033802] [ 0. 0. 0. 1. ]] SLAMing on 44.581346184 meters Centerline goodness [0,1] 0.6976262545802134 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.11, Z:-0.31 [[ 0.99717967 -0.07048526 -0.02577873 1.22443317] [ 0.07056029 0.99750549 0.00201155 -0.11475951] [ 0.02557264 -0.00382483 0.99966565 -0.31033802] [ 0. 0. 0. 1. ]] SLAMing on 44.611346184 meters Centerline goodness [0,1] 0.6645883584399035 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99720126 -0.07012335 -0.02592998 1.22574278] [ 0.07020794 0.99752957 0.00236518 -0.11525685] [ 0.02570007 -0.00417905 0.99966096 -0.31152171] [ 0. 0. 0. 1. ]] SLAMing on 44.641346184 meters Centerline goodness [0,1] 0.6888007254590796 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.31 [[ 0.99723679 -0.06960422 -0.02596237 1.22712458] [ 0.06970597 0.99756297 0.00303379 -0.11646436] [ 0.02568793 -0.00483514 0.99965832 -0.31314575] [ 0. 0. 0. 1. ]] SLAMing on 44.671346184 meters Centerline goodness [0,1] 0.6716201193366155 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.32 [[ 0.99726204 -0.06916696 -0.02616018 1.2290346 ] [ 0.06929085 0.99758904 0.00385848 -0.1181746 ] [ 0.02583023 -0.00566057 0.99965032 -0.31518018] [ 0. 0. 0. 1. ]] SLAMing on 44.701346183999995 meters Centerline goodness [0,1] 0.6622399090392268 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.32 [[ 0.9972787 -0.06889162 -0.02625154 1.2301914 ] [ 0.06902859 0.99760521 0.00434629 -0.11908351] [ 0.02588925 -0.00614657 0.99964592 -0.31640524] [ 0. 0. 0. 1. ]] SLAMing on 44.731346183999996 meters Centerline goodness [0,1] 0.6644003263530052 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.32 [[ 0.9972972 -0.06859166 -0.02633391 1.23124299] [ 0.06874136 0.99762287 0.00482111 -0.11985437] [ 0.02594063 -0.00661831 0.99964158 -0.31743352] [ 0. 0. 0. 1. ]] SLAMing on 44.761346184 meters Centerline goodness [0,1] 0.6834146895220796 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.12, Z:-0.32 [[ 0.99729462 -0.06864043 -0.02630465 1.23114478] [ 0.06878822 0.99761996 0.00475427 -0.12005174] [ 0.02591571 -0.00655086 0.99964267 -0.3171454 ] [ 0. 0. 0. 1. ]] SLAMing on 44.791346184 meters Centerline goodness [0,1] 0.6638034585137003 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.32 [[ 0.99730079 -0.07065609 -0.01997113 1.24269384] [ 0.07086876 0.99743402 0.01014891 -0.11983429] [ 0.0192028 -0.01153685 0.99974905 -0.31578408] [ 0. 0. 0. 1. ]] SLAMing on 44.821346184 meters Centerline goodness [0,1] 0.6629317970468824 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.31 [[ 0.997273 -0.07109519 -0.01979994 1.24150757] [ 0.07129174 0.99741118 0.00940342 -0.11916417] [ 0.01908014 -0.01078935 0.99975974 -0.31425684] [ 0. 0. 0. 1. ]] SLAMing on 44.851346184 meters Centerline goodness [0,1] 0.6696145124716553 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.31 [[ 0.997258 -0.07134713 -0.01964847 1.24081401] [ 0.07153771 0.99739572 0.0091725 -0.12030784] [ 0.01894287 -0.01055296 0.99976487 -0.31344099] [ 0. 0. 0. 1. ]] SLAMing on 44.881346183999995 meters Centerline goodness [0,1] 0.6606775135208527 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.31 [[ 0.9972508 -0.07151768 -0.01939214 1.24045002] [ 0.07170966 0.99738134 0.00939093 -0.12281106] [ 0.01866974 -0.01075572 0.99976785 -0.31354826] [ 0. 0. 0. 1. ]] SLAMing on 44.911346183999996 meters Centerline goodness [0,1] 0.6539641021015603 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.31 [[ 0.99701565 -0.07467922 -0.01956526 1.24278803] [ 0.07481363 0.99717808 0.00622917 -0.12409866] [ 0.01904485 -0.00767433 0.99978918 -0.31494507] [ 0. 0. 0. 1. ]] SLAMing on 44.941346184 meters Centerline goodness [0,1] 0.6522474189621748 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.12, Z:-0.32 [[ 0.99703699 -0.0743264 -0.01981966 1.24423842] [ 0.07447271 0.99720022 0.00674813 -0.12454752] [ 0.01926261 -0.00820416 0.9997808 -0.31616821] [ 0. 0. 0. 1. ]] SLAMing on 44.971346184 meters Centerline goodness [0,1] 0.647226173541963 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.32 [[ 0.99705484 -0.0740264 -0.02004337 1.24556792] [ 0.07418426 0.9972182 0.00724913 -0.12517587] [ 0.01945098 -0.00871468 0.99977283 -0.31733822] [ 0. 0. 0. 1. ]] SLAMing on 45.001346184 meters Centerline goodness [0,1] 0.6323612079239089 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.13, Z:-0.32 [[ 0.99705571 -0.07401782 -0.02003205 1.24585926] [ 0.07418604 0.99721401 0.00778799 -0.12724973] [ 0.01939979 -0.00925116 0.99976901 -0.31771458] [ 0. 0. 0. 1. ]] SLAMing on 45.031346184 meters Centerline goodness [0,1] 0.6389489327208863 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.32 [[ 0.99703405 -0.07436937 -0.01980676 1.24469732] [ 0.0745319 0.99718969 0.00759736 -0.12875748] [ 0.01918609 -0.00905106 0.99977496 -0.31650921] [ 0. 0. 0. 1. ]] SLAMing on 45.061346183999994 meters Centerline goodness [0,1] 0.6302592625818606 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.32 [[ 0.99700459 -0.07485376 -0.01946166 1.24314139] [ 0.07500722 0.99715643 0.0072778 -0.13052962] [ 0.01886155 -0.00871576 0.99978412 -0.31506722] [ 0. 0. 0. 1. ]] SLAMing on 45.091346183999995 meters Centerline goodness [0,1] 0.6271780112888472 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.13, Z:-0.31 [[ 0.99689318 -0.07651052 -0.01871175 1.24019843] [ 0.07662131 0.99704631 0.00527626 -0.13382404] [ 0.01825279 -0.00669359 0.999811 -0.31177052] [ 0. 0. 0. 1. ]] SLAMing on 45.121346184 meters Centerline goodness [0,1] 0.6225474929928372 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.14, Z:-0.31 [[ 0.99688858 -0.07661216 -0.01854021 1.23929415] [ 0.07671968 0.99703936 0.00515817 -0.1351421 ] [ 0.01809015 -0.00656452 0.99981481 -0.31068453] [ 0. 0. 0. 1. ]] SLAMing on 45.151346184 meters Centerline goodness [0,1] 0.6237284362826934 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.14, Z:-0.31 [[ 0.99690502 -0.07636337 -0.018682 1.23953538] [ 0.07647443 0.99705744 0.00530326 -0.13563088] [ 0.01822205 -0.00671554 0.99981141 -0.31030125] [ 0. 0. 0. 1. ]] SLAMing on 45.181346184 meters Centerline goodness [0,1] 0.6682571739275173 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.14, Z:-0.31 [[ 0.99693898 -0.07581714 -0.01909018 1.24094054] [ 0.07593862 0.99709609 0.00572012 -0.13584412] [ 0.01860106 -0.00715229 0.9998014 -0.31081241] [ 0. 0. 0. 1. ]] SLAMing on 45.211346184 meters Centerline goodness [0,1] 0.6321805913167007 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.31 [[ 0.99704981 -0.07412178 -0.01994095 1.24508832] [ 0.07428781 0.99720698 0.00771709 -0.13843137] [ 0.01931325 -0.00917569 0.99977138 -0.31404382] [ 0. 0. 0. 1. ]] SLAMing on 45.241346183999994 meters Centerline goodness [0,1] 0.6341457995422934 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.32 [[ 0.99711132 -0.07319145 -0.02029859 1.24742449] [ 0.07338686 0.99726245 0.00905406 -0.14132579] [ 0.01958034 -0.01051756 0.99975297 -0.31617274] [ 0. 0. 0. 1. ]] SLAMing on 45.271346183999995 meters Centerline goodness [0,1] 0.6342151440438906 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.14, Z:-0.32 [[ 0.99715475 -0.07252948 -0.02053975 1.24897162] [ 0.07274674 0.99729997 0.01003434 -0.14395527] [ 0.01975651 -0.01149999 0.99973868 -0.31750546] [ 0. 0. 0. 1. ]] SLAMing on 45.301346183999996 meters Centerline goodness [0,1] 0.6304917014289517 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.32 [[ 0.99717942 -0.07216472 -0.0206266 1.24935815] [ 0.07240048 0.99731586 0.01092036 -0.14750113] [ 0.01978317 -0.01238293 0.99972761 -0.3176332 ] [ 0. 0. 0. 1. ]] SLAMing on 45.331346184 meters Centerline goodness [0,1] 0.6689136749672927 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.32 [[ 0.99717078 -0.07230005 -0.02057023 1.24883169] [ 0.07253642 0.99730526 0.01098557 -0.14892795] [ 0.01972054 -0.01244658 0.99972805 -0.31689905] [ 0. 0. 0. 1. ]] SLAMing on 45.361346184 meters Centerline goodness [0,1] 0.6217209394992584 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.32 [[ 0.99716135 -0.07245577 -0.02047939 1.24822627] [ 0.07269317 0.99729264 0.01109488 -0.15087526] [ 0.01962006 -0.0125521 0.99972871 -0.31614292] [ 0. 0. 0. 1. ]] SLAMing on 45.391346184 meters Centerline goodness [0,1] 0.6603619329606469 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.32 [[ 0.99714444 -0.07272516 -0.02034729 1.24753524] [ 0.07296242 0.99727212 0.01117123 -0.15329985] [ 0.01947936 -0.01262392 0.99973056 -0.31542978] [ 0. 0. 0. 1. ]] SLAMing on 45.421346184 meters Centerline goodness [0,1] 0.6488021842522459 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99704392 -0.07419859 -0.01994955 1.24595286] [ 0.07440617 0.99717916 0.00987162 -0.15695791] [ 0.01916081 -0.01132681 0.99975225 -0.31358499] [ 0. 0. 0. 1. ]] SLAMing on 45.451346183999995 meters Centerline goodness [0,1] 0.6451264413431224 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99703815 -0.074236 -0.02009835 1.2461581 ] [ 0.07444539 0.99717617 0.00987774 -0.15725313] [ 0.01930831 -0.01134471 0.99974921 -0.31328347] [ 0. 0. 0. 1. ]] SLAMing on 45.481346183999996 meters Centerline goodness [0,1] 0.6446480338135387 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99704521 -0.07405341 -0.02041911 1.24690991] [ 0.07426643 0.99718951 0.00987812 -0.15682079] [ 0.01963022 -0.01136538 0.99974271 -0.31325965] [ 0. 0. 0. 1. ]] SLAMing on 45.511346184 meters Centerline goodness [0,1] 0.6463811061232614 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99712062 -0.07276003 -0.0213647 1.2506696 ] [ 0.07300701 0.99727059 0.01101607 -0.15765093] [ 0.02050486 -0.01254412 0.99971106 -0.31549462] [ 0. 0. 0. 1. ]] SLAMing on 45.541346184 meters Centerline goodness [0,1] 0.6443573042669148 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99713904 -0.07243006 -0.02162451 1.25181969] [ 0.07268706 0.99729028 0.01134448 -0.15856832] [ 0.02074423 -0.01288385 0.9997018 -0.31620301] [ 0. 0. 0. 1. ]] SLAMing on 45.571346184 meters Centerline goodness [0,1] 0.6444370714443708 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.9969564 -0.07487612 -0.02171396 1.2537921 ] [ 0.07506526 0.99714629 0.00802966 -0.15815975] [ 0.02105076 -0.00963518 0.99973198 -0.31664577] [ 0. 0. 0. 1. ]] SLAMing on 45.601346184 meters Centerline goodness [0,1] 0.6401552106430155 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99695285 -0.07488573 -0.02184375 1.25409974] [ 0.07507646 0.99714533 0.00804511 -0.15858311] [ 0.02117893 -0.00966055 0.99972903 -0.3165811 ] [ 0. 0. 0. 1. ]] SLAMing on 45.631346183999995 meters Centerline goodness [0,1] 0.6756516521855069 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99693995 -0.07501746 -0.02197985 1.25419635] [ 0.07520386 0.99713783 0.00777937 -0.15784598] [ 0.02133335 -0.00940853 0.99972815 -0.3161682 ] [ 0. 0. 0. 1. ]] SLAMing on 45.661346183999996 meters Centerline goodness [0,1] 0.6844364380393204 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99692536 -0.0751767 -0.02209725 1.254187 ] [ 0.07535721 0.99712876 0.00745207 -0.15681354] [ 0.02147359 -0.00909434 0.99972805 -0.31558714] [ 0. 0. 0. 1. ]] SLAMing on 45.691346184 meters Centerline goodness [0,1] 0.697488177032212 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.9968713 -0.07588865 -0.02210254 1.25292473] [ 0.07605456 0.99708072 0.0067639 -0.15747831] [ 0.02152471 -0.00842373 0.99973283 -0.31350248] [ 0. 0. 0. 1. ]] SLAMing on 45.721346184 meters Centerline goodness [0,1] 0.6652611382549138 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99687143 -0.07592068 -0.0219865 1.25296251] [ 0.07609254 0.99707557 0.00708714 -0.15938174] [ 0.02138414 -0.00873798 0.99973315 -0.31378838] [ 0. 0. 0. 1. ]] SLAMing on 45.751346184 meters Centerline goodness [0,1] 0.6580833259147156 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99687741 -0.07581799 -0.02206947 1.2536028 ] [ 0.07599763 0.99708041 0.00741708 -0.16062722] [ 0.02144269 -0.00907115 0.99972893 -0.31432702] [ 0. 0. 0. 1. ]] SLAMing on 45.781346184 meters Centerline goodness [0,1] 0.7033284122936518 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99686182 -0.0759579 -0.02229148 1.25403037] [ 0.07613049 0.99707331 0.00699772 -0.15861101] [ 0.02169471 -0.00867282 0.99972702 -0.31405457] [ 0. 0. 0. 1. ]] SLAMing on 45.811346183999994 meters Centerline goodness [0,1] 0.6995823189117956 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99686312 -0.07585628 -0.02257735 1.25507852] [ 0.07603279 0.9970803 0.00706361 -0.15802324] [ 0.02197561 -0.00875808 0.99972015 -0.31461239] [ 0. 0. 0. 1. ]] SLAMing on 45.841346183999995 meters Centerline goodness [0,1] 0.637576381583365 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99686647 -0.07579352 -0.02264023 1.25571928] [ 0.07597531 0.99708313 0.00727868 -0.15869599] [ 0.02202252 -0.00897597 0.99971718 -0.31526201] [ 0. 0. 0. 1. ]] SLAMing on 45.871346184 meters Centerline goodness [0,1] 0.6860771359700026 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99686678 -0.07580167 -0.02259926 1.25622435] [ 0.07598986 0.99707973 0.00758675 -0.16050334] [ 0.02195818 -0.00928029 0.99971582 -0.3160265 ] [ 0. 0. 0. 1. ]] SLAMing on 45.901346184 meters Centerline goodness [0,1] 0.6824865564406364 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.32 [[ 0.99678988 -0.07690172 -0.02227232 1.25490739] [ 0.07707422 0.99700084 0.00699171 -0.16256736] [ 0.02166785 -0.00868588 0.99972749 -0.31518819] [ 0. 0. 0. 1. ]] SLAMing on 45.931346184 meters Centerline goodness [0,1] 0.6443096682126292 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99675632 -0.0773642 -0.02217238 1.25407998] [ 0.07752357 0.99696986 0.00641897 -0.16112911] [ 0.0216086 -0.00811703 0.99973356 -0.31419764] [ 0. 0. 0. 1. ]] SLAMing on 45.961346184 meters Centerline goodness [0,1] 0.6799999999999999 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99671176 -0.0779004 -0.02229795 1.2534651 ] [ 0.07803984 0.99693533 0.00545195 -0.15814031] [ 0.0218049 -0.00717415 0.9997365 -0.31279628] [ 0. 0. 0. 1. ]] SLAMing on 45.991346183999994 meters Centerline goodness [0,1] 0.6686010037641155 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.15, Z:-0.31 [[ 0.99665181 -0.07857545 -0.02260697 1.25287536] [ 0.07868528 0.99689145 0.00400905 -0.15433601] [ 0.02222168 -0.00577447 0.99973639 -0.31050209] [ 0. 0. 0. 1. ]] SLAMing on 46.021346183999995 meters Centerline goodness [0,1] 0.6599649564201635 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99666275 -0.07841036 -0.0226975 1.25356106] [ 0.07852703 0.99690274 0.00429432 -0.15548016] [ 0.02229049 -0.00606235 0.99973316 -0.31108971] [ 0. 0. 0. 1. ]] SLAMing on 46.051346183999996 meters Centerline goodness [0,1] 0.6454737030892705 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.16, Z:-0.31 [[ 0.99667456 -0.07823357 -0.02278873 1.25452009] [ 0.07836096 0.99691374 0.00475007 -0.15759784] [ 0.02234678 -0.00652002 0.99972902 -0.31205427] [ 0. 0. 0. 1. ]] SLAMing on 46.081346184 meters Centerline goodness [0,1] 0.6542472252058718 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99668711 -0.07802769 -0.02294525 1.25590633] [ 0.07816959 0.99692571 0.00535248 -0.1595584 ] [ 0.02245707 -0.00712837 0.99972239 -0.31355456] [ 0. 0. 0. 1. ]] SLAMing on 46.111346184 meters Centerline goodness [0,1] 0.6413184647767478 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.9966755 -0.07813514 -0.02308335 1.25729966] [ 0.07828319 0.99691555 0.00557947 -0.15970381] [ 0.0225762 -0.00736796 0.99971797 -0.31515378] [ 0. 0. 0. 1. ]] SLAMing on 46.141346184 meters Centerline goodness [0,1] 0.6360661616388005 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99665496 -0.07838717 -0.02311579 1.25739263] [ 0.07852743 0.99689828 0.00522223 -0.15827274] [ 0.02263474 -0.00701998 0.99971915 -0.315133 ] [ 0. 0. 0. 1. ]] SLAMing on 46.171346184 meters Centerline goodness [0,1] 0.6231124255052203 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99663316 -0.0786484 -0.02316832 1.2573488 ] [ 0.0787806 0.99688019 0.00484829 -0.15697938] [ 0.02271473 -0.00665718 0.99971982 -0.31483447] [ 0. 0. 0. 1. ]] SLAMing on 46.201346183999995 meters Centerline goodness [0,1] 0.6246836718697513 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99661604 -0.07887107 -0.023148 1.25719179] [ 0.07899756 0.99686419 0.00460036 -0.15664759] [ 0.02271258 -0.00641343 0.99972146 -0.31452729] [ 0. 0. 0. 1. ]] SLAMing on 46.231346183999996 meters Centerline goodness [0,1] 0.6127052838272046 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99656457 -0.0796104 -0.0228309 1.25570985] [ 0.07972032 0.99680947 0.00394387 -0.15777816] [ 0.02244409 -0.00575041 0.99973156 -0.31306543] [ 0. 0. 0. 1. ]] SLAMing on 46.261346184 meters Centerline goodness [0,1] 0.6065668458701737 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.9965572 -0.07972401 -0.02275597 1.25547822] [ 0.07982871 0.99680162 0.00372871 -0.15782824] [ 0.02238592 -0.00553245 0.9997341 -0.31271403] [ 0. 0. 0. 1. ]] SLAMing on 46.291346184 meters Centerline goodness [0,1] 0.6038710827004031 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.9965466 -0.07983642 -0.02282598 1.25552613] [ 0.07993546 0.99679404 0.00345843 -0.15726793] [ 0.02247669 -0.0052711 0.99973347 -0.31232949] [ 0. 0. 0. 1. ]] SLAMing on 46.321346184 meters Centerline goodness [0,1] 0.5934080597811582 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99653039 -0.08004368 -0.02280783 1.25553041] [ 0.08013991 0.99677804 0.0033355 -0.15760322] [ 0.02246736 -0.00515175 0.9997343 -0.31208671] [ 0. 0. 0. 1. ]] SLAMing on 46.351346184 meters Centerline goodness [0,1] 0.5815431097682892 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99652849 -0.08008251 -0.02275446 1.25597106] [ 0.08018678 0.99677296 0.00370644 -0.15923047] [ 0.02238421 -0.00551818 0.99973421 -0.31280589] [ 0. 0. 0. 1. ]] SLAMing on 46.381346183999995 meters Centerline goodness [0,1] 0.5806036966446523 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99653036 -0.08005378 -0.02277369 1.25650753] [ 0.08016665 0.9967731 0.00408599 -0.16101798] [ 0.0223731 -0.0058975 0.9997323 -0.31338664] [ 0. 0. 0. 1. ]] SLAMing on 46.411346183999996 meters Centerline goodness [0,1] 0.5741644761547127 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99651704 -0.08028179 -0.0225528 1.255943 ] [ 0.08039204 0.9967552 0.00402362 -0.16200356] [ 0.0221566 -0.00582267 0.99973756 -0.31289124] [ 0. 0. 0. 1. ]] SLAMing on 46.441346184 meters Centerline goodness [0,1] 0.5766615146831531 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99653064 -0.08007721 -0.02267872 1.25646184] [ 0.08019463 0.99676989 0.00431458 -0.16235213] [ 0.02225997 -0.00611832 0.99973349 -0.31308361] [ 0. 0. 0. 1. ]] SLAMing on 46.471346184 meters Centerline goodness [0,1] 0.5766615146831531 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99653064 -0.08007721 -0.02267872 1.25646184] [ 0.08019463 0.99676989 0.00431458 -0.16235213] [ 0.02225997 -0.00611832 0.99973349 -0.31308361] [ 0. 0. 0. 1. ]] SLAMing on 46.501346184 meters Centerline goodness [0,1] 0.5707920682885943 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99654497 -0.07985045 -0.02284793 1.25716634] [ 0.07997334 0.99678678 0.00451525 -0.16248677] [ 0.02241397 -0.00632687 0.99972876 -0.31331972] [ 0. 0. 0. 1. ]] SLAMing on 46.531346184 meters Centerline goodness [0,1] 0.5668761812667575 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.9965793 -0.07943528 -0.02279755 1.2577488 ] [ 0.07956972 0.99681651 0.00505054 -0.16415906] [ 0.02232378 -0.00684726 0.99972734 -0.31386288] [ 0. 0. 0. 1. ]] SLAMing on 46.561346183999994 meters Centerline goodness [0,1] 0.5784042506476968 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.31 [[ 0.99659376 -0.07929397 -0.02265695 1.25789156] [ 0.07943395 0.9968258 0.00534501 -0.16567414] [ 0.0221612 -0.00712653 0.99972901 -0.31409678] [ 0. 0. 0. 1. ]] SLAMing on 46.591346183999995 meters Centerline goodness [0,1] 0.6457229205904254 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.31 [[ 0.99660395 -0.0791995 -0.02253891 1.25812386] [ 0.07934391 0.99683166 0.00558511 -0.16704307] [ 0.02202516 -0.00735447 0.99973037 -0.31439804] [ 0. 0. 0. 1. ]] SLAMing on 46.621346184 meters Centerline goodness [0,1] 0.6343440539829989 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.31 [[ 0.99661759 -0.07902266 -0.02255636 1.25858987] [ 0.07917184 0.99684412 0.00579796 -0.1677792 ] [ 0.02202701 -0.00756418 0.99972876 -0.31466065] [ 0. 0. 0. 1. ]] SLAMing on 46.651346184 meters Centerline goodness [0,1] 0.6249039875348388 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.31 [[ 0.99688445 -0.075552 -0.02265576 1.25782021] [ 0.0757798 0.99708055 0.00936976 -0.16730709] [ 0.02188172 -0.01105741 0.99969942 -0.31425908] [ 0. 0. 0. 1. ]] SLAMing on 46.681346184 meters Centerline goodness [0,1] 0.6291598892161604 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.31 [[ 0.9968991 -0.07530325 -0.0228387 1.25874052] [ 0.0755257 0.9971029 0.00903788 -0.16515832] [ 0.02209195 -0.01073477 0.99969831 -0.3145275 ] [ 0. 0. 0. 1. ]] SLAMing on 46.711346184 meters Centerline goodness [0,1] 0.6341838303104826 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.31 [[ 0.99691476 -0.07503241 -0.02304564 1.25968557] [ 0.07525511 0.99712413 0.0089519 -0.16430504] [ 0.02230768 -0.01065858 0.99969433 -0.31485203] [ 0. 0. 0. 1. ]] SLAMing on 46.741346183999994 meters Centerline goodness [0,1] 0.6253681480504638 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.32 [[ 0.996721 -0.07749227 -0.02328532 1.26286554] [ 0.07765063 0.99696273 0.00597416 -0.16584583] [ 0.02275165 -0.00776269 0.99971101 -0.31663155] [ 0. 0. 0. 1. ]] SLAMing on 46.771346183999995 meters Centerline goodness [0,1] 0.6128649574902788 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.17, Z:-0.32 [[ 0.99673882 -0.07723944 -0.02336223 1.26428027] [ 0.07741369 0.9969769 0.0066469 -0.16862662] [ 0.0227782 -0.00843378 0.99970497 -0.31818182] [ 0. 0. 0. 1. ]] SLAMing on 46.801346183999996 meters Centerline goodness [0,1] 0.6147120694188799 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99675487 -0.07701561 -0.02341641 1.2654465 ] [ 0.07720036 0.99699039 0.00708988 -0.16955936] [ 0.0227999 -0.00887463 0.99970066 -0.31947614] [ 0. 0. 0. 1. ]] SLAMing on 46.831346184 meters Centerline goodness [0,1] 0.6463299633763898 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99675785 -0.0769148 -0.02362006 1.26628985] [ 0.07709598 0.99700009 0.0068572 -0.16775382] [ 0.02302179 -0.00865598 0.99969749 -0.31969762] [ 0. 0. 0. 1. ]] SLAMing on 46.861346184 meters Centerline goodness [0,1] 0.6594911075893644 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99697109 -0.07417732 -0.0233745 1.26372976] [ 0.07439943 0.99718988 0.00877914 -0.1623779 ] [ 0.0226576 -0.0104916 0.99968823 -0.31708746] [ 0. 0. 0. 1. ]] SLAMing on 46.891346184 meters Centerline goodness [0,1] 0.6411651940153802 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99695559 -0.07438756 -0.02336759 1.26343595] [ 0.07459455 0.99718094 0.00811349 -0.16092892] [ 0.02269817 -0.00983189 0.99969402 -0.31612768] [ 0. 0. 0. 1. ]] SLAMing on 46.921346184 meters Centerline goodness [0,1] 0.627733850186111 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.16, Z:-0.32 [[ 0.99695414 -0.07445369 -0.02321827 1.26352396] [ 0.07466283 0.99717451 0.00827358 -0.16293943] [ 0.02253667 -0.00998192 0.99969618 -0.31636098] [ 0. 0. 0. 1. ]] SLAMing on 46.951346183999995 meters Centerline goodness [0,1] 0.6372064412662843 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.16, Z:-0.32 [[ 0.99669921 -0.07776799 -0.02329846 1.26539143] [ 0.07790033 0.99694947 0.00482599 -0.16432714] [ 0.02285208 -0.00662502 0.99971691 -0.3173235 ] [ 0. 0. 0. 1. ]] SLAMing on 46.981346183999996 meters Centerline goodness [0,1] 0.6085338354095059 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99645032 -0.08093874 -0.02314481 1.26798361] [ 0.08101222 0.99671056 0.00225369 -0.16831054] [ 0.02288626 -0.00412071 0.99972958 -0.32003106] [ 0. 0. 0. 1. ]] SLAMing on 47.011346184 meters Centerline goodness [0,1] 0.6239682121531437 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99645798 -0.08084247 -0.02315123 1.26881004] [ 0.08092633 0.99671641 0.00270704 -0.1691627 ] [ 0.02285637 -0.004571 0.99972831 -0.32113194] [ 0. 0. 0. 1. ]] SLAMing on 47.041346184 meters Centerline goodness [0,1] 0.6150137589433131 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99664744 -0.07842646 -0.02330617 1.26807539] [ 0.07858453 0.99688973 0.00594414 -0.16822151] [ 0.0227675 -0.00775571 0.9997107 -0.3208819 ] [ 0. 0. 0. 1. ]] SLAMing on 47.071346184 meters Centerline goodness [0,1] 0.6048799771594229 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.9966414 -0.07848104 -0.02338043 1.26823796] [ 0.07863542 0.99688682 0.00575726 -0.16742194] [ 0.0228558 -0.00757646 0.99971006 -0.32063857] [ 0. 0. 0. 1. ]] SLAMing on 47.101346184 meters Centerline goodness [0,1] 0.6064329281670982 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99664433 -0.07847355 -0.02328064 1.26819943] [ 0.07863016 0.99688647 0.00588794 -0.16858132] [ 0.02274611 -0.00769875 0.99971163 -0.32060786] [ 0. 0. 0. 1. ]] SLAMing on 47.131346183999995 meters Centerline goodness [0,1] 0.6050868975178392 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99665499 -0.07836244 -0.02319834 1.2683524 ] [ 0.07852547 0.99689282 0.00620088 -0.17124518] [ 0.02264034 -0.0080018 0.99971165 -0.3207733 ] [ 0. 0. 0. 1. ]] SLAMing on 47.161346183999996 meters Centerline goodness [0,1] 0.6046227915386794 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99644129 -0.08107748 -0.02304786 1.2702956 ] [ 0.08117445 0.99669444 0.00330185 -0.17439375] [ 0.02270397 -0.005161 0.99972891 -0.32198492] [ 0. 0. 0. 1. ]] SLAMing on 47.191346184 meters Centerline goodness [0,1] 0.5993278404163053 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.32 [[ 0.99645877 -0.08082306 -0.02318514 1.27129735] [ 0.08093192 0.99671241 0.00379474 -0.17545491] [ 0.02280222 -0.00565772 0.99972399 -0.32290272] [ 0. 0. 0. 1. ]] SLAMing on 47.221346184 meters Centerline goodness [0,1] 0.612745951593244 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.17, Z:-0.32 [[ 0.99649904 -0.08020605 -0.02359354 1.27358559] [ 0.08033386 0.99675777 0.00451853 -0.17410044] [ 0.02315463 -0.00639807 0.99971142 -0.32465413] [ 0. 0. 0. 1. ]] SLAMing on 47.251346184 meters Centerline goodness [0,1] 0.5928610294917837 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.33 [[ 0.99651384 -0.0799113 -0.02396579 1.27501374] [ 0.08004754 0.99677959 0.00477908 -0.1732006 ] [ 0.02350671 -0.00668083 0.99970136 -0.32538529] [ 0. 0. 0. 1. ]] SLAMing on 47.281346184 meters Centerline goodness [0,1] 0.6268943949963917 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.33 [[ 0.99651767 -0.07981645 -0.02412188 1.27551501] [ 0.07995621 0.99678641 0.0048846 -0.17318704] [ 0.0236545 -0.00679629 0.99969709 -0.32551744] [ 0. 0. 0. 1. ]] SLAMing on 47.311346183999994 meters Centerline goodness [0,1] 0.6375601224311325 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.17, Z:-0.33 [[ 0.99651673 -0.0798539 -0.02403661 1.27565589] [ 0.07999748 0.99678217 0.00507086 -0.17459053] [ 0.02355433 -0.00697606 0.99969822 -0.32582644] [ 0. 0. 0. 1. ]] SLAMing on 47.341346183999995 meters Centerline goodness [0,1] 0.6238217279874897 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:-0.33 [[ 0.99622545 -0.08352684 -0.0236244 1.27628418] [ 0.08359133 0.99649858 0.00175381 -0.17879453] [ 0.02339519 -0.00372199 0.99971937 -0.32619672] [ 0. 0. 0. 1. ]] SLAMing on 47.371346184 meters Centerline goodness [0,1] 0.5974349530969042 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.33 [[ 0.99617125 -0.0843009 -0.02315598 1.27477071] [ 0.08435368 0.99643502 0.00131039 -0.18102999] [ 0.02296296 -0.00325866 0.99973101 -0.32522526] [ 0. 0. 0. 1. ]] SLAMing on 47.401346184 meters Centerline goodness [0,1] 0.6227349392379882 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.33 [[ 0.99616031 -0.08449136 -0.02293113 1.27438235] [ 0.08454325 0.99641896 0.00130127 -0.1816458 ] [ 0.02273907 -0.00323495 0.9997362 -0.32505389] [ 0. 0. 0. 1. ]] SLAMing on 47.431346184 meters Centerline goodness [0,1] 0.6176222870100421 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.32 [[ 9.96155457e-01 -8.45482056e-02 -2.29326620e-02 1.27442236e+00] [ 8.45958146e-02 9.96414729e-01 1.11216935e-03 -1.80558798e-01] [ 2.27564102e-02 -3.04790079e-03 9.99736393e-01 -3.24782784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.461346184 meters Centerline goodness [0,1] 0.6215122194081867 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.32 [[ 0.99640909 -0.08152995 -0.02284283 1.27290908] [ 0.08164903 0.99665175 0.0043283 -0.1797984 ] [ 0.02241346 -0.00617785 0.9997297 -0.3239384 ] [ 0. 0. 0. 1. ]] SLAMing on 47.491346183999994 meters Centerline goodness [0,1] 0.6110212095712775 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.18, Z:-0.32 [[ 0.99643711 -0.08114033 -0.02300722 1.27407477] [ 0.08127223 0.99668011 0.00485542 -0.18110581] [ 0.02253687 -0.00670796 0.99972351 -0.32493071] [ 0. 0. 0. 1. ]] SLAMing on 47.521346183999995 meters Centerline goodness [0,1] 0.5910529375040365 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.18, Z:-0.33 [[ 0.99647385 -0.08063813 -0.02318083 1.27556415] [ 0.08078955 0.99671505 0.00567028 -0.1832874 ] [ 0.02264744 -0.00752305 0.99971521 -0.32641153] [ 0. 0. 0. 1. ]] SLAMing on 47.551346183999996 meters Centerline goodness [0,1] 0.6108443334266457 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99650211 -0.08023441 -0.02336614 1.27725844] [ 0.08040878 0.99673999 0.00661959 -0.18689009] [ 0.02275885 -0.00847528 0.99970506 -0.32812563] [ 0. 0. 0. 1. ]] SLAMing on 47.581346184 meters Centerline goodness [0,1] 0.6110475779479987 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99651185 -0.08011783 -0.0233508 1.27747591] [ 0.08029813 0.9967471 0.00688711 -0.1879893 ] [ 0.02272306 -0.00873812 0.99970361 -0.32836129] [ 0. 0. 0. 1. ]] SLAMing on 47.611346184 meters Centerline goodness [0,1] 0.6142727899362399 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99652204 -0.07994567 -0.02350563 1.27793202] [ 0.08013014 0.99675975 0.00701199 -0.18828103] [ 0.02286889 -0.00887111 0.99969911 -0.32827866] [ 0. 0. 0. 1. ]] SLAMing on 47.641346184 meters Centerline goodness [0,1] 0.6048508586923772 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99653245 -0.07974859 -0.02373281 1.27821568] [ 0.07992629 0.9967787 0.00663398 -0.18708126] [ 0.02312731 -0.00850785 0.99969633 -0.32708426] [ 0. 0. 0. 1. ]] SLAMing on 47.671346184 meters Centerline goodness [0,1] 0.6059004275983584 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99653656 -0.0796675 -0.02383204 1.27844163] [ 0.07984846 0.99678424 0.00673861 -0.18761059] [ 0.02321855 -0.00861822 0.99969327 -0.326877 ] [ 0. 0. 0. 1. ]] SLAMing on 47.701346183999995 meters Centerline goodness [0,1] 0.6113870433679502 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99654222 -0.07961448 -0.02377247 1.27848435] [ 0.07980057 0.99678639 0.00698338 -0.18909241] [ 0.0231401 -0.00885629 0.999693 -0.3269458 ] [ 0. 0. 0. 1. ]] SLAMing on 47.731346183999996 meters Centerline goodness [0,1] 0.6066044816125228 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99657772 -0.07915936 -0.02380438 1.27932548] [ 0.07936485 0.99681501 0.00781363 -0.1933056 ] [ 0.02311005 -0.00967612 0.9996861 -0.32757454] [ 0. 0. 0. 1. ]] SLAMing on 47.761346184 meters Centerline goodness [0,1] 0.6038981924223257 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99659825 -0.07883881 -0.02400755 1.28034881] [ 0.079056 0.99683617 0.0082345 -0.19435796] [ 0.02328239 -0.01010443 0.99967786 -0.32825937] [ 0. 0. 0. 1. ]] SLAMing on 47.791346184 meters Centerline goodness [0,1] 0.6297294983735662 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.99661924 -0.07847461 -0.02432745 1.28167005] [ 0.07870173 0.99686178 0.00852208 -0.19427941] [ 0.02358234 -0.01040788 0.99966772 -0.32898547] [ 0. 0. 0. 1. ]] SLAMing on 47.821346184 meters Centerline goodness [0,1] 0.6359605911330048 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.19, Z:-0.33 [[ 0.9966884 -0.07742253 -0.02485921 1.28389101] [ 0.0776712 0.99693661 0.00919717 -0.19400813] [ 0.02407099 -0.01109756 0.99964865 -0.32998088] [ 0. 0. 0. 1. ]] SLAMing on 47.851346184 meters Centerline goodness [0,1] 0.6403698392654582 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.20, Z:-0.33 [[ 0.9967152 -0.07702445 -0.02502074 1.28470145] [ 0.07728361 0.99696332 0.00955972 -0.19532337] [ 0.02420843 -0.01146201 0.99964122 -0.33039021] [ 0. 0. 0. 1. ]] SLAMing on 47.881346183999995 meters Centerline goodness [0,1] 0.6461361408294617 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:-0.33 [[ 0.9965127 -0.07953764 -0.02522305 1.28715941] [ 0.07971664 0.99679846 0.00617084 -0.19493483] [ 0.02465149 -0.00816002 0.9996628 -0.33122223] [ 0. 0. 0. 1. ]] SLAMing on 47.911346183999996 meters Centerline goodness [0,1] 0.6473683089441284 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.20, Z:-0.33 [[ 0.99657068 -0.07873941 -0.02543602 1.28803779] [ 0.07893605 0.99685635 0.00681979 -0.19685829] [ 0.02481907 -0.00880422 0.99965319 -0.3312532 ] [ 0. 0. 0. 1. ]] SLAMing on 47.941346184 meters Centerline goodness [0,1] 0.641388557806913 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.20, Z:-0.33 [[ 0.99659672 -0.07834792 -0.02562378 1.28887856] [ 0.0785528 0.99688476 0.00708807 -0.19669031] [ 0.02498862 -0.00907677 0.99964653 -0.33164018] [ 0. 0. 0. 1. ]] SLAMing on 47.971346184 meters Centerline goodness [0,1] 0.6434784458008125 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.20, Z:-0.33 [[ 0.99659865 -0.0782284 -0.02591226 1.28944084] [ 0.07843097 0.99689571 0.00689392 -0.19508591] [ 0.02529252 -0.00890279 0.99964045 -0.33136983] [ 0. 0. 0. 1. ]] SLAMing on 48.001346184 meters Centerline goodness [0,1] 0.6617093253335036 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:-0.33 [[ 0.99660052 -0.07812113 -0.02616286 1.28983922] [ 0.07831438 0.99690789 0.00644355 -0.19284179] [ 0.02557858 -0.00847057 0.99963693 -0.33080371] [ 0. 0. 0. 1. ]] SLAMing on 48.031346184 meters Centerline goodness [0,1] 0.6517784877529287 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:-0.33 [[ 0.99663515 -0.07754873 -0.02654381 1.29071739] [ 0.07773427 0.99695588 0.00602944 -0.19091383] [ 0.02599543 -0.00807252 0.99962947 -0.33015826] [ 0. 0. 0. 1. ]] SLAMing on 48.061346183999994 meters Centerline goodness [0,1] 0.649757838388988 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.19, Z:-0.33 [[ 0.99668282 -0.07683538 -0.02682672 1.29258348] [ 0.07704253 0.9970048 0.00677393 -0.19286551] [ 0.02622589 -0.00881825 0.99961715 -0.33169817] [ 0. 0. 0. 1. ]] SLAMing on 48.091346183999995 meters Centerline goodness [0,1] 0.6442591295860123 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.20, Z:-0.33 [[ 0.99672471 -0.0762355 -0.0269813 1.2942339 ] [ 0.07646408 0.99704381 0.00754233 -0.19559909] [ 0.02632655 -0.00958073 0.99960748 -0.33327413] [ 0. 0. 0. 1. ]] SLAMing on 48.121346184 meters Centerline goodness [0,1] 0.6785774910881005 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.33 [[ 0.99675344 -0.07577803 -0.0272079 1.29564103] [ 0.07601981 0.99707451 0.00796319 -0.19633169] [ 0.02652487 -0.01000567 0.99959808 -0.33432053] [ 0. 0. 0. 1. ]] SLAMing on 48.151346184 meters Centerline goodness [0,1] 0.6768563593461023 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.33 [[ 0.99674639 -0.07578844 -0.02743606 1.29617043] [ 0.07602129 0.99707765 0.0075443 -0.19351662] [ 0.02678411 -0.00960548 0.99959509 -0.33415301] [ 0. 0. 0. 1. ]] SLAMing on 48.181346184 meters Centerline goodness [0,1] 0.6762795254627165 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.33 [[ 0.99672397 -0.07599497 -0.02767824 1.29626271] [ 0.07621247 0.9970678 0.00688857 -0.18988239] [ 0.02707358 -0.00897543 0.99959315 -0.33341946] [ 0. 0. 0. 1. ]] SLAMing on 48.211346184 meters Centerline goodness [0,1] 0.6634619493227364 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.33 [[ 0.99666415 -0.0767177 -0.0278383 1.29556971] [ 0.07691482 0.99701914 0.00607882 -0.18834563] [ 0.02728897 -0.00819972 0.99959396 -0.33166807] [ 0. 0. 0. 1. ]] SLAMing on 48.241346183999994 meters Centerline goodness [0,1] 0.654752008866722 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.33 [[ 0.99639103 -0.08020195 -0.02779514 1.29705719] [ 0.08030877 0.99676625 0.00274624 -0.19046873] [ 0.027485 -0.00496852 0.99960987 -0.33254672] [ 0. 0. 0. 1. ]] SLAMing on 48.271346183999995 meters Centerline goodness [0,1] 0.638748460002549 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.33 [[ 0.99579927 -0.08733531 -0.02750211 1.29958733] [ 0.08725693 0.99617765 -0.00403966 -0.19509222] [ 0.02774979 0.00162294 0.99961358 -0.3342387 ] [ 0. 0. 0. 1. ]] SLAMing on 48.301346183999996 meters Centerline goodness [0,1] 0.6283381527470658 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.34 [[ 9.95816560e-01 -8.70907302e-02 -2.76511191e-02 1.30084300e+00] [ 8.70254099e-02 9.96199734e-01 -3.55927672e-03 -1.95505597e-01] [ 2.78560175e-02 1.13803672e-03 9.99611298e-01 -3.35466728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.331346184 meters Centerline goodness [0,1] 0.629927457612696 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.34 [[ 9.96020177e-01 -8.45968602e-02 -2.80567036e-02 1.30187131e+00] [ 8.46107992e-02 9.96413837e-01 -6.92129211e-04 -1.94335330e-01] [ 2.80146396e-02 -1.68452546e-03 9.99606094e-01 -3.36571283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.361346184 meters Centerline goodness [0,1] 0.6777308774622666 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.34 [[ 0.99630105 -0.08114431 -0.02828105 1.3016544 ] [ 0.08126206 0.99668814 0.00303736 -0.1936969 ] [ 0.02794092 -0.0053243 0.9995954 -0.33671706] [ 0. 0. 0. 1. ]] SLAMing on 48.391346184 meters Centerline goodness [0,1] 0.6777308774622666 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.34 [[ 0.99630105 -0.08114431 -0.02828105 1.3016544 ] [ 0.08126206 0.99668814 0.00303736 -0.1936969 ] [ 0.02794092 -0.0053243 0.9995954 -0.33671706] [ 0. 0. 0. 1. ]] SLAMing on 48.421346184 meters Centerline goodness [0,1] 0.6729588014981274 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.33 [[ 0.99650131 -0.07868189 -0.02818322 1.29914231] [ 0.07886865 0.99686942 0.00557607 -0.19203891] [ 0.02765625 -0.00777933 0.99958722 -0.33465423] [ 0. 0. 0. 1. ]] SLAMing on 48.451346183999995 meters Centerline goodness [0,1] 0.6638296052350199 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.19, Z:-0.34 [[ 0.99650447 -0.07863494 -0.02820251 1.29984185] [ 0.07882801 0.99687137 0.00579861 -0.19314745] [ 0.0276583 -0.00800148 0.99958541 -0.33536684] [ 0. 0. 0. 1. ]] SLAMing on 48.481346183999996 meters Centerline goodness [0,1] 0.6573044498986234 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.34 [[ 0.99651679 -0.07845998 -0.02825471 1.30122551] [ 0.07866978 0.99688025 0.00639047 -0.19545095] [ 0.02766517 -0.008591 0.99958033 -0.33696081] [ 0. 0. 0. 1. ]] SLAMing on 48.511346184 meters Centerline goodness [0,1] 0.6468919322496693 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.34 [[ 0.99625666 -0.08159196 -0.02855558 1.30416657] [ 0.08171403 0.99665089 0.00313254 -0.19576189] [ 0.02820435 -0.00545421 0.9995873 -0.33883737] [ 0. 0. 0. 1. ]] SLAMing on 48.541346184 meters Centerline goodness [0,1] 0.636297718063553 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.34 [[ 0.99612583 -0.08333086 -0.02809434 1.30193529] [ 0.08341529 0.99651316 0.00184463 -0.19709975] [ 0.02784266 -0.00418098 0.99960357 -0.33700579] [ 0. 0. 0. 1. ]] SLAMing on 48.571346184 meters Centerline goodness [0,1] 0.6222952498826342 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.20, Z:-0.34 [[ 0.99609683 -0.08373878 -0.02790927 1.30127466] [ 0.08380974 0.99648082 0.0013804 -0.19585205] [ 0.02769546 -0.00371408 0.99960951 -0.33633848] [ 0. 0. 0. 1. ]] SLAMing on 48.601346184 meters Centerline goodness [0,1] 0.6117556566886738 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.34 [[ 0.99607956 -0.08582842 -0.02142429 1.31299932] [ 0.08604127 0.99624894 0.00921729 -0.1941356 ] [ 0.02055283 -0.01102453 0.99972798 -0.33971769] [ 0. 0. 0. 1. ]] SLAMing on 48.631346183999995 meters Centerline goodness [0,1] 0.6164638848427727 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.19, Z:-0.34 [[ 0.9960819 -0.08580401 -0.0214132 1.31365101] [ 0.08601664 0.9962511 0.0092129 -0.19380258] [ 0.02054242 -0.0110187 0.99972826 -0.34044631] [ 0. 0. 0. 1. ]] SLAMing on 48.661346183999996 meters Centerline goodness [0,1] 0.6011258802628481 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.20, Z:-0.34 [[ 0.99610255 -0.08554149 -0.02150254 1.31497518] [ 0.08576533 0.99626804 0.00971081 -0.19556648] [ 0.02059161 -0.01151714 0.99972163 -0.34182057] [ 0. 0. 0. 1. ]] SLAMing on 48.691346184 meters Centerline goodness [0,1] 0.6009415792852557 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.34 [[ 0.9961134 -0.0854138 -0.02150776 1.31608469] [ 0.0856453 0.99627469 0.0100813 -0.19761573] [ 0.02056656 -0.01188415 0.99971785 -0.34306484] [ 0. 0. 0. 1. ]] SLAMing on 48.721346184 meters Centerline goodness [0,1] 0.5911788017051175 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.34 [[ 0.99611166 -0.08540924 -0.02160605 1.31716964] [ 0.08564075 0.99627564 0.01002514 -0.19792964] [ 0.02066934 -0.01183652 0.9997163 -0.34391267] [ 0. 0. 0. 1. ]] SLAMing on 48.751346184 meters Centerline goodness [0,1] 0.5870329858877021 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.34 [[ 0.99611788 -0.0852874 -0.02179973 1.31802687] [ 0.08551582 0.99628893 0.00976789 -0.19665528] [ 0.02088575 -0.01159419 0.99971464 -0.34423703] [ 0. 0. 0. 1. ]] SLAMing on 48.781346184 meters Centerline goodness [0,1] 0.6490118917059114 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.20, Z:-0.34 [[ 0.99613288 -0.08506766 -0.02197238 1.31876394] [ 0.08529298 0.99631036 0.00952796 -0.19525304] [ 0.02108079 -0.01136521 0.99971318 -0.34442089] [ 0. 0. 0. 1. ]] SLAMing on 48.811346183999994 meters Centerline goodness [0,1] 0.6162758145444365 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:-0.34 [[ 0.99617544 -0.08454015 -0.02207821 1.31909087] [ 0.08474918 0.99636426 0.00870872 -0.19084257] [ 0.0212617 -0.01054652 0.99971832 -0.34343556] [ 0. 0. 0. 1. ]] SLAMing on 48.841346183999995 meters Centerline goodness [0,1] 0.6263260025873221 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:-0.34 [[ 0.99618353 -0.08441161 -0.02220494 1.31937578] [ 0.08460831 0.99638159 0.00807182 -0.18785411] [ 0.02144324 -0.00991974 0.99972085 -0.3430305 ] [ 0. 0. 0. 1. ]] SLAMing on 48.871346184 meters Centerline goodness [0,1] 0.6538261660387163 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:-0.34 [[ 0.99619636 -0.08421481 -0.0223758 1.32009515] [ 0.08440511 0.99640178 0.00769914 -0.18583542] [ 0.02164691 -0.00955849 0.99971998 -0.34321693] [ 0. 0. 0. 1. ]] SLAMing on 48.901346184 meters Centerline goodness [0,1] 0.6554202823468462 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.18, Z:-0.35 [[ 0.99605351 -0.08583155 -0.02259076 1.3240322 ] [ 0.08596505 0.99628558 0.00500462 -0.18475554] [ 0.02207729 -0.00692688 0.99973227 -0.34559291] [ 0. 0. 0. 1. ]] SLAMing on 48.931346184 meters Centerline goodness [0,1] 0.657729421669581 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.19, Z:-0.35 [[ 0.99606649 -0.08571815 -0.02244867 1.32452599] [ 0.08585166 0.99629513 0.00505091 -0.18511208] [ 0.02193255 -0.0069583 0.99973524 -0.34636335] [ 0. 0. 0. 1. ]] SLAMing on 48.961346184 meters Centerline goodness [0,1] 0.6383015522981796 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99606858 -0.08566646 -0.02255329 1.32528296] [ 0.0857983 0.99630027 0.0049428 -0.18435305] [ 0.02204642 -0.00685841 0.99973342 -0.34691605] [ 0. 0. 0. 1. ]] SLAMing on 48.991346183999994 meters Centerline goodness [0,1] 0.6519018964655791 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99604719 -0.08592501 -0.02251418 1.32537288] [ 0.08604611 0.99628115 0.00446476 -0.18201758] [ 0.02204682 -0.00638437 0.99973655 -0.3468617 ] [ 0. 0. 0. 1. ]] SLAMing on 49.021346183999995 meters Centerline goodness [0,1] 0.6707513845885482 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99604122 -0.08599005 -0.02253012 1.32553616] [ 0.08610583 0.99627707 0.00421833 -0.18106029] [ 0.02208351 -0.00614161 0.99973727 -0.34677763] [ 0. 0. 0. 1. ]] SLAMing on 49.051346183999996 meters Centerline goodness [0,1] 0.6303064625035395 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.18, Z:-0.34 [[ 0.9959843 -0.08664898 -0.0225218 1.32463671] [ 0.08673108 0.99622812 0.00269265 -0.17713775] [ 0.02220354 -0.00463518 0.99974273 -0.34481743] [ 0. 0. 0. 1. ]] SLAMing on 49.081346184 meters Centerline goodness [0,1] 0.6543728636432911 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.18, Z:-0.35 [[ 0.9959846 -0.08665773 -0.02247465 1.3249882 ] [ 0.08673503 0.99622832 0.00248557 -0.17597998] [ 0.02217449 -0.00442493 0.99974432 -0.34519358] [ 0. 0. 0. 1. ]] SLAMing on 49.111346184 meters Centerline goodness [0,1] 0.6606645183765895 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99599093 -0.08659628 -0.02243108 1.32540025] [ 0.08667226 0.9962339 0.00243571 -0.175485 ] [ 0.02213568 -0.0043701 0.99974542 -0.3456804 ] [ 0. 0. 0. 1. ]] SLAMing on 49.141346184 meters Centerline goodness [0,1] 0.6434272505233776 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99601717 -0.0862974 -0.02241776 1.32647602] [ 0.08638052 0.99625838 0.00276447 -0.17576964] [ 0.02209531 -0.00468991 0.99974487 -0.34704649] [ 0. 0. 0. 1. ]] SLAMing on 49.171346184 meters Centerline goodness [0,1] 0.6802357306558987 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 0.99604956 -0.08591006 -0.02246633 1.32806939] [ 0.08600599 0.99628903 0.00333742 -0.17679804] [ 0.02209624 -0.00525648 0.99974203 -0.34893625] [ 0. 0. 0. 1. ]] SLAMing on 49.201346183999995 meters Centerline goodness [0,1] 0.6415871355732776 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.18, Z:-0.35 [[ 9.95819583e-01 -8.84804707e-02 -2.26840194e-02 1.33230166e+00] [ 8.85213664e-02 9.96073954e-01 8.03115431e-04 -1.76719230e-01] [ 2.25239009e-02 -2.80777847e-03 9.99742362e-01 -3.52608064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.231346183999996 meters Centerline goodness [0,1] 0.638781357303764 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 9.95795860e-01 -8.87556652e-02 -2.26503019e-02 1.33212002e+00] [ 8.87842913e-02 9.96050843e-01 2.59359582e-04 -1.74597254e-01] [ 2.25378327e-02 -2.26926020e-03 9.99743415e-01 -3.52282382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.261346184 meters Centerline goodness [0,1] 0.6178794178794178 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 9.95779530e-01 -8.88987216e-02 -2.28066957e-02 1.33221673e+00] [ 8.89091801e-02 9.96039581e-01 -5.57025049e-04 -1.70627340e-01] [ 2.27658904e-02 -1.47305047e-03 9.99739738e-01 -3.51451055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.291346184 meters Centerline goodness [0,1] 0.6632189208775281 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.99602664 -0.08617996 -0.0224486 1.32947981] [ 0.08624815 0.9962715 0.00208552 -0.16894277] [ 0.02218517 -0.00401339 0.99974582 -0.34955288] [ 0. 0. 0. 1. ]] SLAMing on 49.321346184 meters Centerline goodness [0,1] 0.6613319905420789 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 9.96000406e-01 -8.65180412e-02 -2.23118770e-02 1.32902370e+00] [ 8.65677598e-02 9.96245155e-01 1.27038101e-03 -1.68033507e-01] [ 2.21181885e-02 -3.19678921e-03 9.99750252e-01 -3.48664910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.351346184 meters Centerline goodness [0,1] 0.6530880420499343 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.996031 -0.0862064 -0.02215167 1.33028632] [ 0.08627085 0.99626978 0.00196842 -0.17142677] [ 0.02189935 -0.00387165 0.99975268 -0.35057679] [ 0. 0. 0. 1. ]] SLAMing on 49.381346183999995 meters Centerline goodness [0,1] 0.632749252623999 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 9.95773711e-01 -8.91132444e-02 -2.22158970e-02 1.33393631e+00] [ 8.91208337e-02 9.96020609e-01 -6.50194455e-04 -1.72778318e-01] [ 2.21854322e-02 -1.33245271e-03 9.99752985e-01 -3.53996500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.411346183999996 meters Centerline goodness [0,1] 0.6238562162870434 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.9959758 -0.08673383 -0.022571 1.3339741 ] [ 0.08681083 0.9962218 0.00245227 -0.17249744] [ 0.02227303 -0.00440181 0.99974223 -0.35438065] [ 0. 0. 0. 1. ]] SLAMing on 49.441346184 meters Centerline goodness [0,1] 0.6387590403951314 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.99622272 -0.08389315 -0.02241065 1.33201996] [ 0.08403277 0.99644857 0.00536102 -0.17015343] [ 0.02188131 -0.007224 0.99973448 -0.35336294] [ 0. 0. 0. 1. ]] SLAMing on 49.471346184 meters Centerline goodness [0,1] 0.6218598501542529 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.99626544 -0.08327401 -0.02281704 1.33357995] [ 0.08341292 0.99650148 0.00520374 -0.1662834 ] [ 0.02230388 -0.00708754 0.99972611 -0.353829 ] [ 0. 0. 0. 1. ]] SLAMing on 49.501346184 meters Centerline goodness [0,1] 0.6199788116888849 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.17, Z:-0.35 [[ 0.99632324 -0.08259537 -0.02275965 1.33421726] [ 0.08273344 0.99655819 0.00519164 -0.16623239] [ 0.02225251 -0.00705553 0.99972749 -0.35407856] [ 0. 0. 0. 1. ]] SLAMing on 49.531346184 meters Centerline goodness [0,1] 0.6213928264368069 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:-0.36 [[ 0.99636022 -0.08216019 -0.02271604 1.33533513] [ 0.08230862 0.99659072 0.00567674 -0.16912887] [ 0.0221722 -0.0075258 0.99972584 -0.35530451] [ 0. 0. 0. 1. ]] SLAMing on 49.561346183999994 meters Centerline goodness [0,1] 0.6596429358607009 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:-0.36 [[ 0.99641792 -0.08142967 -0.02281527 1.337429 ] [ 0.08159051 0.9966466 0.00620787 -0.16924463] [ 0.02223326 -0.00804714 0.99972042 -0.35752348] [ 0. 0. 0. 1. ]] SLAMing on 49.591346183999995 meters Centerline goodness [0,1] 0.6654973082693496 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.17, Z:-0.36 [[ 0.99646012 -0.08073277 -0.02344015 1.3399214 ] [ 0.08090378 0.99670111 0.00644008 -0.1657169 ] [ 0.0228429 -0.00831368 0.9997045 -0.3590228 ] [ 0. 0. 0. 1. ]] SLAMing on 49.621346184 meters Centerline goodness [0,1] 0.6159652890000664 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99671934 -0.07741788 -0.02360144 1.33963351] [ 0.07766798 0.99693043 0.00986974 -0.16358687] [ 0.0227649 -0.01167043 0.99967273 -0.35937008] [ 0. 0. 0. 1. ]] SLAMing on 49.651346184 meters Centerline goodness [0,1] 0.6094498007169735 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99669807 -0.07762747 -0.02381054 1.33987739] [ 0.07785607 0.99692553 0.00882769 -0.15889903] [ 0.02305206 -0.01065234 0.99967751 -0.35865934] [ 0. 0. 0. 1. ]] SLAMing on 49.681346184 meters Centerline goodness [0,1] 0.6494077909379792 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99668152 -0.07787715 -0.02368769 1.33980662] [ 0.07810104 0.99690769 0.00867646 -0.15987465] [ 0.02293874 -0.0104977 0.99968176 -0.35877329] [ 0. 0. 0. 1. ]] SLAMing on 49.711346184 meters Centerline goodness [0,1] 0.5960070984915705 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99639593 -0.08143713 -0.02373077 1.34123573] [ 0.08157118 0.99665627 0.00473486 -0.15969393] [ 0.02326583 -0.00665354 0.99970717 -0.35918226] [ 0. 0. 0. 1. ]] SLAMing on 49.741346183999994 meters Centerline goodness [0,1] 0.6597913074236195 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99629267 -0.08301178 -0.02258239 1.34031616] [ 0.08309381 0.99653803 0.00271707 -0.16118241] [ 0.02227866 -0.00458345 0.99974129 -0.35944323] [ 0. 0. 0. 1. ]] SLAMing on 49.771346183999995 meters Centerline goodness [0,1] 0.6288573073006597 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99622681 -0.08396415 -0.0219581 1.33864145] [ 0.08401774 0.99646309 0.00152798 -0.15913737] [ 0.02175214 -0.00336708 0.99975772 -0.35849971] [ 0. 0. 0. 1. ]] SLAMing on 49.801346183999996 meters Centerline goodness [0,1] 0.626086183523346 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.9964785 -0.08095733 -0.02182896 1.33716265] [ 0.08108066 0.99669587 0.0048239 -0.15794988] [ 0.0213663 -0.00657682 0.99975008 -0.35811276] [ 0. 0. 0. 1. ]] SLAMing on 49.831346184 meters Centerline goodness [0,1] 0.6237076648841355 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99649489 -0.08063268 -0.02227786 1.33871343] [ 0.08075625 0.99672279 0.00470281 -0.15480397] [ 0.02182565 -0.0064854 0.99974076 -0.35883061] [ 0. 0. 0. 1. ]] SLAMing on 49.861346184 meters Centerline goodness [0,1] 0.6490395329143825 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99656159 -0.07964636 -0.02283546 1.34154078] [ 0.07978799 0.99679746 0.00535805 -0.15315526] [ 0.02233558 -0.00716162 0.99972488 -0.36090301] [ 0. 0. 0. 1. ]] SLAMing on 49.891346184 meters Centerline goodness [0,1] 0.6135700443276235 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99658667 -0.07926973 -0.02305056 1.34296807] [ 0.07942372 0.99682383 0.00584234 -0.15400567] [ 0.02251423 -0.00765316 0.99971723 -0.36220127] [ 0. 0. 0. 1. ]] SLAMing on 49.921346184 meters Centerline goodness [0,1] 0.6497026659836522 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99658168 -0.07934656 -0.02300167 1.34341935] [ 0.079502 0.99681711 0.00592272 -0.15459383] [ 0.02245851 -0.00773115 0.99971788 -0.36292799] [ 0. 0. 0. 1. ]] SLAMing on 49.951346183999995 meters Centerline goodness [0,1] 0.6460637895345991 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99652106 -0.08022645 -0.02257212 1.34202084] [ 0.08035944 0.99675318 0.00504606 -0.15446003] [ 0.02209401 -0.00684239 0.99973248 -0.3619764 ] [ 0. 0. 0. 1. ]] SLAMing on 49.981346183999996 meters Centerline goodness [0,1] 0.6307873717934456 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.99648996 -0.08064025 -0.02247023 1.34142179] [ 0.08076572 0.99672188 0.00473218 -0.15426827] [ 0.02201497 -0.0065304 0.99973631 -0.3614295 ] [ 0. 0. 0. 1. ]] SLAMing on 50.011346184 meters Centerline goodness [0,1] 0.6280923645594425 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.15, Z:-0.36 [[ 0.9964746 -0.08085426 -0.02238196 1.34122107] [ 0.0809797 0.99670441 0.00475472 -0.15464515] [ 0.02192376 -0.00655044 0.99973819 -0.36143534] [ 0. 0. 0. 1. ]] SLAMing on 50.041346184 meters Centerline goodness [0,1] 0.6258058779067183 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99646411 -0.0809709 -0.02242732 1.34176183] [ 0.08110295 0.99669298 0.005041 -0.15549788] [ 0.02194498 -0.0068421 0.99973577 -0.36219145] [ 0. 0. 0. 1. ]] SLAMing on 50.071346184 meters Centerline goodness [0,1] 0.6140806895938861 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99645928 -0.08102231 -0.02245635 1.34223616] [ 0.08116179 0.99668648 0.0053696 -0.15674252] [ 0.02194689 -0.00717318 0.9997334 -0.36287779] [ 0. 0. 0. 1. ]] SLAMing on 50.101346184 meters Centerline goodness [0,1] 0.613907859319734 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99642969 -0.08136887 -0.02251642 1.34268534] [ 0.08151454 0.99665626 0.00562766 -0.15886004] [ 0.02198322 -0.00744299 0.99973063 -0.36357608] [ 0. 0. 0. 1. ]] SLAMing on 50.131346183999995 meters Centerline goodness [0,1] 0.609833957746791 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99643223 -0.08129819 -0.02265868 1.34337118] [ 0.08144939 0.99666042 0.00583054 -0.15936109] [ 0.022109 -0.00765528 0.99972626 -0.36406777] [ 0. 0. 0. 1. ]] SLAMing on 50.161346183999996 meters Centerline goodness [0,1] 0.6190043242044573 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.9964354 -0.08121048 -0.02283334 1.34406417] [ 0.08136683 0.99666615 0.00600247 -0.15937843] [ 0.02226976 -0.00783895 0.99972127 -0.3645015 ] [ 0. 0. 0. 1. ]] SLAMing on 50.191346184 meters Centerline goodness [0,1] 0.6129532759996454 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99642935 -0.0812815 -0.02284454 1.34427621] [ 0.08144154 0.99665907 0.00616311 -0.16021535] [ 0.02226727 -0.0080016 0.99972003 -0.36470168] [ 0. 0. 0. 1. ]] SLAMing on 50.221346184 meters Centerline goodness [0,1] 0.5966590803632588 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99642677 -0.08130547 -0.02287155 1.34448233] [ 0.08147026 0.99665544 0.00636632 -0.16149545] [ 0.02227744 -0.00820692 0.99971814 -0.36485464] [ 0. 0. 0. 1. ]] SLAMing on 50.251346184 meters Centerline goodness [0,1] 0.6220972704934363 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99640941 -0.0815236 -0.02285139 1.34418668] [ 0.08168594 0.99663845 0.00626153 -0.16223352] [ 0.02226411 -0.00810568 0.99971926 -0.36442725] [ 0. 0. 0. 1. ]] SLAMing on 50.281346184 meters Centerline goodness [0,1] 0.6220972704934363 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99640941 -0.0815236 -0.02285139 1.34418668] [ 0.08168594 0.99663845 0.00626153 -0.16223352] [ 0.02226411 -0.00810568 0.99971926 -0.36442725] [ 0. 0. 0. 1. ]] SLAMing on 50.311346183999994 meters Centerline goodness [0,1] 0.5518202326712964 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99637802 -0.08194551 -0.02271087 1.34367221] [ 0.08210199 0.99660561 0.00604377 -0.1628839 ] [ 0.02213852 -0.00788648 0.99972381 -0.36397819] [ 0. 0. 0. 1. ]] SLAMing on 50.341346183999995 meters Centerline goodness [0,1] 0.5903973509933775 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99637307 -0.08198466 -0.02278652 1.3438461 ] [ 0.08214279 0.99660196 0.0060908 -0.16318137] [ 0.02220973 -0.00794046 0.9997218 -0.36397369] [ 0. 0. 0. 1. ]] SLAMing on 50.371346184 meters Centerline goodness [0,1] 0.6081233546446032 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99637271 -0.08197256 -0.02284582 1.34395578] [ 0.08213279 0.99660233 0.00616422 -0.16379677] [ 0.0222629 -0.00801825 0.99972 -0.36389927] [ 0. 0. 0. 1. ]] SLAMing on 50.401346184 meters Centerline goodness [0,1] 0.6350208641511934 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.16, Z:-0.36 [[ 0.99637938 -0.0818504 -0.02299213 1.34446123] [ 0.08201707 0.99661037 0.00640014 -0.1648513 ] [ 0.02239034 -0.00826272 0.99971516 -0.36411197] [ 0. 0. 0. 1. ]] SLAMing on 50.431346184 meters Centerline goodness [0,1] 0.6258621829480597 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.37 [[ 0.99640343 -0.08146574 -0.02331375 1.3459646 ] [ 0.08165375 0.99663455 0.00722789 -0.16730911] [ 0.02264647 -0.00910555 0.99970207 -0.36533077] [ 0. 0. 0. 1. ]] SLAMing on 50.461346184 meters Centerline goodness [0,1] 0.6269698036799014 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.37 [[ 0.9964186 -0.08118441 -0.02364448 1.34705077] [ 0.08138503 0.99665339 0.00764826 -0.16795726] [ 0.02294444 -0.00954517 0.99969117 -0.36589303] [ 0. 0. 0. 1. ]] SLAMing on 50.491346183999994 meters Centerline goodness [0,1] 0.6291189427312776 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.37 [[ 0.99641398 -0.08115457 -0.02393994 1.34761946] [ 0.08135656 0.99665619 0.00758601 -0.16747752] [ 0.02324425 -0.00950647 0.99968462 -0.36570629] [ 0. 0. 0. 1. ]] SLAMing on 50.521346183999995 meters Centerline goodness [0,1] 0.6139936412611499 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99636391 -0.08179512 -0.02384338 1.3459044 ] [ 0.08196715 0.99661495 0.00632735 -0.16505359] [ 0.02324513 -0.00825872 0.99969568 -0.36296646] [ 0. 0. 0. 1. ]] SLAMing on 50.551346183999996 meters Centerline goodness [0,1] 0.6196952969750497 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99636356 -0.0817797 -0.02391085 1.34609952] [ 0.08195293 0.99661594 0.00635503 -0.16572711] [ 0.02331022 -0.00829149 0.9996939 -0.36281215] [ 0. 0. 0. 1. ]] SLAMing on 50.581346184 meters Centerline goodness [0,1] 0.6170447524053315 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99637363 -0.08163831 -0.02397471 1.34663033] [ 0.08182138 0.99662411 0.0067556 -0.16786982] [ 0.02334225 -0.00869275 0.99968974 -0.36328044] [ 0. 0. 0. 1. ]] SLAMing on 50.611346184 meters Centerline goodness [0,1] 0.6059060225598628 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99611608 -0.084674 -0.02414701 1.34910224] [ 0.08479147 0.99639116 0.00388111 -0.17091712] [ 0.02373124 -0.00591349 0.99970088 -0.36489503] [ 0. 0. 0. 1. ]] SLAMing on 50.641346184 meters Centerline goodness [0,1] 0.6011194029850746 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.37 [[ 0.99611434 -0.08466857 -0.02423756 1.34951027] [ 0.08478943 0.99639086 0.0040012 -0.17099541] [ 0.02381131 -0.00604074 0.99969822 -0.36518708] [ 0. 0. 0. 1. ]] SLAMing on 50.671346183999994 meters Centerline goodness [0,1] 0.5945559369773787 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99635143 -0.08178739 -0.02438542 1.34787626] [ 0.08198201 0.99660859 0.00708965 -0.17033863] [ 0.02372287 -0.00906295 0.99967749 -0.36374522] [ 0. 0. 0. 1. ]] SLAMing on 50.701346183999995 meters Centerline goodness [0,1] 0.6011564520756549 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99661709 -0.07837236 -0.02474155 1.34626735] [ 0.07861454 0.99686473 0.00897075 -0.16501538] [ 0.02396092 -0.01088545 0.99965363 -0.36032318] [ 0. 0. 0. 1. ]] SLAMing on 50.731346183999996 meters Centerline goodness [0,1] 0.6052033453229473 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99664684 -0.07789421 -0.02505126 1.34731213] [ 0.07814232 0.99690085 0.00908112 -0.16517832] [ 0.02426625 -0.01100823 0.99964492 -0.36052857] [ 0. 0. 0. 1. ]] SLAMing on 50.761346184 meters Centerline goodness [0,1] 0.6414865728195978 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99668641 -0.07729914 -0.02531897 1.34889379] [ 0.07756738 0.99693907 0.0097878 -0.16781597] [ 0.02448488 -0.01171929 0.99963151 -0.36173112] [ 0. 0. 0. 1. ]] SLAMing on 50.791346184 meters Centerline goodness [0,1] 0.6328171334431631 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99677287 -0.07595409 -0.02597748 1.35235506] [ 0.07626977 0.99702224 0.01138352 -0.17164129] [ 0.0250355 -0.01332808 0.99959771 -0.36442191] [ 0. 0. 0. 1. ]] SLAMing on 50.821346184 meters Centerline goodness [0,1] 0.6078664552501762 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.17, Z:-0.36 [[ 0.99677543 -0.07575199 -0.02646479 1.35377129] [ 0.07606771 0.9970405 0.01113284 -0.16923928] [ 0.02554313 -0.01311005 0.99958775 -0.36482684] [ 0. 0. 0. 1. ]] SLAMing on 50.851346184 meters Centerline goodness [0,1] 0.674167973322144 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.36 [[ 0.9967841 -0.07542883 -0.0270547 1.35523378] [ 0.07574283 0.99706917 0.01077428 -0.16521531] [ 0.02616272 -0.01278883 0.99957589 -0.36493512] [ 0. 0. 0. 1. ]] SLAMing on 50.881346183999995 meters Centerline goodness [0,1] 0.6684488419558079 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:-0.36 [[ 0.99675289 -0.07572515 -0.02737463 1.35497559] [ 0.07599149 0.99706944 0.0088221 -0.15899144] [ 0.02662636 -0.01087369 0.99958631 -0.36247811] [ 0. 0. 0. 1. ]] SLAMing on 50.911346183999996 meters Centerline goodness [0,1] 0.65837394771821 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.16, Z:-0.36 [[ 0.99673657 -0.075979 -0.02726543 1.35436918] [ 0.07623506 0.99705384 0.00847672 -0.15987742] [ 0.02654105 -0.01052764 0.99959229 -0.36174081] [ 0. 0. 0. 1. ]] SLAMing on 50.941346184 meters Centerline goodness [0,1] 0.6614579870115478 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.36 [[ 0.99648372 -0.07920058 -0.02733988 1.35597204] [ 0.07935956 0.9968346 0.00477808 -0.16075876] [ 0.02687491 -0.00693096 0.99961478 -0.36209735] [ 0. 0. 0. 1. ]] SLAMing on 50.971346184 meters Centerline goodness [0,1] 0.6587002096436059 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.36 [[ 9.96214700e-01 -8.25142238e-02 -2.73436203e-02 1.35750299e+00] [ 8.25765420e-02 9.96584055e-01 1.15585372e-03 -1.61953335e-01] [ 2.71548416e-02 -3.40942008e-03 9.99625425e-01 -3.62627493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.001346184 meters Centerline goodness [0,1] 0.5922121252030379 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.36 [[ 0.9962269 -0.08239235 -0.02726661 1.35784333] [ 0.08246464 0.99659281 0.00153542 -0.16384927] [ 0.0270472 -0.00377816 0.99962702 -0.36311244] [ 0. 0. 0. 1. ]] SLAMing on 51.031346184 meters Centerline goodness [0,1] 0.6075376773538692 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.36 [[ 0.99646819 -0.0793105 -0.02758596 1.35691371] [ 0.07946984 0.99682607 0.00472656 -0.16012817] [ 0.02712354 -0.00690212 0.99960826 -0.36229172] [ 0. 0. 0. 1. ]] SLAMing on 51.061346183999994 meters Centerline goodness [0,1] 0.6744625508548054 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.36 [[ 0.99672999 -0.07584863 -0.02786246 1.35672803] [ 0.07610783 0.99706453 0.00836187 -0.15834809] [ 0.02714643 -0.01045508 0.99957679 -0.36248256] [ 0. 0. 0. 1. ]] SLAMing on 51.091346183999995 meters Centerline goodness [0,1] 0.6338901402796673 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.37 [[ 0.99677403 -0.07489775 -0.02884212 1.36108152] [ 0.07520629 0.99712019 0.00976412 -0.16028294] [ 0.02802774 -0.01190173 0.99953629 -0.36584491] [ 0. 0. 0. 1. ]] SLAMing on 51.121346184 meters Centerline goodness [0,1] 0.6321004698390078 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.16, Z:-0.37 [[ 0.99653128 -0.07796135 -0.02911061 1.36407849] [ 0.07819243 0.99691452 0.0068839 -0.16329925] [ 0.02848411 -0.00913625 0.99955249 -0.36790135] [ 0. 0. 0. 1. ]] SLAMing on 51.151346184 meters Centerline goodness [0,1] 0.6525833037929812 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.17, Z:-0.37 [[ 0.9962458 -0.08152706 -0.0291142 1.36575763] [ 0.08166387 0.99665364 0.00353922 -0.16609987] [ 0.02872823 -0.00590351 0.99956983 -0.36892573] [ 0. 0. 0. 1. ]] SLAMing on 51.181346184 meters Centerline goodness [0,1] 0.6145718445316981 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.17, Z:-0.37 [[ 0.99613072 -0.08326658 -0.02811174 1.36493197] [ 0.08334587 0.9965193 0.00165874 -0.16799627] [ 0.02787577 -0.00399532 0.99960341 -0.36916329] [ 0. 0. 0. 1. ]] SLAMing on 51.211346184 meters Centerline goodness [0,1] 0.5904939256894564 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.17, Z:-0.37 [[ 0.99614242 -0.08526721 -0.02073117 1.37216924] [ 0.08547377 0.99629712 0.00928891 -0.16512804] [ 0.01986237 -0.01102505 0.99974193 -0.36883684] [ 0. 0. 0. 1. ]] SLAMing on 51.241346183999994 meters Centerline goodness [0,1] 0.6406326358345551 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.16, Z:-0.37 [[ 0.99607246 -0.0860524 -0.02084792 1.37102717] [ 0.08622495 0.99624729 0.00752231 -0.1606666 ] [ 0.02012237 -0.00929038 0.99975436 -0.36628018] [ 0. 0. 0. 1. ]] SLAMing on 51.271346183999995 meters Centerline goodness [0,1] 0.6358489309265303 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.16, Z:-0.37 [[ 0.99604573 -0.08635167 -0.02088755 1.37051328] [ 0.08651023 0.99622769 0.00680893 -0.15913568] [ 0.0202208 -0.00858899 0.99975865 -0.36514233] [ 0. 0. 0. 1. ]] SLAMing on 51.301346183999996 meters Centerline goodness [0,1] 0.6206988411845669 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.16, Z:-0.37 [[ 0.99606801 -0.08608451 -0.02092767 1.37119894] [ 0.08625119 0.99624744 0.00719537 -0.16105167] [ 0.02022973 -0.00897212 0.9997551 -0.36573126] [ 0. 0. 0. 1. ]] SLAMing on 51.331346184 meters Centerline goodness [0,1] 0.5781756443895663 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.37 [[ 0.99583468 -0.08863834 -0.02136689 1.37562731] [ 0.08876117 0.99604104 0.00486865 -0.16562525] [ 0.02085075 -0.00674492 0.99975985 -0.36904447] [ 0. 0. 0. 1. ]] SLAMing on 51.361346184 meters Centerline goodness [0,1] 0.6213058116761657 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.37 [[ 0.99584627 -0.08849702 -0.02141237 1.3765545 ] [ 0.08862692 0.99605135 0.00519377 -0.16649068] [ 0.02086819 -0.0070699 0.99975724 -0.37009764] [ 0. 0. 0. 1. ]] SLAMing on 51.391346184 meters Centerline goodness [0,1] 0.6154727541149769 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99583336 -0.08863027 -0.02146145 1.37666277] [ 0.0887515 0.99604242 0.00476189 -0.16463835] [ 0.02095447 -0.00664679 0.99975834 -0.36986756] [ 0. 0. 0. 1. ]] SLAMing on 51.421346183999994 meters Centerline goodness [0,1] 0.6064707313297508 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99581349 -0.08881829 -0.02160573 1.37587406] [ 0.0889204 0.99603145 0.00381035 -0.16045209] [ 0.02118155 -0.00571558 0.99975931 -0.3677261 ] [ 0. 0. 0. 1. ]] SLAMing on 51.451346183999995 meters Centerline goodness [0,1] 0.6024947565956507 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99583277 -0.0886195 -0.02153304 1.37623052] [ 0.08872819 0.99604726 0.00414379 -0.16150033] [ 0.02108071 -0.00603711 0.99975955 -0.36820532] [ 0. 0. 0. 1. ]] SLAMing on 51.481346183999996 meters Centerline goodness [0,1] 0.6006278185515961 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99585548 -0.08837142 -0.02150255 1.37685924] [ 0.0884919 0.99606573 0.00471577 -0.16420791] [ 0.02100121 -0.00659903 0.99975767 -0.36895881] [ 0. 0. 0. 1. ]] SLAMing on 51.511346184 meters Centerline goodness [0,1] 0.6114285714285714 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.37 [[ 0.99560965 -0.09107118 -0.02162075 1.37989897] [ 0.09113465 0.99583664 0.00196654 -0.16562833] [ 0.02135164 -0.00392831 0.99976431 -0.37118158] [ 0. 0. 0. 1. ]] SLAMing on 51.541346184 meters Centerline goodness [0,1] 0.5912049601729883 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.37 [[ 0.99561718 -0.09097137 -0.02169409 1.38043834] [ 0.09103616 0.99584555 0.00201598 -0.16529177] [ 0.02142057 -0.00398209 0.99976262 -0.37153225] [ 0. 0. 0. 1. ]] SLAMing on 51.571346184 meters Centerline goodness [0,1] 0.6072620389400871 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99589532 -0.08788477 -0.0216512 1.37885691] [ 0.08801644 0.99610543 0.00520392 -0.1644462 ] [ 0.02110954 -0.00708823 0.99975204 -0.37056425] [ 0. 0. 0. 1. ]] SLAMing on 51.601346184 meters Centerline goodness [0,1] 0.632036643653744 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99592433 -0.08749663 -0.02188782 1.37977023] [ 0.08762774 0.99614022 0.0051025 -0.16334424] [ 0.02135688 -0.00699969 0.99974741 -0.3707349 ] [ 0. 0. 0. 1. ]] SLAMing on 51.631346183999995 meters Centerline goodness [0,1] 0.65877921790185 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99595957 -0.08704592 -0.02208049 1.38076918] [ 0.0871795 0.99617926 0.00515905 -0.16279183] [ 0.02154705 -0.00706317 0.99974288 -0.37117355] [ 0. 0. 0. 1. ]] SLAMing on 51.661346183999996 meters Centerline goodness [0,1] 0.6541003237681289 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99601894 -0.08634801 -0.02214276 1.38172113] [ 0.08648782 0.99623809 0.00543444 -0.16316477] [ 0.0215902 -0.00732789 0.99974005 -0.37175669] [ 0. 0. 0. 1. ]] SLAMing on 51.691346184 meters Centerline goodness [0,1] 0.6603765256350835 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99603629 -0.08615321 -0.02212075 1.3820734 ] [ 0.08629274 0.99625502 0.00543089 -0.16337796] [ 0.02157002 -0.00731822 0.99974056 -0.3719051 ] [ 0. 0. 0. 1. ]] SLAMing on 51.721346184 meters Centerline goodness [0,1] 0.6484730200270576 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99604644 -0.08599539 -0.02227747 1.38248183] [ 0.08613207 0.9962699 0.0052488 -0.16269243] [ 0.021743 -0.00714686 0.99973805 -0.37167903] [ 0. 0. 0. 1. ]] SLAMing on 51.751346184 meters Centerline goodness [0,1] 0.6124845214930126 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99606434 -0.08572499 -0.02251792 1.38332001] [ 0.08586126 0.99629377 0.00515422 -0.16160325] [ 0.02199262 -0.00706735 0.99973315 -0.37176239] [ 0. 0. 0. 1. ]] SLAMing on 51.781346184 meters Centerline goodness [0,1] 0.6469960658798426 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99634798 -0.08233089 -0.02263482 1.38223669] [ 0.08254297 0.99655041 0.00859915 -0.16081854] [ 0.02184877 -0.01043609 0.99970682 -0.37095693] [ 0. 0. 0. 1. ]] SLAMing on 51.811346183999994 meters Centerline goodness [0,1] 0.637795972560301 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99636039 -0.08208994 -0.02296129 1.38340184] [ 0.08230575 0.99656989 0.00861551 -0.16022845] [ 0.02217528 -0.010474 0.99969923 -0.37138197] [ 0. 0. 0. 1. ]] SLAMing on 51.841346183999995 meters Centerline goodness [0,1] 0.641079713201181 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99636385 -0.08204039 -0.02298809 1.38375066] [ 0.08225799 0.99657323 0.00868395 -0.16097298] [ 0.02219688 -0.01054333 0.99969802 -0.37162978] [ 0. 0. 0. 1. ]] SLAMing on 51.871346184 meters Centerline goodness [0,1] 0.6353526160403117 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.37 [[ 0.99637291 -0.08197859 -0.02281503 1.38396693] [ 0.08219916 0.99657616 0.00890238 -0.16323779] [ 0.02200711 -0.01074547 0.99970007 -0.37212811] [ 0. 0. 0. 1. ]] SLAMing on 51.901346184 meters Centerline goodness [0,1] 0.6650481151231571 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.9966759 -0.07989733 -0.0159237 1.3762704 ] [ 0.07994831 0.99679564 0.00259031 -0.16724184] [ 0.01566572 -0.00385477 0.99986985 -0.37759688] [ 0. 0. 0. 1. ]] SLAMing on 51.931346184 meters Centerline goodness [0,1] 0.6674165233117197 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99670729 -0.07949123 -0.01599143 1.37703767] [ 0.0795492 0.99682636 0.00302125 -0.16776332] [ 0.01570051 -0.00428341 0.99986756 -0.37834011] [ 0. 0. 0. 1. ]] SLAMing on 51.961346184 meters Centerline goodness [0,1] 0.6284660082631847 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99698211 -0.07597067 -0.0159728 1.37629995] [ 0.07608906 0.99707688 0.00693902 -0.16839685] [ 0.01539895 -0.00813343 0.99984835 -0.37838985] [ 0. 0. 0. 1. ]] SLAMing on 51.991346183999994 meters Centerline goodness [0,1] 0.6337294698891708 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.38 [[ 0.99724256 -0.07242419 -0.01618703 1.37543785] [ 0.07259138 0.99731173 0.00999018 -0.16430651] [ 0.01541998 -0.01113767 0.99981907 -0.3772341 ] [ 0. 0. 0. 1. ]] SLAMing on 52.021346183999995 meters Centerline goodness [0,1] 0.6892445354583092 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.16, Z:-0.38 [[ 0.99725186 -0.07223023 -0.01647785 1.37623692] [ 0.0723989 0.99732682 0.00987987 -0.16397799] [ 0.01572018 -0.0110457 0.99981542 -0.37722417] [ 0. 0. 0. 1. ]] SLAMing on 52.051346183999996 meters Centerline goodness [0,1] 0.684539707977208 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99727626 -0.07187995 -0.01653295 1.37705929] [ 0.07205804 0.9973458 0.01044042 -0.1667006 ] [ 0.01573861 -0.01160331 0.99980881 -0.37796276] [ 0. 0. 0. 1. ]] SLAMing on 52.081346184 meters Centerline goodness [0,1] 0.6553805191923674 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99704614 -0.07496214 -0.0167236 1.37906284] [ 0.07508854 0.99715186 0.00706196 -0.16819328] [ 0.01614659 -0.00829685 0.99983521 -0.37867347] [ 0. 0. 0. 1. ]] SLAMing on 52.111346184 meters Centerline goodness [0,1] 0.690105374776327 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99700446 -0.07560565 -0.01630622 1.37789741] [ 0.07572576 0.99710496 0.00687756 -0.17181491] [ 0.01573903 -0.00809176 0.99984339 -0.37802358] [ 0. 0. 0. 1. ]] SLAMing on 52.141346184 meters Centerline goodness [0,1] 0.6569676033570274 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99699231 -0.07574687 -0.01639353 1.37795255] [ 0.07586413 0.99709597 0.00665238 -0.17081248] [ 0.01584202 -0.00787605 0.99984349 -0.37776885] [ 0. 0. 0. 1. ]] SLAMing on 52.171346183999994 meters Centerline goodness [0,1] 0.6545801103747867 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99698955 -0.07574287 -0.0165788 1.37841683] [ 0.07585617 0.99709877 0.00631498 -0.16851976] [ 0.01605239 -0.00755357 0.99984262 -0.37754979] [ 0. 0. 0. 1. ]] SLAMing on 52.201346183999995 meters Centerline goodness [0,1] 0.6545801103747867 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99698955 -0.07574287 -0.0165788 1.37841683] [ 0.07585617 0.99709877 0.00631498 -0.16851976] [ 0.01605239 -0.00755357 0.99984262 -0.37754979] [ 0. 0. 0. 1. ]] SLAMing on 52.231346183999996 meters Centerline goodness [0,1] 0.666185324239664 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99697574 -0.07590686 -0.01665922 1.3780215 ] [ 0.07600969 0.9970912 0.00562798 -0.16554715] [ 0.01618356 -0.00687723 0.99984539 -0.37628647] [ 0. 0. 0. 1. ]] SLAMing on 52.261346184 meters Centerline goodness [0,1] 0.675193919054075 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99697683 -0.07590252 -0.01661354 1.3784542 ] [ 0.07601039 0.99708922 0.00595952 -0.16818588] [ 0.01611284 -0.0072043 0.99984423 -0.37689067] [ 0. 0. 0. 1. ]] SLAMing on 52.291346184 meters Centerline goodness [0,1] 0.6472624012778418 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99672589 -0.07909608 -0.01677249 1.38073428] [ 0.07915434 0.99685833 0.00283767 -0.17088608] [ 0.01649535 -0.00415599 0.99985531 -0.37827229] [ 0. 0. 0. 1. ]] SLAMing on 52.321346184 meters Centerline goodness [0,1] 0.6490453592318728 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 9.96433047e-01 -8.27354995e-02 -1.66138752e-02 1.38218218e+00] [ 8.27442298e-02 9.96570803e-01 -1.62404705e-04 -1.74762224e-01] [ 1.65703396e-02 -1.21287689e-03 9.99861967e-01 -3.79657855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.351346184 meters Centerline goodness [0,1] 0.6184309226492521 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 9.96415636e-01 -8.29459940e-02 -1.66085211e-02 1.38196589e+00] [ 8.29497960e-02 9.96553621e-01 -4.61027067e-04 -1.73450896e-01] [ 1.65895221e-02 -9.18298856e-04 9.99861963e-01 -3.79102513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.381346183999995 meters Centerline goodness [0,1] 0.6460839052810452 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 9.96399977e-01 -8.31072307e-02 -1.67413990e-02 1.38192754e+00] [ 8.31016381e-02 9.96540544e-01 -1.03065266e-03 -1.70550287e-01] [ 1.67691376e-02 -3.64295392e-04 9.99859322e-01 -3.78163804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.411346183999996 meters Centerline goodness [0,1] 0.6411816773622483 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.37 [[ 9.96600446e-01 -8.08155389e-02 -1.60124943e-02 1.37737762e+00] [ 8.08475910e-02 9.96725543e-01 1.36352094e-03 -1.69381637e-01] [ 1.58498684e-02 -2.65345717e-03 9.99870862e-01 -3.74639045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.441346184 meters Centerline goodness [0,1] 0.6361832532298602 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.17, Z:-0.38 [[ 0.99663327 -0.08038993 -0.01611164 1.37814719] [ 0.08043138 0.99675826 0.00194036 -0.17205189] [ 0.01590343 -0.00322971 0.99986832 -0.37505579] [ 0. 0. 0. 1. ]] SLAMing on 52.471346184 meters Centerline goodness [0,1] 0.6355715920091525 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.18, Z:-0.38 [[ 0.99667718 -0.07979974 -0.01632768 1.37988605] [ 0.07985708 0.99680213 0.00288989 -0.17619064] [ 0.01604485 -0.00418417 0.99986252 -0.37653507] [ 0. 0. 0. 1. ]] SLAMing on 52.501346184 meters Centerline goodness [0,1] 0.6446273735045549 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.38 [[ 0.99658277 -0.08080937 -0.01710641 1.38605335] [ 0.08084955 0.99672492 0.00166948 -0.17941287] [ 0.01691548 -0.00304682 0.99985228 -0.3810642 ] [ 0. 0. 0. 1. ]] SLAMing on 52.531346184 meters Centerline goodness [0,1] 0.6417155795906703 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.38 [[ 0.99687039 -0.07708444 -0.01753335 1.38666572] [ 0.07719905 0.99699791 0.00595539 -0.18070835] [ 0.01702164 -0.00729031 0.99982854 -0.38188507] [ 0. 0. 0. 1. ]] SLAMing on 52.561346183999994 meters Centerline goodness [0,1] 0.6435434577076142 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.38 [[ 0.99688391 -0.07679923 -0.01800993 1.38784134] [ 0.07691621 0.99702014 0.00589434 -0.17862907] [ 0.01750359 -0.00726122 0.99982043 -0.38193233] [ 0. 0. 0. 1. ]] SLAMing on 52.591346183999995 meters Centerline goodness [0,1] 0.6498210796689425 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.38 [[ 0.99685222 -0.07725169 -0.01782781 1.38674878] [ 0.07736643 0.99698564 0.00583749 -0.17986706] [ 0.01732312 -0.00719839 0.99982403 -0.3807934 ] [ 0. 0. 0. 1. ]] SLAMing on 52.621346184 meters Centerline goodness [0,1] 0.6743533537921964 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.18, Z:-0.38 [[ 0.99658802 -0.08057011 -0.01791047 1.38826351] [ 0.08062604 0.99674148 0.00242208 -0.18154418] [ 0.01765696 -0.00385787 0.99983666 -0.38118137] [ 0. 0. 0. 1. ]] SLAMing on 52.651346184 meters Centerline goodness [0,1] 0.659083942724526 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 9.96499658e-01 -8.17734213e-02 -1.73648921e-02 1.38771840e+00] [ 8.18094552e-02 9.96647042e-01 1.37378799e-03 -1.85708550e-01] [ 1.71943290e-02 -2.78959163e-03 9.99848275e-01 -3.80949056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.681346184 meters Centerline goodness [0,1] 0.6431509980191985 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 0.9965011 -0.08177816 -0.01725963 1.38778243] [ 0.08182338 0.99664498 0.001929 -0.18925117] [ 0.01704397 -0.00333449 0.99984918 -0.38111727] [ 0. 0. 0. 1. ]] SLAMing on 52.711346184 meters Centerline goodness [0,1] 0.6568220808269452 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 0.99649191 -0.08194114 -0.01701517 1.3868114 ] [ 0.08198268 0.99663221 0.00175699 -0.18874979] [ 0.01681389 -0.00314577 0.99985369 -0.37983827] [ 0. 0. 0. 1. ]] SLAMing on 52.741346183999994 meters Centerline goodness [0,1] 0.6520458973803853 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 0.99674321 -0.07869481 -0.01760991 1.386914 ] [ 0.07880399 0.99687444 0.00559322 -0.18986942] [ 0.01711472 -0.00696274 0.99982929 -0.37959831] [ 0. 0. 0. 1. ]] SLAMing on 52.771346183999995 meters Centerline goodness [0,1] 0.6451221099206177 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 0.99677259 -0.07821166 -0.01809254 1.38855941] [ 0.07833332 0.99690847 0.00611519 -0.19048872] [ 0.01755832 -0.0075127 0.99981762 -0.38037513] [ 0. 0. 0. 1. ]] SLAMing on 52.801346183999996 meters Centerline goodness [0,1] 0.6496400856012624 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.19, Z:-0.38 [[ 0.99661627 -0.07998582 -0.01892804 1.39394557] [ 0.08008489 0.99677774 0.00453365 -0.1947423 ] [ 0.01850442 -0.00603416 0.99981057 -0.3840715 ] [ 0. 0. 0. 1. ]] SLAMing on 52.831346184 meters Centerline goodness [0,1] 0.6506828658825556 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.39 [[ 0.9966468 -0.07954926 -0.01915899 1.39560086] [ 0.07966817 0.99680613 0.005524 -0.19818948] [ 0.01865837 -0.00703184 0.99980119 -0.38561384] [ 0. 0. 0. 1. ]] SLAMing on 52.861346184 meters Centerline goodness [0,1] 0.6355857121248136 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.39 [[ 0.99663831 -0.07966599 -0.01911575 1.39565586] [ 0.07978916 0.99679507 0.0057685 -0.20001737] [ 0.01859493 -0.00727434 0.99980064 -0.3857681 ] [ 0. 0. 0. 1. ]] SLAMing on 52.891346184 meters Centerline goodness [0,1] 0.6273338633091979 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.38 [[ 9.96340639e-01 -8.32845842e-02 -1.92095872e-02 1.39628161e+00] [ 8.33239533e-02 9.96521720e-01 1.25686105e-03 -1.98351771e-01] [ 1.90380937e-02 -2.85288049e-03 9.99814689e-01 -3.83921052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.921346183999994 meters Centerline goodness [0,1] 0.6445333505409649 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.38 [[ 9.96335193e-01 -8.33484044e-02 -1.92152880e-02 1.39594515e+00] [ 8.33858123e-02 9.96516672e-01 1.15245476e-03 -1.98455795e-01] [ 1.90522996e-02 -2.75051363e-03 9.99814705e-01 -3.83161455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.951346183999995 meters Centerline goodness [0,1] 0.6477849932488908 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.38 [[ 0.9963514 -0.08312449 -0.0193443 1.39626078] [ 0.08316853 0.99653439 0.00148207 -0.19930907] [ 0.01915407 -0.0030855 0.99981178 -0.38304806] [ 0. 0. 0. 1. ]] SLAMing on 52.981346183999996 meters Centerline goodness [0,1] 0.6173389601765172 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.20, Z:-0.38 [[ 0.99634965 -0.08318152 -0.01918886 1.39607604] [ 0.08323695 0.99652756 0.00210664 -0.20297848] [ 0.01894699 -0.00369617 0.99981366 -0.38311677] [ 0. 0. 0. 1. ]] SLAMing on 53.011346184 meters Centerline goodness [0,1] 0.6385614342868146 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.21, Z:-0.38 [[ 0.99638087 -0.08277629 -0.01931972 1.39704934] [ 0.08284914 0.99655759 0.00299974 -0.20585175] [ 0.01900491 -0.0045895 0.99980886 -0.38405536] [ 0. 0. 0. 1. ]] SLAMing on 53.041346184 meters Centerline goodness [0,1] 0.6363772583269116 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.21, Z:-0.38 [[ 0.99641046 -0.08238779 -0.01945385 1.39798752] [ 0.08247523 0.99658612 0.0037349 -0.20818742] [ 0.01907972 -0.00532596 0.99980378 -0.3848737 ] [ 0. 0. 0. 1. ]] SLAMing on 53.071346184 meters Centerline goodness [0,1] 0.625336466566973 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.21, Z:-0.39 [[ 0.99643887 -0.08196042 -0.0198007 1.39935529] [ 0.08206637 0.99661626 0.0045975 -0.21006366] [ 0.01935689 -0.0062061 0.99979338 -0.3858149 ] [ 0. 0. 0. 1. ]] SLAMing on 53.101346184 meters Centerline goodness [0,1] 0.6298949073778005 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.21, Z:-0.39 [[ 0.99646589 -0.08154162 -0.02016663 1.40056223] [ 0.08166048 0.99664695 0.00514113 -0.21087551] [ 0.01967979 -0.00676978 0.99978341 -0.3863047 ] [ 0. 0. 0. 1. ]] SLAMing on 53.131346183999995 meters Centerline goodness [0,1] 0.6162096204482692 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.21, Z:-0.39 [[ 0.99646734 -0.0815059 -0.02023944 1.40073161] [ 0.08162919 0.99664846 0.00534079 -0.211923 ] [ 0.0197363 -0.00697405 0.9997809 -0.38618157] [ 0. 0. 0. 1. ]] SLAMing on 53.161346183999996 meters Centerline goodness [0,1] 0.6048057259713702 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.38 [[ 0.99636711 -0.08281065 -0.01987395 1.39958659] [ 0.08291277 0.99654723 0.00436926 -0.21562273] [ 0.01944351 -0.00600119 0.99979295 -0.38493979] [ 0. 0. 0. 1. ]] SLAMing on 53.191346184 meters Centerline goodness [0,1] 0.62004206411591 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.38 [[ 0.99635751 -0.08296348 -0.0197172 1.39920526] [ 0.08306931 0.99653311 0.00460912 -0.21748968] [ 0.01926646 -0.00623023 0.99979497 -0.3847384 ] [ 0. 0. 0. 1. ]] SLAMing on 53.221346184 meters Centerline goodness [0,1] 0.6282277057562963 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.38 [[ 0.99635682 -0.08297584 -0.01970018 1.39918924] [ 0.08308581 0.99653069 0.00482952 -0.21861258] [ 0.0192311 -0.00644873 0.99979427 -0.38468479] [ 0. 0. 0. 1. ]] SLAMing on 53.251346184 meters Centerline goodness [0,1] 0.6072274380444895 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.39 [[ 0.99638885 -0.08252721 -0.01996319 1.40036622] [ 0.0826533 0.99656277 0.00557437 -0.22033523] [ 0.01943453 -0.00720426 0.99978518 -0.38541958] [ 0. 0. 0. 1. ]] SLAMing on 53.281346184 meters Centerline goodness [0,1] 0.6143333192727887 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.39 [[ 0.99641549 -0.08216821 -0.02011355 1.40123361] [ 0.08231315 0.99658541 0.006486 -0.22335728] [ 0.01951192 -0.00811836 0.99977666 -0.38617368] [ 0. 0. 0. 1. ]] SLAMing on 53.311346183999994 meters Centerline goodness [0,1] 0.6253299824713312 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.39 [[ 0.99642872 -0.08194519 -0.02036625 1.40193216] [ 0.08209644 0.99660185 0.00670346 -0.22366258] [ 0.01974773 -0.00835152 0.99977011 -0.38631835] [ 0. 0. 0. 1. ]] SLAMing on 53.341346183999995 meters Centerline goodness [0,1] 0.6163342226739508 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.22, Z:-0.39 [[ 0.99644529 -0.08167777 -0.02062808 1.40285515] [ 0.08183378 0.99662256 0.00683417 -0.22338462] [ 0.02000021 -0.00849795 0.99976386 -0.38669688] [ 0. 0. 0. 1. ]] SLAMing on 53.371346184 meters Centerline goodness [0,1] 0.6151460162052667 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99650719 -0.08073926 -0.02132132 1.40567675] [ 0.08091918 0.99669082 0.00771382 -0.22394146] [ 0.02062796 -0.00941218 0.99974292 -0.38835887] [ 0. 0. 0. 1. ]] SLAMing on 53.401346184 meters Centerline goodness [0,1] 0.6170647888511733 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99653256 -0.08033648 -0.02165439 1.40709682] [ 0.08052671 0.99671987 0.00805934 -0.2242988 ] [ 0.0209359 -0.00977515 0.99973303 -0.38924645] [ 0. 0. 0. 1. ]] SLAMing on 53.431346184 meters Centerline goodness [0,1] 0.6430198709024174 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99655756 -0.07997331 -0.0218474 1.40820137] [ 0.08017182 0.99674596 0.00836517 -0.22490704] [ 0.02110731 -0.01008792 0.99972632 -0.39001907] [ 0. 0. 0. 1. ]] SLAMing on 53.461346184 meters Centerline goodness [0,1] 0.6380461421448491 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.23, Z:-0.39 [[ 0.99658421 -0.0796279 -0.021893 1.40915 ] [ 0.0798344 0.99676996 0.00872455 -0.22636544] [ 0.02112756 -0.01044256 0.99972225 -0.39099963] [ 0. 0. 0. 1. ]] SLAMing on 53.491346183999994 meters Centerline goodness [0,1] 0.6471691354642954 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.23, Z:-0.39 [[ 0.99660345 -0.07925731 -0.02235711 1.41061421] [ 0.07947026 0.99679838 0.0088013 -0.22590194] [ 0.02158797 -0.01054813 0.99971131 -0.39147774] [ 0. 0. 0. 1. ]] SLAMing on 53.521346183999995 meters Centerline goodness [0,1] 0.6420480960229914 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99661239 -0.07910294 -0.02250502 1.41102491] [ 0.07930888 0.99681462 0.00840887 -0.22384764] [ 0.02176817 -0.01016523 0.99971137 -0.39130995] [ 0. 0. 0. 1. ]] SLAMing on 53.551346183999996 meters Centerline goodness [0,1] 0.6607959356477562 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99661824 -0.07892875 -0.02285483 1.41179029] [ 0.07912692 0.99683325 0.00789908 -0.22100466] [ 0.02215899 -0.0096808 0.99970759 -0.39102564] [ 0. 0. 0. 1. ]] SLAMing on 53.581346184 meters Centerline goodness [0,1] 0.6380612007528497 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99662185 -0.07874323 -0.02333237 1.41272174] [ 0.07893422 0.99685251 0.00737924 -0.21868277] [ 0.02267787 -0.00919603 0.99970053 -0.39054432] [ 0. 0. 0. 1. ]] SLAMing on 53.611346184 meters Centerline goodness [0,1] 0.6422664235124476 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.9966273 -0.07862879 -0.02348493 1.41314294] [ 0.0788134 0.99686453 0.00704006 -0.21741598] [ 0.02285774 -0.00886724 0.9996994 -0.39034971] [ 0. 0. 0. 1. ]] SLAMing on 53.641346184 meters Centerline goodness [0,1] 0.6403646385414459 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.22, Z:-0.39 [[ 0.99663431 -0.07849164 -0.02364559 1.41399487] [ 0.07868164 0.9968737 0.00721356 -0.21835709] [ 0.02300547 -0.00904976 0.99969438 -0.39092965] [ 0. 0. 0. 1. ]] SLAMing on 53.671346183999994 meters Centerline goodness [0,1] 0.6372869137477737 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.22, Z:-0.39 [[ 0.99665129 -0.07821152 -0.02385718 1.4151979 ] [ 0.07841045 0.99689281 0.00751844 -0.21918451] [ 0.02319503 -0.00936392 0.9996871 -0.39182537] [ 0. 0. 0. 1. ]] SLAMing on 53.701346183999995 meters Centerline goodness [0,1] 0.6320822731128075 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.22, Z:-0.39 [[ 0.99667957 -0.07773696 -0.02422407 1.41693662] [ 0.07794199 0.99692865 0.00763643 -0.21698834] [ 0.02355604 -0.00949915 0.99967739 -0.39306226] [ 0. 0. 0. 1. ]] SLAMing on 53.731346183999996 meters Centerline goodness [0,1] 0.6519805035864036 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.22, Z:-0.39 [[ 0.99668479 -0.07760396 -0.02443477 1.41776037] [ 0.07780692 0.99694048 0.0074668 -0.21520886] [ 0.02378056 -0.00934324 0.99967354 -0.39351002] [ 0. 0. 0. 1. ]] SLAMing on 53.761346184 meters Centerline goodness [0,1] 0.6339158383176178 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.21, Z:-0.39 [[ 0.99669041 -0.07746155 -0.02465635 1.41866919] [ 0.07766162 0.99695333 0.00726141 -0.21331919] [ 0.02401875 -0.00915223 0.99966961 -0.39403174] [ 0. 0. 0. 1. ]] SLAMing on 53.791346184 meters Centerline goodness [0,1] 0.6301550783912747 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.21, Z:-0.39 [[ 0.99667388 -0.07761634 -0.02483692 1.41881879] [ 0.07778436 0.99695292 0.00587032 -0.20855953] [ 0.0243056 -0.00778272 0.99967428 -0.39294284] [ 0. 0. 0. 1. ]] SLAMing on 53.821346184 meters Centerline goodness [0,1] 0.6662965256571782 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.21, Z:-0.39 [[ 0.99666115 -0.07778333 -0.02482534 1.41852522] [ 0.07793409 0.99694515 0.00516273 -0.2064468 ] [ 0.02434793 -0.00708023 0.99967847 -0.39224117] [ 0. 0. 0. 1. ]] SLAMing on 53.851346184 meters Centerline goodness [0,1] 0.665152968766656 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.20, Z:-0.39 [[ 0.99663273 -0.078135 -0.02486201 1.41831389] [ 0.07825952 0.9969247 0.00407403 -0.20407388] [ 0.02446722 -0.006006 0.99968259 -0.39135755] [ 0. 0. 0. 1. ]] SLAMing on 53.881346183999995 meters Centerline goodness [0,1] 0.6556284316448395 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.20, Z:-0.39 [[ 0.99663379 -0.07810588 -0.02491119 1.4187647 ] [ 0.07822722 0.9969278 0.00393249 -0.20367016] [ 0.02452751 -0.00586799 0.99968193 -0.3916931 ] [ 0. 0. 0. 1. ]] SLAMing on 53.911346183999996 meters Centerline goodness [0,1] 0.6531727730805363 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.20, Z:-0.39 [[ 0.99664162 -0.07792949 -0.02514924 1.41983201] [ 0.0780527 0.9969414 0.00395356 -0.20296 ] [ 0.02476422 -0.00590325 0.99967589 -0.39237027] [ 0. 0. 0. 1. ]] SLAMing on 53.941346184 meters Centerline goodness [0,1] 0.6889973665617574 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.20, Z:-0.39 [[ 0.99667645 -0.07727163 -0.02579058 1.4225494 ] [ 0.07740546 0.99699072 0.0042305 -0.19890858] [ 0.02538607 -0.00621278 0.99965842 -0.39446811] [ 0. 0. 0. 1. ]] SLAMing on 53.971346184 meters Centerline goodness [0,1] 0.6819079512278894 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.20, Z:-0.40 [[ 0.99669498 -0.07681524 -0.02642967 1.42482706] [ 0.07695533 0.99702517 0.00432306 -0.19624986] [ 0.02601897 -0.00634268 0.99964133 -0.39570711] [ 0. 0. 0. 1. ]] SLAMing on 54.001346184 meters Centerline goodness [0,1] 0.6453560837237289 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 0.99671206 -0.07637734 -0.02704777 1.42701433] [ 0.07652389 0.99705793 0.0044239 -0.19380434] [ 0.02663031 -0.00647916 0.99962435 -0.39693272] [ 0. 0. 0. 1. ]] SLAMing on 54.031346184 meters Centerline goodness [0,1] 0.6390551655828776 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 0.99670307 -0.076437 -0.02720989 1.42784981] [ 0.07657637 0.99705522 0.0041162 -0.1918624 ] [ 0.02681513 -0.00618626 0.99962127 -0.39757368] [ 0. 0. 0. 1. ]] SLAMing on 54.061346183999994 meters Centerline goodness [0,1] 0.6652620716343467 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 9.96455544e-01 -7.95559713e-02 -2.73348892e-02 1.43052403e+00] [ 7.95962420e-02 9.96827111e-01 3.86599562e-04 -1.90004781e-01] [ 2.72174023e-02 -2.56098374e-03 9.99626257e-01 -3.99461165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.091346183999995 meters Centerline goodness [0,1] 0.6652620716343467 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 9.96455544e-01 -7.95559713e-02 -2.73348892e-02 1.43052403e+00] [ 7.95962420e-02 9.96827111e-01 3.86599562e-04 -1.90004781e-01] [ 2.72174023e-02 -2.56098374e-03 9.99626257e-01 -3.99461165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.121346184 meters Centerline goodness [0,1] 0.6606703766015272 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 9.96438953e-01 -7.98144160e-02 -2.71858748e-02 1.43039167e+00] [ 7.98497919e-02 9.96806884e-01 2.16426888e-04 -1.90387658e-01] [ 2.70817931e-02 -2.38644263e-03 9.99630372e-01 -3.99688593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.151346184 meters Centerline goodness [0,1] 0.6632734316151943 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.19, Z:-0.40 [[ 9.96436071e-01 -7.97982121e-02 -2.73386555e-02 1.43106054e+00] [ 7.98323502e-02 9.96808292e-01 1.57793743e-04 -1.89745736e-01] [ 2.72388068e-02 -2.33974050e-03 9.99626217e-01 -4.00128504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.181346184 meters Centerline goodness [0,1] 0.6424849267872523 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.19, Z:-0.40 [[ 0.9965357 -0.08039311 -0.02129653 1.44232045] [ 0.0805692 0.99672048 0.00754252 -0.18599669] [ 0.02062032 -0.00923223 0.99974475 -0.40018128] [ 0. 0. 0. 1. ]] SLAMing on 54.211346184 meters Centerline goodness [0,1] 0.6348746132375533 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.18, Z:-0.40 [[ 0.99649245 -0.0808691 -0.021517 1.44200202] [ 0.0810232 0.99669175 0.0063877 -0.1823373 ] [ 0.02092924 -0.00810867 0.99974808 -0.39891351] [ 0. 0. 0. 1. ]] SLAMing on 54.241346183999994 meters Centerline goodness [0,1] 0.6304333701513871 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.18, Z:-0.40 [[ 0.99647354 -0.08106574 -0.0216527 1.4421363 ] [ 0.08121092 0.99667941 0.00591076 -0.18055297] [ 0.02110164 -0.00764835 0.99974808 -0.3986441 ] [ 0. 0. 0. 1. ]] SLAMing on 54.271346183999995 meters Centerline goodness [0,1] 0.6293613791607937 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.18, Z:-0.40 [[ 0.99647141 -0.08107147 -0.02172911 1.44290924] [ 0.08122082 0.99667759 0.00607967 -0.18082637] [ 0.02116403 -0.00782307 0.99974541 -0.39953751] [ 0. 0. 0. 1. ]] SLAMing on 54.301346183999996 meters Centerline goodness [0,1] 0.6234809027777778 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.18, Z:-0.40 [[ 0.99620367 -0.08421057 -0.02206406 1.44628863] [ 0.08429515 0.99643652 0.00293018 -0.18122365] [ 0.02173868 -0.00477895 0.99975227 -0.40215251] [ 0. 0. 0. 1. ]] SLAMing on 54.331346184 meters Centerline goodness [0,1] 0.6147587224440201 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.18, Z:-0.40 [[ 0.99619776 -0.08425453 -0.02216308 1.44705007] [ 0.08434115 0.99643242 0.00300146 -0.18112002] [ 0.02183113 -0.0048593 0.99974986 -0.40299119] [ 0. 0. 0. 1. ]] SLAMing on 54.361346184 meters Centerline goodness [0,1] 0.6122776921239496 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.18, Z:-0.40 [[ 0.99618112 -0.08442077 -0.02227783 1.44734128] [ 0.08449956 0.99642008 0.00261773 -0.17930327] [ 0.02197708 -0.0044902 0.99974839 -0.40303802] [ 0. 0. 0. 1. ]] SLAMing on 54.391346184 meters Centerline goodness [0,1] 0.6497715901675005 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.18, Z:-0.40 [[ 0.99638124 -0.08200969 -0.02233439 1.44521666] [ 0.08213444 0.99661006 0.00472502 -0.1750387 ] [ 0.02187118 -0.00654234 0.99973939 -0.40110899] [ 0. 0. 0. 1. ]] SLAMing on 54.421346183999994 meters Centerline goodness [0,1] 0.6358725248872721 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99636299 -0.08220592 -0.02242728 1.44525034] [ 0.08232018 0.99659701 0.00421814 -0.17341788] [ 0.02200421 -0.00604902 0.99973958 -0.40081977] [ 0. 0. 0. 1. ]] SLAMing on 54.451346183999995 meters Centerline goodness [0,1] 0.6426638145545029 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99636524 -0.08219843 -0.02235446 1.44545319] [ 0.08231136 0.99659791 0.00417775 -0.17365385] [ 0.021935 -0.0060026 0.99974138 -0.40119519] [ 0. 0. 0. 1. ]] SLAMing on 54.481346183999996 meters Centerline goodness [0,1] 0.5888244021644267 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99637142 -0.08213118 -0.0223265 1.44585213] [ 0.08224667 0.99660271 0.00430342 -0.17457033] [ 0.02189721 -0.00612409 0.99974147 -0.40172062] [ 0. 0. 0. 1. ]] SLAMing on 54.511346184 meters Centerline goodness [0,1] 0.6504081052101797 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99638608 -0.08187715 -0.02260328 1.44660178] [ 0.081982 0.99662676 0.00375005 -0.17202673] [ 0.02221999 -0.00558956 0.99973748 -0.40153862] [ 0. 0. 0. 1. ]] SLAMing on 54.541346184 meters Centerline goodness [0,1] 0.6468972488353696 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99665916 -0.0784361 -0.02276593 1.44587823] [ 0.07862074 0.99687764 0.00733075 -0.17138393] [ 0.02211986 -0.00909613 0.99971395 -0.40125531] [ 0. 0. 0. 1. ]] SLAMing on 54.571346184 meters Centerline goodness [0,1] 0.6576219713474616 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99692762 -0.07484631 -0.02309441 1.44568 ] [ 0.07511509 0.99711422 0.01099811 -0.17096425] [ 0.0222046 -0.01269906 0.99967279 -0.40110322] [ 0. 0. 0. 1. ]] SLAMing on 54.601346184 meters Centerline goodness [0,1] 0.6418901040747927 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99695244 -0.07430889 -0.02374909 1.44767785] [ 0.07458403 0.99715498 0.01091627 -0.16877031] [ 0.02287035 -0.0126543 0.99965835 -0.40175908] [ 0. 0. 0. 1. ]] SLAMing on 54.631346183999995 meters Centerline goodness [0,1] 0.6461426780175543 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99694926 -0.07429829 -0.02391516 1.44827745] [ 0.07457343 0.99715677 0.01082493 -0.1688686 ] [ 0.02304289 -0.01257535 0.99965538 -0.40196488] [ 0. 0. 0. 1. ]] SLAMing on 54.661346183999996 meters Centerline goodness [0,1] 0.6444871539973933 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99692888 -0.07461076 -0.02379175 1.44790025] [ 0.07487883 0.9971365 0.01058149 -0.16923612] [ 0.02293413 -0.01233049 0.99966093 -0.40176033] [ 0. 0. 0. 1. ]] SLAMing on 54.691346184 meters Centerline goodness [0,1] 0.6283789733204191 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99662895 -0.07850704 -0.02381981 1.44888284] [ 0.07867948 0.99687949 0.00638896 -0.16862466] [ 0.0232439 -0.00824156 0.99969585 -0.40178307] [ 0. 0. 0. 1. ]] SLAMing on 54.721346184 meters Centerline goodness [0,1] 0.5911087682305394 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99661147 -0.07877655 -0.02366071 1.44869922] [ 0.07894764 0.99685832 0.00638457 -0.16901522] [ 0.02308342 -0.00823089 0.99969966 -0.40205346] [ 0. 0. 0. 1. ]] SLAMing on 54.751346184 meters Centerline goodness [0,1] 0.6167755559955124 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99659581 -0.07899344 -0.02359709 1.44846394] [ 0.07915957 0.99684274 0.00618959 -0.16887055] [ 0.02303365 -0.00803645 0.99970239 -0.4018536 ] [ 0. 0. 0. 1. ]] SLAMing on 54.781346184 meters Centerline goodness [0,1] 0.6186169045005488 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99655938 -0.07946244 -0.02356114 1.44800829] [ 0.07962349 0.99680709 0.00597632 -0.16923524] [ 0.02301102 -0.00783178 0.99970453 -0.40142121] [ 0. 0. 0. 1. ]] SLAMing on 54.811346183999994 meters Centerline goodness [0,1] 0.6001185094149146 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99655549 -0.07947806 -0.02367274 1.44824892] [ 0.07964368 0.99680451 0.00613636 -0.17040559] [ 0.02310939 -0.0080006 0.99970093 -0.40135434] [ 0. 0. 0. 1. ]] SLAMing on 54.841346183999995 meters Centerline goodness [0,1] 0.623180782044538 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99654045 -0.07971865 -0.02349599 1.44740383] [ 0.07987883 0.99678677 0.0059581 -0.17105985] [ 0.02294552 -0.00781432 0.99970618 -0.40056583] [ 0. 0. 0. 1. ]] SLAMing on 54.871346184 meters Centerline goodness [0,1] 0.6042808895126979 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99652082 -0.07995322 -0.02353178 1.44677879] [ 0.080099 0.99677273 0.00531747 -0.16949138] [ 0.02303069 -0.00718384 0.99970895 -0.39933084] [ 0. 0. 0. 1. ]] SLAMing on 54.901346184 meters Centerline goodness [0,1] 0.6532311062431544 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99650818 -0.08001071 -0.02386917 1.44693446] [ 0.08014433 0.99677222 0.00469335 -0.16752193] [ 0.02341661 -0.00658994 0.99970407 -0.39827234] [ 0. 0. 0. 1. ]] SLAMing on 54.931346184 meters Centerline goodness [0,1] 0.6161348294906637 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99651249 -0.07989807 -0.02406554 1.44735756] [ 0.08002919 0.99678221 0.0045341 -0.16664129] [ 0.02362584 -0.00644423 0.9997001 -0.39808678] [ 0. 0. 0. 1. ]] SLAMing on 54.961346184 meters Centerline goodness [0,1] 0.6452977403730247 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99653175 -0.0795813 -0.02431635 1.44847932] [ 0.0797223 0.99680515 0.00488364 -0.16733205] [ 0.02385002 -0.00680526 0.99969239 -0.39879202] [ 0. 0. 0. 1. ]] SLAMing on 54.991346183999994 meters Centerline goodness [0,1] 0.6457649376231123 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99659764 -0.07860697 -0.02478099 1.45154894] [ 0.07878066 0.99687325 0.00611067 -0.17035926] [ 0.02422316 -0.00804214 0.99967423 -0.40155154] [ 0. 0. 0. 1. ]] SLAMing on 55.021346183999995 meters Centerline goodness [0,1] 0.6251312565628282 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99663473 -0.07803324 -0.02510019 1.45343222] [ 0.07822584 0.99691258 0.00678369 -0.17140909] [ 0.02449334 -0.00872434 0.99966192 -0.40310636] [ 0. 0. 0. 1. ]] SLAMing on 55.051346183999996 meters Centerline goodness [0,1] 0.6349182015286569 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99665478 -0.07765528 -0.02547364 1.45478457] [ 0.0778582 0.99693936 0.0070718 -0.17135808] [ 0.02484651 -0.00903148 0.99965048 -0.40376937] [ 0. 0. 0. 1. ]] SLAMing on 55.081346184 meters Centerline goodness [0,1] 0.6313771293827269 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99689232 -0.07453807 -0.02549084 1.45245625] [ 0.07480287 0.99715217 0.00959585 -0.16786051] [ 0.02470299 -0.01147281 0.999629 -0.40130863] [ 0. 0. 0. 1. ]] SLAMing on 55.111346184 meters Centerline goodness [0,1] 0.6460779346652863 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99687131 -0.07468031 -0.02589281 1.45241246] [ 0.07492373 0.99715252 0.00856066 -0.16518772] [ 0.02517977 -0.01047386 0.99962807 -0.39951035] [ 0. 0. 0. 1. ]] SLAMing on 55.141346184 meters Centerline goodness [0,1] 0.6649509480445207 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.16, Z:-0.40 [[ 0.99684419 -0.07500076 -0.02601048 1.4518917 ] [ 0.07522699 0.9971357 0.00782973 -0.16434048] [ 0.02534874 -0.00976171 0.99963101 -0.39815206] [ 0. 0. 0. 1. ]] SLAMing on 55.171346183999994 meters Centerline goodness [0,1] 0.6438166732516792 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99659577 -0.07822609 -0.02602996 1.45330254] [ 0.07836638 0.99691486 0.00441213 -0.16666498] [ 0.02560451 -0.00643698 0.99965143 -0.39844549] [ 0. 0. 0. 1. ]] SLAMing on 55.201346183999995 meters Centerline goodness [0,1] 0.6451000087343872 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99659408 -0.07824333 -0.02604269 1.45391646] [ 0.07839425 0.99691076 0.00482376 -0.1690043 ] [ 0.02558481 -0.00684893 0.99964919 -0.39915601] [ 0. 0. 0. 1. ]] SLAMing on 55.231346183999996 meters Centerline goodness [0,1] 0.6463387882244549 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 0.99657218 -0.07852343 -0.02603774 1.45409594] [ 0.07867126 0.99688953 0.0047012 -0.16907313] [ 0.0255876 -0.00673351 0.99964991 -0.39938119] [ 0. 0. 0. 1. ]] SLAMing on 55.261346184 meters Centerline goodness [0,1] 0.6355746471464889 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99656301 -0.07853309 -0.02635763 1.45506961] [ 0.07868095 0.99688915 0.00461889 -0.16792919] [ 0.0259129 -0.00667686 0.99964191 -0.39972711] [ 0. 0. 0. 1. ]] SLAMing on 55.291346184 meters Centerline goodness [0,1] 0.6154082731047209 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99655314 -0.07855759 -0.02665586 1.45614428] [ 0.07870355 0.99688804 0.00446964 -0.1658826 ] [ 0.02622178 -0.00655214 0.99963468 -0.40041151] [ 0. 0. 0. 1. ]] SLAMing on 55.321346184 meters Centerline goodness [0,1] 0.6332682048692675 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99655003 -0.07864509 -0.02651373 1.45629888] [ 0.07879435 0.99688013 0.00463105 -0.16705427] [ 0.0260668 -0.0067042 0.99963772 -0.40089323] [ 0. 0. 0. 1. ]] SLAMing on 55.351346184 meters Centerline goodness [0,1] 0.6018923012754374 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99651252 -0.07923974 -0.0261507 1.4551469 ] [ 0.07938055 0.99683472 0.00438956 -0.16894238] [ 0.02572009 -0.00645011 0.99964837 -0.40027004] [ 0. 0. 0. 1. ]] SLAMing on 55.381346183999995 meters Centerline goodness [0,1] 0.6211342470567562 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 9.96157155e-01 -8.37404471e-02 -2.56604623e-02 1.45390678e+00] [ 8.37656280e-02 9.96485479e-01 -9.39122412e-05 -1.69724648e-01] [ 2.55781423e-02 -2.05591338e-03 9.99670712e-01 -3.98643131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.411346183999996 meters Centerline goodness [0,1] 0.6013955421396855 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 9.96149350e-01 -8.37993282e-02 -2.57710288e-02 1.45418342e+00] [ 8.38303199e-02 9.96480036e-01 1.22660578e-04 -1.70306855e-01] [ 2.56700369e-02 -2.28258185e-03 9.99667864e-01 -3.98676453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.441346184 meters Centerline goodness [0,1] 0.6092041976388282 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 9.96106246e-01 -8.42681927e-02 -2.59078789e-02 1.45374728e+00] [ 8.42870393e-02 9.96441449e-01 -3.65670449e-04 -1.68640258e-01] [ 2.58464987e-02 -1.81945179e-03 9.99664268e-01 -3.97646117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.471346184 meters Centerline goodness [0,1] 0.5630852906989494 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.17, Z:-0.40 [[ 9.96106720e-01 -8.42112093e-02 -2.60744046e-02 1.45428475e+00] [ 8.42299778e-02 9.96446269e-01 -3.79619489e-04 -1.68221919e-01] [ 2.60137114e-02 -1.81810499e-03 9.99659933e-01 -3.97777950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.501346184 meters Centerline goodness [0,1] 0.6021758759662608 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 9.96119122e-01 -8.40296739e-02 -2.61860299e-02 1.45505340e+00] [ 8.40570120e-02 9.96460945e-01 -5.69493003e-05 -1.68969859e-01] [ 2.60981416e-02 -2.14439115e-03 9.99657086e-01 -3.98463589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.531346184 meters Centerline goodness [0,1] 0.5643638116523149 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 9.96152964e-01 -8.35644503e-02 -2.63866321e-02 1.45666008e+00] [ 8.36129481e-02 9.96498033e-01 7.38094435e-04 -1.71253319e-01] [ 2.62325485e-02 -2.94151906e-03 9.99651540e-01 -3.99880694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.561346183999994 meters Centerline goodness [0,1] 0.5570574188884264 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 9.96163828e-01 -8.34657354e-02 -2.62887392e-02 1.45737150e+00] [ 8.35279489e-02 9.96504619e-01 1.27547290e-03 -1.73801903e-01] [ 2.60903918e-02 -3.46642444e-03 9.99653578e-01 -4.01080295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.591346183999995 meters Centerline goodness [0,1] 0.5920147663099606 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 9.96174243e-01 -8.32219308e-02 -2.66643673e-02 1.45848483e+00] [ 8.32853661e-02 9.96524922e-01 1.27542177e-03 -1.72972060e-01] [ 2.64655635e-02 -3.49129391e-03 9.99643629e-01 -4.01335648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.621346184 meters Centerline goodness [0,1] 0.5840310349362205 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99620403 -0.08267685 -0.02724101 1.46039698] [ 0.08274875 0.99656928 0.00152087 -0.17181455] [ 0.02702181 -0.00376925 0.99962774 -0.40200821] [ 0. 0. 0. 1. ]] SLAMing on 55.651346184 meters Centerline goodness [0,1] 0.5775909380282309 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 9.96197631e-01 -8.27154080e-02 -2.73576550e-02 1.46019816e+00] [ 8.27860630e-02 9.96566275e-01 1.45823023e-03 -1.71890022e-01] [ 2.71430983e-02 -3.71751806e-03 9.99624646e-01 -4.01307551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.681346184 meters Centerline goodness [0,1] 0.5761029170045366 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.17, Z:-0.40 [[ 0.99619817 -0.08271412 -0.02734195 1.46031179] [ 0.08279284 0.99656523 0.00175757 -0.1740523 ] [ 0.02710266 -0.0040146 0.99962459 -0.40138557] [ 0. 0. 0. 1. ]] SLAMing on 55.711346184 meters Centerline goodness [0,1] 0.5700004384618758 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99621038 -0.08259306 -0.0272628 1.46044122] [ 0.08268153 0.99657374 0.00213201 -0.17632242] [ 0.0269933 -0.00437806 0.99962603 -0.40161237] [ 0. 0. 0. 1. ]] SLAMing on 55.741346183999994 meters Centerline goodness [0,1] 0.5885907504363002 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99625542 -0.08196038 -0.02752517 1.46151641] [ 0.08206513 0.99662332 0.00269598 -0.17748245] [ 0.02721126 -0.00494474 0.99961748 -0.40195654] [ 0. 0. 0. 1. ]] SLAMing on 55.771346183999995 meters Centerline goodness [0,1] 0.5873799126637554 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99654056 -0.07833858 -0.02774865 1.46124169] [ 0.07855124 0.99688785 0.00665686 -0.17849447] [ 0.0271408 -0.00881352 0.99959277 -0.40200054] [ 0. 0. 0. 1. ]] SLAMing on 55.801346183999996 meters Centerline goodness [0,1] 0.5931384339536002 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99680867 -0.0747794 -0.02793781 1.46062293] [ 0.07509437 0.99712221 0.01039871 -0.17864605] [ 0.02707981 -0.0124635 0.99955557 -0.40163555] [ 0. 0. 0. 1. ]] SLAMing on 55.831346184 meters Centerline goodness [0,1] 0.5727864041523401 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.9968204 -0.07445597 -0.02837945 1.46160246] [ 0.07476508 0.99715114 0.00998951 -0.17666322] [ 0.02755482 -0.01207954 0.99954731 -0.40118937] [ 0. 0. 0. 1. ]] SLAMing on 55.861346184 meters Centerline goodness [0,1] 0.6314889512451771 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99685846 -0.07389223 -0.0285156 1.46233146] [ 0.0742129 0.99718866 0.01035435 -0.17832281] [ 0.02767033 -0.01243804 0.99953972 -0.4013893 ] [ 0. 0. 0. 1. ]] SLAMing on 55.891346184 meters Centerline goodness [0,1] 0.633190447030006 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99686872 -0.07372634 -0.02858643 1.46297425] [ 0.07405633 0.99719708 0.01066055 -0.18079215] [ 0.02772034 -0.01274418 0.99953448 -0.40178464] [ 0. 0. 0. 1. ]] SLAMing on 55.921346183999994 meters Centerline goodness [0,1] 0.6106534990932728 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99686106 -0.07383005 -0.028586 1.46296387] [ 0.07415977 0.99718951 0.01064948 -0.18249354] [ 0.02771941 -0.01273598 0.99953461 -0.40152351] [ 0. 0. 0. 1. ]] SLAMing on 55.951346183999995 meters Centerline goodness [0,1] 0.6320375627866346 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99684096 -0.07413678 -0.02849279 1.4624143 ] [ 0.07445434 0.99717175 0.01024937 -0.18230379] [ 0.02765235 -0.01233841 0.99954145 -0.40084362] [ 0. 0. 0. 1. ]] SLAMing on 55.981346183999996 meters Centerline goodness [0,1] 0.6489785204952098 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99680922 -0.07434442 -0.02905659 1.46254832] [ 0.07463584 0.99716956 0.00907552 -0.17853832] [ 0.02829963 -0.01121522 0.99953657 -0.39883163] [ 0. 0. 0. 1. ]] SLAMing on 56.011346184 meters Centerline goodness [0,1] 0.6489785204952098 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99680922 -0.07434442 -0.02905659 1.46254832] [ 0.07463584 0.99716956 0.00907552 -0.17853832] [ 0.02829963 -0.01121522 0.99953657 -0.39883163] [ 0. 0. 0. 1. ]] SLAMing on 56.041346184 meters Centerline goodness [0,1] 0.6136075257055349 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.18, Z:-0.40 [[ 0.99682222 -0.07402119 -0.02943323 1.46368763] [ 0.07431759 0.99719305 0.00910549 -0.17773944] [ 0.02867662 -0.01126396 0.99952527 -0.3990866 ] [ 0. 0. 0. 1. ]] SLAMing on 56.071346184 meters Centerline goodness [0,1] 0.6329235960472404 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99684505 -0.07360488 -0.02970312 1.46511517] [ 0.07391601 0.99721908 0.0095148 -0.17871957] [ 0.02892018 -0.01168032 0.99951348 -0.40007931] [ 0. 0. 0. 1. ]] SLAMing on 56.101346184 meters Centerline goodness [0,1] 0.5983844558454317 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99667998 -0.07563943 -0.03012812 1.46887535] [ 0.07588509 0.99709133 0.007094 -0.18079453] [ 0.0295039 -0.00935672 0.99952087 -0.40234505] [ 0. 0. 0. 1. ]] SLAMing on 56.131346183999995 meters Centerline goodness [0,1] 0.6132296059963724 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99668201 -0.07558739 -0.03019127 1.46922567] [ 0.07583644 0.99709435 0.00718923 -0.18140787] [ 0.02956013 -0.00945497 0.99951828 -0.40255256] [ 0. 0. 0. 1. ]] SLAMing on 56.161346183999996 meters Centerline goodness [0,1] 0.6346799145857847 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99668124 -0.07549267 -0.03045254 1.47006957] [ 0.07574499 0.9971011 0.0072174 -0.18112141] [ 0.0298194 -0.00950007 0.99951016 -0.4027674 ] [ 0. 0. 0. 1. ]] SLAMing on 56.191346184 meters Centerline goodness [0,1] 0.5924736819115013 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99666382 -0.07562803 -0.0306859 1.47028629] [ 0.0758722 0.99709388 0.00687077 -0.18013905] [ 0.0300771 -0.00917605 0.99950546 -0.40225326] [ 0. 0. 0. 1. ]] SLAMing on 56.221346184 meters Centerline goodness [0,1] 0.6530478622405552 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99662663 -0.07627666 -0.0302859 1.46829107] [ 0.07648416 0.99705421 0.00575123 -0.17841355] [ 0.029758 -0.00804822 0.99952473 -0.40018647] [ 0. 0. 0. 1. ]] SLAMing on 56.251346184 meters Centerline goodness [0,1] 0.6457598327453287 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99661339 -0.07642911 -0.03033726 1.46810294] [ 0.07662895 0.99704463 0.00547838 -0.1787433 ] [ 0.02982889 -0.00778454 0.99952471 -0.3995317 ] [ 0. 0. 0. 1. ]] SLAMing on 56.281346184 meters Centerline goodness [0,1] 0.6530554404935796 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99660318 -0.076588 -0.03027176 1.46779977] [ 0.07678556 0.99703291 0.00541704 -0.17986698] [ 0.02976706 -0.00772307 0.99952703 -0.39914921] [ 0. 0. 0. 1. ]] SLAMing on 56.311346183999994 meters Centerline goodness [0,1] 0.6144431642790373 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.9965453 -0.0774173 -0.03006705 1.46693855] [ 0.07760594 0.99697077 0.00515685 -0.18249073] [ 0.02957674 -0.00747242 0.99953458 -0.39863775] [ 0. 0. 0. 1. ]] SLAMing on 56.341346183999995 meters Centerline goodness [0,1] 0.6032379830245904 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99652963 -0.07762195 -0.03005873 1.46682737] [ 0.07780651 0.99695585 0.00501804 -0.18234827] [ 0.02957772 -0.00733939 0.99953554 -0.3984831 ] [ 0. 0. 0. 1. ]] SLAMing on 56.371346184 meters Centerline goodness [0,1] 0.6243848021523721 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99652002 -0.07764023 -0.03032888 1.46750835] [ 0.07782129 0.99695561 0.00483399 -0.18122315] [ 0.02986124 -0.0071774 0.99952828 -0.39857133] [ 0. 0. 0. 1. ]] SLAMing on 56.401346184 meters Centerline goodness [0,1] 0.6125922218111384 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99654295 -0.07717487 -0.03076022 1.46932008] [ 0.07737229 0.9969883 0.00527857 -0.18044705] [ 0.03026021 -0.00764031 0.99951285 -0.39979883] [ 0. 0. 0. 1. ]] SLAMing on 56.431346184 meters Centerline goodness [0,1] 0.61709721647914 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99653931 -0.077209 -0.03079254 1.46967699] [ 0.07740695 0.99698556 0.00528752 -0.18075864] [ 0.03029148 -0.00765278 0.99951181 -0.40009075] [ 0. 0. 0. 1. ]] SLAMing on 56.461346184 meters Centerline goodness [0,1] 0.611900050018485 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99653903 -0.07721419 -0.03078845 1.47018406] [ 0.07742113 0.99698284 0.00558503 -0.18195115] [ 0.03026431 -0.00794938 0.99951032 -0.40081334] [ 0. 0. 0. 1. ]] SLAMing on 56.491346183999994 meters Centerline goodness [0,1] 0.599096947857422 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99624948 -0.08084693 -0.03083407 1.47167171] [ 0.08095013 0.99671592 0.00211152 -0.18349275] [ 0.0305621 -0.00459962 0.99952229 -0.40157343] [ 0. 0. 0. 1. ]] SLAMing on 56.521346183999995 meters Centerline goodness [0,1] 0.6251386804150623 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.9962363 -0.08099709 -0.03086584 1.47211591] [ 0.08110855 0.99670245 0.0023743 -0.18471488] [ 0.03057174 -0.00486885 0.99952072 -0.40222008] [ 0. 0. 0. 1. ]] SLAMing on 56.551346183999996 meters Centerline goodness [0,1] 0.5805736154297767 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 0.99623637 -0.08096564 -0.03094616 1.47268821] [ 0.08108487 0.99670377 0.0026153 -0.18457451] [ 0.03063241 -0.00511472 0.99951763 -0.402857 ] [ 0. 0. 0. 1. ]] SLAMing on 56.581346184 meters Centerline goodness [0,1] 0.5608519711078235 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 9.96179548e-01 -8.16086260e-02 -3.10860010e-02 1.47195082e+00] [ 8.16915841e-02 9.96656665e-01 1.40591661e-03 -1.80500086e-01] [ 3.08673352e-02 -3.94001003e-03 9.99515725e-01 -4.01237164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.611346184 meters Centerline goodness [0,1] 0.5929735855635951 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 9.96181811e-01 -8.15002343e-02 -3.12971451e-02 1.47215137e+00] [ 8.15791357e-02 9.96666083e-01 1.25033285e-03 -1.79554914e-01] [ 3.10909006e-02 -3.79875289e-03 9.99509342e-01 -4.00681746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.641346184 meters Centerline goodness [0,1] 0.5972544047567001 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 9.96177193e-01 -8.15339340e-02 -3.13563062e-02 1.47201961e+00] [ 8.16010894e-02 9.96664694e-01 8.65877678e-04 -1.79024562e-01] [ 3.11811249e-02 -3.42127634e-03 9.99507895e-01 -4.00020588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.671346183999994 meters Centerline goodness [0,1] 0.6105886983904829 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.18, Z:-0.40 [[ 9.96221100e-01 -8.09384655e-02 -3.15037364e-02 1.47291093e+00] [ 8.10124952e-02 9.96712502e-01 1.07849150e-03 -1.79552355e-01] [ 3.13128764e-02 -3.62661227e-03 9.99503052e-01 -4.00429475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.701346183999995 meters Centerline goodness [0,1] 0.5978059366207935 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99626116 -0.08022447 -0.03205846 1.47504861] [ 0.08031905 0.9967678 0.00167144 -0.17975715] [ 0.03182075 -0.0042401 0.9994846 -0.40158976] [ 0. 0. 0. 1. ]] SLAMing on 56.731346183999996 meters Centerline goodness [0,1] 0.6069739952718676 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99627393 -0.07991807 -0.03242465 1.47623729] [ 0.0800148 0.99679223 0.00169461 -0.17881245] [ 0.03218521 -0.00428274 0.99947275 -0.4020258 ] [ 0. 0. 0. 1. ]] SLAMing on 56.761346184 meters Centerline goodness [0,1] 0.6463211435587126 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99630379 -0.07928348 -0.03305871 1.47837515] [ 0.07939434 0.99684117 0.00205222 -0.1776458 ] [ 0.03279158 -0.00466931 0.9994513 -0.40298681] [ 0. 0. 0. 1. ]] SLAMing on 56.791346184 meters Centerline goodness [0,1] 0.607408221587162 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99661706 -0.07495674 -0.03370334 1.47994751] [ 0.07521599 0.99714615 0.00648935 -0.17731615] [ 0.03312073 -0.00900243 0.99941081 -0.40451859] [ 0. 0. 0. 1. ]] SLAMing on 56.821346184 meters Centerline goodness [0,1] 0.5900188820093971 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.41 [[ 0.99663867 -0.07436288 -0.03437325 1.48199403] [ 0.07463345 0.99718883 0.00665512 -0.17683454] [ 0.03378173 -0.00919814 0.99938691 -0.40503521] [ 0. 0. 0. 1. ]] SLAMing on 56.851346184 meters Centerline goodness [0,1] 0.63328268481205 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.41 [[ 0.99665298 -0.07402447 -0.03468744 1.48301225] [ 0.07430155 0.99721286 0.00676638 -0.17699028] [ 0.03408989 -0.00932106 0.9993753 -0.40529483] [ 0. 0. 0. 1. ]] SLAMing on 56.881346183999995 meters Centerline goodness [0,1] 0.6261057078730801 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99665079 -0.07406383 -0.03466634 1.48283004] [ 0.0743414 0.99720976 0.00678583 -0.17846484] [ 0.03406703 -0.00934025 0.9993759 -0.40495005] [ 0. 0. 0. 1. ]] SLAMing on 56.911346183999996 meters Centerline goodness [0,1] 0.6518980369693097 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99664722 -0.07413034 -0.03462689 1.48264371] [ 0.07440269 0.99720616 0.0066423 -0.17830016] [ 0.03403775 -0.00919636 0.99937824 -0.40466239] [ 0. 0. 0. 1. ]] SLAMing on 56.941346184 meters Centerline goodness [0,1] 0.5830667426267584 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99664395 -0.07396232 -0.03507719 1.48355442] [ 0.07423443 0.99721952 0.00651767 -0.17772658] [ 0.03449759 -0.00909973 0.99936335 -0.4043592 ] [ 0. 0. 0. 1. ]] SLAMing on 56.971346184 meters Centerline goodness [0,1] 0.6273847376788553 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99663457 -0.07401 -0.03524287 1.48367643] [ 0.07427788 0.99721736 0.00635145 -0.17732627] [ 0.03467473 -0.00894784 0.99935859 -0.40397166] [ 0. 0. 0. 1. ]] SLAMing on 57.001346184 meters Centerline goodness [0,1] 0.6396307068570422 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.18, Z:-0.40 [[ 0.99661946 -0.07408123 -0.03551945 1.48415893] [ 0.07436035 0.99720959 0.0066007 -0.17839328] [ 0.03493134 -0.00921962 0.99934719 -0.40389497] [ 0. 0. 0. 1. ]] SLAMing on 57.031346184 meters Centerline goodness [0,1] 0.6063827450635859 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99662302 -0.07385611 -0.03588629 1.48540391] [ 0.07415441 0.99722184 0.00705196 -0.17976189] [ 0.03526577 -0.00968928 0.999331 -0.40450828] [ 0. 0. 0. 1. ]] SLAMing on 57.061346183999994 meters Centerline goodness [0,1] 0.6226862525525327 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.41 [[ 0.99661329 -0.07392299 -0.03601868 1.48607388] [ 0.07423241 0.99721404 0.0073287 -0.1810718 ] [ 0.03537658 -0.00997763 0.99932424 -0.40511248] [ 0. 0. 0. 1. ]] SLAMing on 57.091346183999995 meters Centerline goodness [0,1] 0.619999122653097 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99632691 -0.07761476 -0.0361751 1.48725116] [ 0.07779358 0.99696313 0.00356007 -0.18152027] [ 0.03578892 -0.00636118 0.99933913 -0.4049967 ] [ 0. 0. 0. 1. ]] SLAMing on 57.121346184 meters Centerline goodness [0,1] 0.6072620943984988 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99631516 -0.07776195 -0.03618247 1.48717429] [ 0.07794733 0.99695047 0.00373934 -0.18341831] [ 0.03578136 -0.00654589 0.9993382 -0.40481752] [ 0. 0. 0. 1. ]] SLAMing on 57.151346184 meters Centerline goodness [0,1] 0.6025141064464826 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.40 [[ 0.99626705 -0.07854582 -0.03581234 1.48553513] [ 0.07872168 0.9968904 0.00352505 -0.18504613] [ 0.0354241 -0.00633109 0.99935232 -0.40386451] [ 0. 0. 0. 1. ]] SLAMing on 57.181346184 meters Centerline goodness [0,1] 0.6032228640924293 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99627944 -0.07817404 -0.03627808 1.48687218] [ 0.07836429 0.99691736 0.00385021 -0.18480561] [ 0.03586526 -0.00667879 0.99933432 -0.40423242] [ 0. 0. 0. 1. ]] SLAMing on 57.211346184 meters Centerline goodness [0,1] 0.6119507142078291 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99627435 -0.07808972 -0.03659811 1.48736563] [ 0.078273 0.99692546 0.00360001 -0.18342146] [ 0.03620446 -0.00645124 0.99932358 -0.40384018] [ 0. 0. 0. 1. ]] SLAMing on 57.241346183999994 meters Centerline goodness [0,1] 0.6140193852602165 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.9962839 -0.07779483 -0.03696421 1.48805476] [ 0.0779796 0.99694852 0.00358134 -0.18228071] [ 0.03657281 -0.00645048 0.99931017 -0.40355043] [ 0. 0. 0. 1. ]] SLAMing on 57.271346183999995 meters Centerline goodness [0,1] 0.5747716645544727 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.18, Z:-0.40 [[ 0.99629248 -0.07761103 -0.03711897 1.4887267 ] [ 0.07780603 0.99696114 0.00383565 -0.18350521] [ 0.03670849 -0.00670951 0.99930349 -0.40385258] [ 0. 0. 0. 1. ]] SLAMing on 57.301346183999996 meters Centerline goodness [0,1] 0.6037937658255479 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.40 [[ 0.99629707 -0.07745706 -0.03731683 1.48957389] [ 0.07766788 0.99697031 0.00423107 -0.18552547] [ 0.03687605 -0.00711372 0.99929453 -0.4043804 ] [ 0. 0. 0. 1. ]] SLAMing on 57.331346184 meters Centerline goodness [0,1] 0.640643959091697 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.41 [[ 9.96089094e-01 -7.97379297e-02 -3.80575864e-02 1.49350948e+00] [ 7.98505489e-02 9.96805798e-01 1.44597490e-03 -1.85868524e-01] [ 3.78207238e-02 -4.47923900e-03 9.99274501e-01 -4.05956636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.361346184 meters Centerline goodness [0,1] 0.6195191559283924 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.41 [[ 0.99611442 -0.07925526 -0.03840145 1.49457622] [ 0.07938014 0.99684291 0.00173591 -0.18500109] [ 0.03814263 -0.00477748 0.99926088 -0.40630747] [ 0. 0. 0. 1. ]] SLAMing on 57.391346184 meters Centerline goodness [0,1] 0.6398653052357158 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.19, Z:-0.41 [[ 0.99637692 -0.07569704 -0.03876852 1.49424784] [ 0.07596822 0.99709469 0.00556808 -0.18533066] [ 0.0382344 -0.00849308 0.9992327 -0.40601266] [ 0. 0. 0. 1. ]] SLAMing on 57.421346183999994 meters Centerline goodness [0,1] 0.6429831630763869 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.41 [[ 0.99639105 -0.07525269 -0.03926704 1.4956592 ] [ 0.07553133 0.99712737 0.00565938 -0.18436931] [ 0.03872836 -0.00860485 0.99921273 -0.40627149] [ 0. 0. 0. 1. ]] SLAMing on 57.451346183999995 meters Centerline goodness [0,1] 0.6481079673667767 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.41 [[ 0.9964274 -0.0743506 -0.04005521 1.49765137] [ 0.07464851 0.99719191 0.00599187 -0.1848406 ] [ 0.03949723 -0.00896052 0.9991795 -0.40616206] [ 0. 0. 0. 1. ]] SLAMing on 57.481346183999996 meters Centerline goodness [0,1] 0.6325322187391154 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.18, Z:-0.41 [[ 0.996438 -0.07408704 -0.04027928 1.49820866] [ 0.07438546 0.99721176 0.00595926 -0.18493394] [ 0.03972547 -0.00893423 0.99917069 -0.40601232] [ 0. 0. 0. 1. ]] SLAMing on 57.511346184 meters Centerline goodness [0,1] 0.6685974617637488 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.99645572 -0.07367455 -0.04059618 1.49923498] [ 0.07398084 0.99724105 0.00609284 -0.18547098] [ 0.04003529 -0.00907458 0.99915706 -0.40613635] [ 0. 0. 0. 1. ]] SLAMing on 57.541346184 meters Centerline goodness [0,1] 0.6526265458259981 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.9964658 -0.07345296 -0.04075017 1.49973411] [ 0.0737663 0.99725605 0.00623773 -0.18607496] [ 0.04018018 -0.00922167 0.9991499 -0.40621598] [ 0. 0. 0. 1. ]] SLAMing on 57.571346184 meters Centerline goodness [0,1] 0.6574705182300119 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.99645913 -0.0733076 -0.04117267 1.50038942] [ 0.07362957 0.9972654 0.00635681 -0.18627349] [ 0.04059408 -0.00936583 0.99913182 -0.40578444] [ 0. 0. 0. 1. ]] SLAMing on 57.60134618399999 meters Centerline goodness [0,1] 0.6306210776888119 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.9964499 -0.07333189 -0.04135247 1.50064797] [ 0.07365389 0.99726387 0.00631561 -0.18593396] [ 0.04077619 -0.00933895 0.99912466 -0.40549799] [ 0. 0. 0. 1. ]] SLAMing on 57.631346183999995 meters Centerline goodness [0,1] 0.6615872877855792 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.40 [[ 0.99642937 -0.07354666 -0.04146567 1.50049509] [ 0.07386201 0.99724967 0.00612293 -0.18575693] [ 0.0409013 -0.0091638 0.99912117 -0.40490733] [ 0. 0. 0. 1. ]] SLAMing on 57.661346183999996 meters Centerline goodness [0,1] 0.6386334056399132 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.40 [[ 0.99639068 -0.07401809 -0.04155639 1.50064311] [ 0.07434114 0.99721309 0.00628099 -0.18847392] [ 0.04097567 -0.00934767 0.99911642 -0.40496546] [ 0. 0. 0. 1. ]] SLAMing on 57.691346184 meters Centerline goodness [0,1] 0.6481185466799153 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.99615264 -0.07687691 -0.04206961 1.50373219] [ 0.07708215 0.99701936 0.0032761 -0.18938242] [ 0.04169236 -0.00650632 0.99910931 -0.40634207] [ 0. 0. 0. 1. ]] SLAMing on 57.721346184 meters Centerline goodness [0,1] 0.6241976478697282 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.9961574 -0.07677077 -0.04215064 1.50434883] [ 0.07699679 0.99702424 0.00376285 -0.19170379] [ 0.04173634 -0.00699386 0.99910418 -0.40683596] [ 0. 0. 0. 1. ]] SLAMing on 57.751346184 meters Centerline goodness [0,1] 0.6150780829294561 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.99613787 -0.07698868 -0.04221482 1.5041368 ] [ 0.07721792 0.9970069 0.00382429 -0.19221473] [ 0.04179404 -0.00706926 0.99910124 -0.40643686] [ 0. 0. 0. 1. ]] SLAMing on 57.781346184 meters Centerline goodness [0,1] 0.6160698915475986 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.19, Z:-0.41 [[ 0.99614282 -0.07675983 -0.04251364 1.50497044] [ 0.07699619 0.99702357 0.00394788 -0.19165887] [ 0.04208406 -0.00720604 0.99908809 -0.40659904] [ 0. 0. 0. 1. ]] SLAMing on 57.811346183999994 meters Centerline goodness [0,1] 0.5894076835233026 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99616105 -0.07626459 -0.0429753 1.5061334 ] [ 0.07651914 0.99705881 0.00430717 -0.19152147] [ 0.04252042 -0.00757906 0.99906685 -0.40672441] [ 0. 0. 0. 1. ]] SLAMing on 57.841346183999995 meters Centerline goodness [0,1] 0.6172340793225611 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99617326 -0.07591415 -0.04331137 1.50694854] [ 0.07617075 0.9970855 0.00430289 -0.19096309] [ 0.04285849 -0.00758549 0.99905236 -0.40657685] [ 0. 0. 0. 1. ]] SLAMing on 57.871346184 meters Centerline goodness [0,1] 0.6177242417724242 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99621987 -0.07501232 -0.04380775 1.50846524] [ 0.07529132 0.99715026 0.00475166 -0.19210073] [ 0.04332648 -0.00803204 0.99902868 -0.40667996] [ 0. 0. 0. 1. ]] SLAMing on 57.901346184 meters Centerline goodness [0,1] 0.6177242417724242 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99621987 -0.07501232 -0.04380775 1.50846524] [ 0.07529132 0.99715026 0.00475166 -0.19210073] [ 0.04332648 -0.00803204 0.99902868 -0.40667996] [ 0. 0. 0. 1. ]] SLAMing on 57.931346184 meters Centerline goodness [0,1] 0.632243924450461 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99625586 -0.07435807 -0.04410368 1.50995872] [ 0.07466831 0.99719366 0.00542687 -0.19344773] [ 0.04357637 -0.0086997 0.99901222 -0.40766093] [ 0. 0. 0. 1. ]] SLAMing on 57.961346184 meters Centerline goodness [0,1] 0.6342292711269879 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99627939 -0.07379397 -0.04451781 1.51135268] [ 0.07412336 0.99723226 0.00579204 -0.19374136] [ 0.04396718 -0.0090703 0.9989918 -0.40816488] [ 0. 0. 0. 1. ]] SLAMing on 57.991346183999994 meters Centerline goodness [0,1] 0.6904437965662455 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99659977 -0.06909009 -0.04489384 1.51144177] [ 0.06957344 0.99753355 0.00929293 -0.19079032] [ 0.04414107 -0.01238476 0.99894854 -0.40750516] [ 0. 0. 0. 1. ]] SLAMing on 58.021346183999995 meters Centerline goodness [0,1] 0.6952490305249247 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99686808 -0.06487074 -0.0452307 1.51139088] [ 0.06550503 0.99777162 0.01268368 -0.18815316] [ 0.04430711 -0.0156068 0.99889604 -0.40702035] [ 0. 0. 0. 1. ]] SLAMing on 58.051346183999996 meters Centerline goodness [0,1] 0.6972748687139368 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99712126 -0.06039045 -0.04584968 1.51212621] [ 0.06119417 0.99799226 0.01633193 -0.18619507] [ 0.04477133 -0.01909065 0.99881484 -0.40669737] [ 0. 0. 0. 1. ]] SLAMing on 58.081346184 meters Centerline goodness [0,1] 0.7206731813246472 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.19, Z:-0.41 [[ 0.99735242 -0.05619551 -0.04615426 1.51197986] [ 0.057164 0.99816569 0.01993805 -0.18535832] [ 0.04494917 -0.02252362 0.99873533 -0.40613762] [ 0. 0. 0. 1. ]] SLAMing on 58.111346184 meters Centerline goodness [0,1] 0.7337298658446576 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.18, Z:-0.41 [[ 0.9980376 -0.04819762 -0.03997416 1.51072627] [ 0.04866261 0.99875751 0.01074143 -0.18395849] [ 0.03940678 -0.0126656 0.99914298 -0.40724038] [ 0. 0. 0. 1. ]] SLAMing on 58.141346184 meters Centerline goodness [0,1] 0.7406684451384822 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.18, Z:-0.41 [[ 0.99805388 -0.04740546 -0.04051152 1.51316477] [ 0.0479007 0.9987877 0.01134235 -0.18446018] [ 0.03992472 -0.01326081 0.99911469 -0.40880351] [ 0. 0. 0. 1. ]] SLAMing on 58.171346183999994 meters Centerline goodness [0,1] 0.7512444328006288 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.99813947 -0.04513951 -0.04098813 1.51567238] [ 0.04571144 0.99886846 0.01312473 -0.18234415] [ 0.0403493 -0.01497394 0.99907343 -0.41070725] [ 0. 0. 0. 1. ]] SLAMing on 58.201346183999995 meters Centerline goodness [0,1] 0.7421099502595625 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.99812503 -0.04511749 -0.04136234 1.51611461] [ 0.04566813 0.99887889 0.01246549 -0.17939078] [ 0.04075355 -0.01433106 0.99906645 -0.40986404] [ 0. 0. 0. 1. ]] SLAMing on 58.231346183999996 meters Centerline goodness [0,1] 0.7649231710782278 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.99810062 -0.04562316 -0.04139667 1.51508583] [ 0.0461287 0.99887114 0.01133962 -0.17656416] [ 0.04083259 -0.01322765 0.99907844 -0.40807268] [ 0. 0. 0. 1. ]] SLAMing on 58.261346184 meters Centerline goodness [0,1] 0.7584711599224249 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.17, Z:-0.41 [[ 0.99794998 -0.04855215 -0.04169555 1.51680373] [ 0.04890068 0.99877638 0.00737957 -0.17437158] [ 0.04128624 -0.00940338 0.99910311 -0.40793201] [ 0. 0. 0. 1. ]] SLAMing on 58.291346184 meters Centerline goodness [0,1] 0.7362790596335272 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.9979526 -0.04835335 -0.04186358 1.51787473] [ 0.04872348 0.99878133 0.00786601 -0.17617351] [ 0.04143221 -0.00988964 0.99909237 -0.40893868] [ 0. 0. 0. 1. ]] SLAMing on 58.321346184 meters Centerline goodness [0,1] 0.7323037323037322 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.9979456 -0.04839533 -0.04198181 1.51874742] [ 0.04877545 0.99877711 0.00807729 -0.17729019] [ 0.04153957 -0.01010838 0.99908572 -0.40982257] [ 0. 0. 0. 1. ]] SLAMing on 58.35134618399999 meters Centerline goodness [0,1] 0.7338951515814819 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.18, Z:-0.41 [[ 0.99793323 -0.04856916 -0.04207504 1.51919399] [ 0.04894552 0.99876972 0.00796082 -0.17685271] [ 0.04163662 -0.01000375 0.99908274 -0.4101762 ] [ 0. 0. 0. 1. ]] SLAMing on 58.381346183999995 meters Centerline goodness [0,1] 0.7466179239087606 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.18, Z:-0.41 [[ 0.99804517 -0.05109381 -0.03598971 1.53108486] [ 0.05164813 0.99855797 0.01464395 -0.17549855] [ 0.0351896 -0.01647412 0.99924486 -0.41233472] [ 0. 0. 0. 1. ]] SLAMing on 58.411346183999996 meters Centerline goodness [0,1] 0.7236778688165447 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.41 [[ 0.99782387 -0.05510092 -0.0362134 1.53161186] [ 0.055485 0.99841253 0.00968727 -0.17234849] [ 0.03562214 -0.01167549 0.99929713 -0.41101938] [ 0. 0. 0. 1. ]] SLAMing on 58.441346184 meters Centerline goodness [0,1] 0.7235435830048182 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.41 [[ 0.99779473 -0.05574035 -0.03603733 1.53057088] [ 0.05610456 0.99838274 0.0091748 -0.17301865] [ 0.03546764 -0.01117643 0.99930833 -0.41007199] [ 0. 0. 0. 1. ]] SLAMing on 58.471346184 meters Centerline goodness [0,1] 0.7304399108820061 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.41 [[ 0.99759651 -0.05900251 -0.03633062 1.53230678] [ 0.05923442 0.99822982 0.00533934 -0.17201193] [ 0.03595128 -0.00747853 0.99932556 -0.41023901] [ 0. 0. 0. 1. ]] SLAMing on 58.501346184 meters Centerline goodness [0,1] 0.7303617741439183 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.41 [[ 0.997574 -0.05939599 -0.03630735 1.53187022] [ 0.05960604 0.99821077 0.00472971 -0.17080466] [ 0.03596146 -0.00688238 0.99932948 -0.40963282] [ 0. 0. 0. 1. ]] SLAMing on 58.531346184 meters Centerline goodness [0,1] 0.7215789473684211 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.17, Z:-0.41 [[ 0.99759366 -0.05866198 -0.03695498 1.53425527] [ 0.05888933 0.99825153 0.00509302 -0.16949329] [ 0.03659159 -0.00725702 0.99930395 -0.41077039] [ 0. 0. 0. 1. ]] SLAMing on 58.561346183999994 meters Centerline goodness [0,1] 0.7290836653386454 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.41 [[ 0.99760669 -0.05816013 -0.03739374 1.53596697] [ 0.05839268 0.99828038 0.0051561 -0.16799675] [ 0.03702955 -0.00732728 0.99928731 -0.41161986] [ 0. 0. 0. 1. ]] SLAMing on 58.591346183999995 meters Centerline goodness [0,1] 0.736593755512436 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.17, Z:-0.41 [[ 0.99769603 -0.05623274 -0.03795418 1.53910424] [ 0.05651399 0.99838144 0.0063776 -0.16630263] [ 0.03753411 -0.00850785 0.99925913 -0.41379719] [ 0. 0. 0. 1. ]] SLAMing on 58.621346184 meters Centerline goodness [0,1] 0.7392562805187919 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.41 [[ 0.99770351 -0.05587646 -0.03828224 1.5403597 ] [ 0.05616051 0.99840134 0.00638441 -0.16482035] [ 0.0378643 -0.00851969 0.99924657 -0.41440148] [ 0. 0. 0. 1. ]] SLAMing on 58.651346184 meters Centerline goodness [0,1] 0.7456181066684349 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.41 [[ 0.99770976 -0.0554629 -0.03871821 1.54176505] [ 0.05575163 0.99842405 0.00641706 -0.16348833] [ 0.03830128 -0.00856097 0.99922956 -0.41486286] [ 0. 0. 0. 1. ]] SLAMing on 58.681346184 meters Centerline goodness [0,1] 0.7475695905396726 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.41 [[ 0.99770222 -0.05543476 -0.03895219 1.54168696] [ 0.05567773 0.99843536 0.00517994 -0.15934265] [ 0.0386041 -0.00733681 0.99922765 -0.41335507] [ 0. 0. 0. 1. ]] SLAMing on 58.711346184 meters Centerline goodness [0,1] 0.7422314031229871 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.41 [[ 0.99767953 -0.05607853 -0.03861033 1.53993894] [ 0.05627566 0.99840711 0.00403715 -0.15731266] [ 0.03832243 -0.0062006 0.99924619 -0.41155863] [ 0. 0. 0. 1. ]] SLAMing on 58.741346183999994 meters Centerline goodness [0,1] 0.7380761701370351 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.16, Z:-0.41 [[ 0.99764281 -0.05677758 -0.03853736 1.53874491] [ 0.05693451 0.99837345 0.00298607 -0.15591088] [ 0.03830513 -0.00517314 0.9992527 -0.4098717 ] [ 0. 0. 0. 1. ]] SLAMing on 58.771346183999995 meters Centerline goodness [0,1] 0.7197462120371808 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.41 [[ 9.97393302e-01 -6.10065380e-02 -3.85331595e-02 1.53903598e+00] [ 6.09742545e-02 9.98137308e-01 -2.01355300e-03 -1.53169258e-01] [ 3.85842240e-02 -3.41226399e-04 9.99255293e-01 -4.08920755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.801346183999996 meters Centerline goodness [0,1] 0.7085587089593768 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.41 [[ 9.97398572e-01 -6.08696356e-02 -3.86131711e-02 1.54002950e+00] [ 6.08496300e-02 9.98145506e-01 -1.69422174e-03 -1.53471778e-01] [ 3.86446898e-02 -6.59782827e-04 9.99252797e-01 -4.10052361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.831346184 meters Centerline goodness [0,1] 0.7260133630289533 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.41 [[ 9.97398044e-01 -6.06945947e-02 -3.89012573e-02 1.54145850e+00] [ 6.06848305e-02 9.98155949e-01 -1.43284562e-03 -1.53167971e-01] [ 3.89164874e-02 -9.31598788e-04 9.99242032e-01 -4.11202354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.861346184 meters Centerline goodness [0,1] 0.7245046456957349 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.15, Z:-0.41 [[ 9.97397250e-01 -6.03649672e-02 -3.94308976e-02 1.54402418e+00] [ 6.03736128e-02 9.98175376e-01 -9.72548173e-04 -1.51753901e-01] [ 3.94176588e-02 -1.41056887e-03 9.99221826e-01 -4.13412981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.891346184 meters Centerline goodness [0,1] 0.7243522153673584 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.15, Z:-0.42 [[ 9.97410990e-01 -5.98894167e-02 -3.98067141e-02 1.54615573e+00] [ 5.99184367e-02 9.98203168e-01 -4.64700921e-04 -1.51111535e-01] [ 3.97630188e-02 -1.92165828e-03 9.99207291e-01 -4.15231766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.921346183999994 meters Centerline goodness [0,1] 0.7063178677196447 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.15, Z:-0.42 [[ 9.97419884e-01 -5.95422720e-02 -4.01035214e-02 1.54797229e+00] [ 5.95851056e-02 9.98223221e-01 -1.27405222e-04 -1.50155797e-01] [ 4.00398523e-02 -2.26249606e-03 9.99195522e-01 -4.16812513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.951346183999995 meters Centerline goodness [0,1] 0.7322267953129569 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.15, Z:-0.42 [[ 0.99747181 -0.06268165 -0.03348145 1.55844439] [ 0.06294892 0.99799228 0.00698804 -0.14873784] [ 0.03297621 -0.00907799 0.99941491 -0.41999636] [ 0. 0. 0. 1. ]] SLAMing on 58.981346183999996 meters Centerline goodness [0,1] 0.6931002677105127 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.42 [[ 9.97180187e-01 -6.71368727e-02 -3.35308119e-02 1.55788468e+00] [ 6.72093932e-02 9.97738351e-01 1.03912272e-03 -1.44038468e-01] [ 3.33852135e-02 -3.28977811e-03 9.99437144e-01 -4.17084984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.011346184 meters Centerline goodness [0,1] 0.6924205820595606 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.42 [[ 0.99750736 -0.06771026 -0.01985937 1.56033554] [ 0.06777474 0.99769728 0.00259097 -0.14367066] [ 0.01963821 -0.00393047 0.99979943 -0.42178387] [ 0. 0. 0. 1. ]] SLAMing on 59.041346184 meters Centerline goodness [0,1] 0.6976765170313557 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.42 [[ 0.99748439 -0.06808174 -0.01974245 1.56002223] [ 0.06813821 0.99767346 0.00220106 -0.14302367] [ 0.01954667 -0.00354074 0.99980268 -0.42158621] [ 0. 0. 0. 1. ]] SLAMing on 59.071346184 meters Centerline goodness [0,1] 0.690419474126001 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.42 [[ 0.99747131 -0.06822414 -0.01991127 1.56185659] [ 0.06828337 0.9976633 0.0023089 -0.14202469] [ 0.01970722 -0.00366267 0.99979909 -0.42409635] [ 0. 0. 0. 1. ]] SLAMing on 59.10134618399999 meters Centerline goodness [0,1] 0.6859696320277233 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.14, Z:-0.43 [[ 0.99746739 -0.06826869 -0.01995459 1.56301971] [ 0.06832504 0.99766079 0.0021551 -0.14022337] [ 0.01976079 -0.00351304 0.99979856 -0.42565654] [ 0. 0. 0. 1. ]] SLAMing on 59.131346183999995 meters Centerline goodness [0,1] 0.67621547591874 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.14, Z:-0.43 [[ 0.99747319 -0.06802016 -0.02050591 1.56509991] [ 0.06807639 0.99767799 0.00205604 -0.13750709] [ 0.02031844 -0.00344682 0.99978762 -0.42687718] [ 0. 0. 0. 1. ]] SLAMing on 59.161346183999996 meters Centerline goodness [0,1] 0.6669505178365938 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.13, Z:-0.43 [[ 0.99764883 -0.06536921 -0.02058368 1.56354759] [ 0.06546066 0.99784791 0.00380032 -0.13008521] [ 0.02029096 -0.00513881 0.99978091 -0.42533426] [ 0. 0. 0. 1. ]] SLAMing on 59.191346184 meters Centerline goodness [0,1] 0.6568352818613266 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.13, Z:-0.42 [[ 0.99785289 -0.06224532 -0.02037473 1.56214563] [ 0.06239364 0.99802895 0.00672639 -0.12763845] [ 0.01991588 -0.0079832 0.99976979 -0.42489919] [ 0. 0. 0. 1. ]] SLAMing on 59.221346184 meters Centerline goodness [0,1] 0.6943483007735372 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.12, Z:-0.42 [[ 0.99783558 -0.06239391 -0.02076425 1.56275225] [ 0.06251717 0.9980296 0.00534011 -0.12359208] [ 0.02039015 -0.00662667 0.99977014 -0.42393254] [ 0. 0. 0. 1. ]] SLAMing on 59.251346184 meters Centerline goodness [0,1] 0.6774291450716721 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.12, Z:-0.42 [[ 0.99782466 -0.06259957 -0.02066964 1.56279087] [ 0.06270383 0.99802233 0.00443478 -0.1207429 ] [ 0.02035114 -0.0057212 0.99977652 -0.4238817 ] [ 0. 0. 0. 1. ]] SLAMing on 59.281346184 meters Centerline goodness [0,1] 0.627899340978916 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.42 [[ 0.99779746 -0.06307272 -0.02054414 1.56280768] [ 0.06314756 0.99799965 0.00301413 -0.11469832] [ 0.02031293 -0.0043048 0.9997844 -0.42404819] [ 0. 0. 0. 1. ]] SLAMing on 59.311346183999994 meters Centerline goodness [0,1] 0.6728290922723652 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.42 [[ 0.99778372 -0.06313696 -0.02100903 1.5641765 ] [ 0.06319238 0.99799939 0.00198409 -0.10953491] [ 0.02084173 -0.0033073 0.99977732 -0.424087 ] [ 0. 0. 0. 1. ]] SLAMing on 59.341346183999995 meters Centerline goodness [0,1] 0.6608943185861701 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.11, Z:-0.42 [[ 0.99795899 -0.06042222 -0.02066406 1.56230185] [ 0.06053016 0.99815559 0.00463805 -0.10591148] [ 0.02034571 -0.00587939 0.99977572 -0.42366966] [ 0. 0. 0. 1. ]] SLAMing on 59.371346184 meters Centerline goodness [0,1] 0.6652018151421065 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.10, Z:-0.42 [[ 0.99813134 -0.05757949 -0.02045551 1.56093361] [ 0.05774348 0.99830314 0.00751812 -0.10355386] [ 0.01998791 -0.00868525 0.9997625 -0.42342512] [ 0. 0. 0. 1. ]] SLAMing on 59.401346184 meters Centerline goodness [0,1] 0.6802440078774197 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.10, Z:-0.42 [[ 0.99810801 -0.05786334 -0.0207903 1.56202014] [ 0.05799955 0.99829852 0.00600942 -0.09829316] [ 0.0204072 -0.00720388 0.9997658 -0.42330039] [ 0. 0. 0. 1. ]] SLAMing on 59.431346184 meters Centerline goodness [0,1] 0.6456634187417298 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.10, Z:-0.42 [[ 0.99810071 -0.05796255 -0.02086407 1.56280403] [ 0.05808564 0.99829731 0.00534241 -0.09577589] [ 0.02051888 -0.00654417 0.99976805 -0.42378674] [ 0. 0. 0. 1. ]] SLAMing on 59.461346184 meters Centerline goodness [0,1] 0.6338823071496339 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.09, Z:-0.43 [[ 0.99820655 -0.05628899 -0.02037744 1.56244794] [ 0.05643335 0.99838469 0.00657975 -0.088519 ] [ 0.01997415 -0.00771791 0.99977071 -0.42514625] [ 0. 0. 0. 1. ]] SLAMing on 59.491346183999994 meters Centerline goodness [0,1] 0.6253572039176416 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.08, Z:-0.43 [[ 0.99819724 -0.05631123 -0.02076816 1.56397346] [ 0.05644374 0.99838864 0.00584986 -0.08416245] [ 0.02040528 -0.00701155 0.9997672 -0.42574779] [ 0. 0. 0. 1. ]] SLAMing on 59.521346183999995 meters Centerline goodness [0,1] 0.6685172447676133 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.08, Z:-0.43 [[ 0.99819299 -0.05626548 -0.02109406 1.56560332] [ 0.0563897 0.99839455 0.00534081 -0.08034158] [ 0.0207597 -0.00652065 0.99976323 -0.42683201] [ 0. 0. 0. 1. ]] SLAMing on 59.551346183999996 meters Centerline goodness [0,1] 0.6176934450468211 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.08, Z:-0.43 [[ 0.99818722 -0.05624329 -0.02142328 1.56713028] [ 0.05635515 0.99839994 0.00465347 -0.07665224] [ 0.02112728 -0.00585234 0.99975967 -0.42761419] [ 0. 0. 0. 1. ]] SLAMing on 59.581346184 meters Centerline goodness [0,1] 0.6636807007066786 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.43 [[ 0.99831158 -0.05439416 -0.02037805 1.56649526] [ 0.05451999 0.99849658 0.00567031 -0.07052168] [ 0.02003899 -0.00677175 0.99977627 -0.42942406] [ 0. 0. 0. 1. ]] SLAMing on 59.611346184 meters Centerline goodness [0,1] 0.6576949965045441 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.07, Z:-0.43 [[ 0.99829096 -0.05467389 -0.02063783 1.566922 ] [ 0.05476627 0.99849144 0.0039375 -0.06574158] [ 0.02039142 -0.00506103 0.99977926 -0.42814068] [ 0. 0. 0. 1. ]] SLAMing on 59.641346184 meters Centerline goodness [0,1] 0.6569092231670304 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.06, Z:-0.43 [[ 0.99845442 -0.05179308 -0.02015554 1.56486299] [ 0.05193663 0.99862814 0.00666496 -0.06275911] [ 0.01978269 -0.00770147 0.99977464 -0.42759342] [ 0. 0. 0. 1. ]] SLAMing on 59.671346183999994 meters Centerline goodness [0,1] 0.6566566058792198 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.05, Z:-0.42 [[ 0.99856844 -0.04961186 -0.01999348 1.56221737] [ 0.04974888 0.99874116 0.00641489 -0.05174326] [ 0.01965006 -0.00740036 0.99977953 -0.42348199] [ 0. 0. 0. 1. ]] SLAMing on 59.701346183999995 meters Centerline goodness [0,1] 0.6561254725656482 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.05, Z:-0.42 [[ 0.99872771 -0.04633023 -0.01991135 1.5617395 ] [ 0.04652688 0.99887159 0.00952889 -0.0487976 ] [ 0.01944741 -0.01044318 0.99975634 -0.42387494] [ 0. 0. 0. 1. ]] SLAMing on 59.731346183999996 meters Centerline goodness [0,1] 0.6558478182843666 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.04, Z:-0.42 [[ 0.99871908 -0.04631617 -0.02037203 1.56333342] [ 0.04649321 0.99888409 0.00830388 -0.04409677] [ 0.01996469 -0.0092404 0.99975798 -0.42384257] [ 0. 0. 0. 1. ]] SLAMing on 59.761346184 meters Centerline goodness [0,1] 0.6482473160005173 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.04, Z:-0.43 [[ 0.99871899 -0.04631823 -0.02037178 1.56480114] [ 0.04647284 0.99889373 0.0071823 -0.03674228] [ 0.02001657 -0.00811984 0.99976668 -0.42541405] [ 0. 0. 0. 1. ]] SLAMing on 59.791346184 meters Centerline goodness [0,1] 0.6450240041520696 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.42 [[ 0.99869563 -0.04674432 -0.02054296 1.56518941] [ 0.0468682 0.99888544 0.00559097 -0.03179051] [ 0.02025872 -0.00654649 0.99977334 -0.42464299] [ 0. 0. 0. 1. ]] SLAMing on 59.821346184 meters Centerline goodness [0,1] 0.6450240041520696 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.42 [[ 0.99869563 -0.04674432 -0.02054296 1.56518941] [ 0.0468682 0.99888544 0.00559097 -0.03179051] [ 0.02025872 -0.00654649 0.99977334 -0.42464299] [ 0. 0. 0. 1. ]] SLAMing on 59.85134618399999 meters Centerline goodness [0,1] 0.6447037889889051 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.03, Z:-0.42 [[ 0.99867301 -0.04713719 -0.02074384 1.56563928] [ 0.04723216 0.99887548 0.00411198 -0.02607348] [ 0.02052669 -0.0050863 0.99977637 -0.4240731 ] [ 0. 0. 0. 1. ]] SLAMing on 59.881346183999995 meters Centerline goodness [0,1] 0.6431522084524944 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.02, Z:-0.42 [[ 0.99879643 -0.04458458 -0.02044285 1.56474248] [ 0.04470248 0.99898604 0.00534659 -0.01700337] [ 0.02018375 -0.006254 0.99977673 -0.42365881] [ 0. 0. 0. 1. ]] SLAMing on 59.911346183999996 meters Centerline goodness [0,1] 0.6811397557666214 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:-0.42 [[ 0.99880006 -0.04409217 -0.02131487 1.56749271] [ 0.04419112 0.99901429 0.00419393 -0.01183735] [ 0.02110894 -0.00513083 0.99976402 -0.42351742] [ 0. 0. 0. 1. ]] SLAMing on 59.941346184 meters Centerline goodness [0,1] 0.6632059020791415 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.01, Z:-0.42 [[ 0.99899034 -0.03914602 -0.02204303 1.570079 ] [ 0.0393216 0.99919779 0.00758885 -0.00755972] [ 0.02172827 -0.00844796 0.99972822 -0.42415198] [ 0. 0. 0. 1. ]] SLAMing on 59.971346184 meters Centerline goodness [0,1] 0.7241679592891936 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.00, Z:-0.43 [[ 9.99297610e-01 -3.02375188e-02 -2.21354725e-02 1.57165109e+00] [ 3.05713178e-02 9.99421526e-01 1.48999609e-02 -1.39323167e-03] [ 2.16721299e-02 -1.55662058e-02 9.99643943e-01 -4.25790372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.001346184 meters Centerline goodness [0,1] 0.7327543830902834 Centerline is valid? [False, False] Translation: X:1.57, Y:0.00, Z:-0.42 [[ 0.99930285 -0.02941343 -0.02299288 1.5744918 ] [ 0.02972841 0.99946712 0.01347937 0.00402555] [ 0.02258415 -0.01415352 0.99964475 -0.42483683] [ 0. 0. 0. 1. ]] SLAMing on 60.031346184 meters Centerline goodness [0,1] 0.7597329450229414 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.42 [[ 0.9992984 -0.02920013 -0.0234535 1.5760269 ] [ 0.02949671 0.99948795 0.01240054 0.00849812] [ 0.02307939 -0.01308365 0.99964802 -0.42450791] [ 0. 0. 0. 1. ]] SLAMing on 60.061346183999994 meters Centerline goodness [0,1] 0.7464213806988995 Centerline is valid? [False, False] Translation: X:1.58, Y:0.01, Z:-0.42 [[ 0.9992928 -0.02900124 -0.0239339 1.57737107] [ 0.02927147 0.99951077 0.01101868 0.01278977] [ 0.02360264 -0.01171147 0.99965282 -0.42342406] [ 0. 0. 0. 1. ]] SLAMing on 60.091346183999995 meters Centerline goodness [0,1] 0.7873255459060514 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.42 [[ 0.99940436 -0.02444082 -0.02436324 1.578778 ] [ 0.02477643 0.99960092 0.01356968 0.0182511 ] [ 0.02402187 -0.01416523 0.99961107 -0.42248757] [ 0. 0. 0. 1. ]] SLAMing on 60.121346184 meters Centerline goodness [0,1] 0.7887532062005129 Centerline is valid? [False, False] Translation: X:1.58, Y:0.02, Z:-0.42 [[ 0.99939871 -0.0240105 -0.02501426 1.58083947] [ 0.02433278 0.99962375 0.01266013 0.02177184] [ 0.02470088 -0.01326118 0.99960693 -0.42211795] [ 0. 0. 0. 1. ]] SLAMing on 60.151346184 meters Centerline goodness [0,1] 0.7954386651387686 Centerline is valid? [False, False] Translation: X:1.58, Y:0.03, Z:-0.42 [[ 0.99939648 -0.02310495 -0.02593903 1.58406901] [ 0.02342088 0.99965436 0.0119428 0.02512352] [ 0.02565413 -0.0125431 0.99959218 -0.42202908] [ 0. 0. 0. 1. ]] SLAMing on 60.181346184 meters Centerline goodness [0,1] 0.8058004379807963 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.42 [[ 0.99938745 -0.02272806 -0.02661118 1.58598595] [ 0.02303011 0.99967316 0.0110992 0.02843647] [ 0.02635022 -0.01170526 0.99958424 -0.42149271] [ 0. 0. 0. 1. ]] SLAMing on 60.211346184 meters Centerline goodness [0,1] 0.8267423151833347 Centerline is valid? [False, False] Translation: X:1.59, Y:0.03, Z:-0.42 [[ 0.99938836 -0.02154263 -0.02754683 1.58927391] [ 0.02181247 0.99971663 0.00953318 0.0337448 ] [ 0.02733365 -0.01012821 0.99957506 -0.41976139] [ 0. 0. 0. 1. ]] SLAMing on 60.241346183999994 meters Centerline goodness [0,1] 0.8405084745762712 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.42 [[ 0.99938429 -0.02142845 -0.02778231 1.58988532] [ 0.02167404 0.99972837 0.00856885 0.03575161] [ 0.02759115 -0.00916572 0.99957727 -0.41864368] [ 0. 0. 0. 1. ]] SLAMing on 60.271346183999995 meters Centerline goodness [0,1] 0.8553907022749753 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.42 [[ 0.99938355 -0.02144097 -0.02779932 1.59001696] [ 0.02166467 0.99973509 0.00777078 0.0373661 ] [ 0.02762535 -0.00836825 0.99958332 -0.41784622] [ 0. 0. 0. 1. ]] SLAMing on 60.301346183999996 meters Centerline goodness [0,1] 0.8524237187296371 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.42 [[ 0.99936978 -0.02126369 -0.02842341 1.59123102] [ 0.02144164 0.99975227 0.00597061 0.04190639] [ 0.02828941 -0.00657629 0.99957814 -0.4153873 ] [ 0. 0. 0. 1. ]] SLAMing on 60.331346184 meters Centerline goodness [0,1] 0.8577190739951711 Centerline is valid? [False, False] Translation: X:1.59, Y:0.04, Z:-0.41 [[ 0.99935535 -0.02103499 -0.02909328 1.592628 ] [ 0.02119229 0.99976236 0.00510917 0.04428615] [ 0.0289789 -0.00572243 0.99956364 -0.41406071] [ 0. 0. 0. 1. ]] SLAMing on 60.361346184 meters Centerline goodness [0,1] 0.8549438042395789 Centerline is valid? [False, False] Translation: X:1.59, Y:0.05, Z:-0.41 [[ 0.99934776 -0.02044356 -0.02976778 1.59486843] [ 0.02060251 0.99977503 0.00504271 0.04520787] [ 0.02965799 -0.00565271 0.99954412 -0.4141736 ] [ 0. 0. 0. 1. ]] SLAMing on 60.391346184 meters Centerline goodness [0,1] 0.8739836238623719 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.42 [[ 0.9993504 -0.01935327 -0.03040114 1.59796165] [ 0.01953804 0.99979233 0.00579254 0.04498758] [ 0.03028272 -0.00638276 0.99952099 -0.41591413] [ 0. 0. 0. 1. ]] SLAMing on 60.421346183999994 meters Centerline goodness [0,1] 0.8647211081719146 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.42 [[ 0.99935147 -0.01919708 -0.03046508 1.5988049 ] [ 0.01938625 0.99979451 0.00592627 0.04406309] [ 0.03034505 -0.00651303 0.99951826 -0.41659929] [ 0. 0. 0. 1. ]] SLAMing on 60.451346183999995 meters Centerline goodness [0,1] 0.8684143040319134 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.42 [[ 0.99934792 -0.01897803 -0.03071761 1.59986395] [ 0.01916308 0.99979989 0.00574095 0.04421847] [ 0.03060251 -0.00632585 0.99951162 -0.41670858] [ 0. 0. 0. 1. ]] SLAMing on 60.481346183999996 meters Centerline goodness [0,1] 0.8855873052049799 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.42 [[ 0.99934278 -0.01905233 -0.03083858 1.59991927] [ 0.01921456 0.99980302 0.00497287 0.04470963] [ 0.03073776 -0.00556216 0.99951201 -0.41538416] [ 0. 0. 0. 1. ]] SLAMing on 60.511346184 meters Centerline goodness [0,1] 0.8851582062371955 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 0.99933349 -0.01898045 -0.03118212 1.60030823] [ 0.01913019 0.99980682 0.00451099 0.04463909] [ 0.03109047 -0.0051045 0.99950354 -0.41411082] [ 0. 0. 0. 1. ]] SLAMing on 60.541346184 meters Centerline goodness [0,1] 0.8817341862117981 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 0.99932981 -0.01936989 -0.03106026 1.59935935] [ 0.01950548 0.99980147 0.00406849 0.04418918] [ 0.03097529 -0.0046716 0.99950923 -0.41294037] [ 0. 0. 0. 1. ]] SLAMing on 60.571346184 meters Centerline goodness [0,1] 0.8572643997617765 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 0.99932271 -0.02008823 -0.03083146 1.59805926] [ 0.0202183 0.99978793 0.00391265 0.04260766] [ 0.03074632 -0.00453336 0.99951694 -0.41229205] [ 0. 0. 0. 1. ]] SLAMing on 60.60134618399999 meters Centerline goodness [0,1] 0.8599381788276664 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 0.99932134 -0.01975602 -0.03108947 1.59910746] [ 0.01989842 0.99979286 0.00427739 0.04145905] [ 0.03099852 -0.00489312 0.99950745 -0.41273688] [ 0. 0. 0. 1. ]] SLAMing on 60.631346183999995 meters Centerline goodness [0,1] 0.8445594389774912 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 0.99932169 -0.01971687 -0.03110328 1.59938625] [ 0.01986946 0.99979198 0.00460431 0.03941924] [ 0.03100603 -0.0052192 0.99950557 -0.41308317] [ 0. 0. 0. 1. ]] SLAMing on 60.661346183999996 meters Centerline goodness [0,1] 0.8359021870350094 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 9.99233456e-01 -2.34935911e-02 -3.13137705e-02 1.60036717e+00] [ 2.35231670e-02 9.99723126e-01 5.76395452e-04 3.82578607e-02] [ 3.12915589e-02 -1.31255267e-03 9.99509437e-01 -4.12655064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.691346184 meters Centerline goodness [0,1] 0.8369056624919448 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 9.99233075e-01 -2.32474001e-02 -3.15090618e-02 1.60116050e+00] [ 2.32892486e-02 9.99728306e-01 9.61741340e-04 3.67453223e-02] [ 3.14781430e-02 -1.69482613e-03 9.99503004e-01 -4.13037518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.721346184 meters Centerline goodness [0,1] 0.8388432063545338 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 9.99228751e-01 -2.30584930e-02 -3.17837929e-02 1.60175880e+00] [ 2.30972992e-02 9.99732857e-01 8.54281279e-04 3.65754670e-02] [ 3.17556036e-02 -1.58774219e-03 9.99494403e-01 -4.12470867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.751346184 meters Centerline goodness [0,1] 0.8481952695886111 Centerline is valid? [False, False] Translation: X:1.60, Y:0.04, Z:-0.41 [[ 9.99218362e-01 -2.30248280e-02 -3.21328783e-02 1.60186106e+00] [ 2.30510144e-02 9.99734191e-01 4.44685828e-04 3.71433467e-02] [ 3.21140983e-02 -1.18503368e-03 9.99483507e-01 -4.10978948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.781346184 meters Centerline goodness [0,1] 0.8239162678756331 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.41 [[ 0.99929588 -0.0260363 -0.02701566 1.61492588] [ 0.02625587 0.99962479 0.00780489 0.03443562] [ 0.02680231 -0.00850872 0.99960454 -0.41300197] [ 0. 0. 0. 1. ]] SLAMing on 60.811346183999994 meters Centerline goodness [0,1] 0.8285107809183332 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.41 [[ 0.99928702 -0.02623121 -0.02715447 1.61496544] [ 0.02644772 0.99962097 0.00764487 0.03315258] [ 0.02694365 -0.00835759 0.99960202 -0.41243945] [ 0. 0. 0. 1. ]] SLAMing on 60.841346183999995 meters Centerline goodness [0,1] 0.8165591217631778 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99928891 -0.02612397 -0.02718837 1.61550079] [ 0.02634449 0.99962261 0.00778436 0.03182804] [ 0.02697475 -0.00849508 0.99960002 -0.41283687] [ 0. 0. 0. 1. ]] SLAMing on 60.871346184 meters Centerline goodness [0,1] 0.819518865818263 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.42 [[ 0.99930804 -0.02562154 -0.02696258 1.61684879] [ 0.02586508 0.99962739 0.00872275 0.02882743] [ 0.02672904 -0.0094141 0.99959839 -0.41530631] [ 0. 0. 0. 1. ]] SLAMing on 60.901346184 meters Centerline goodness [0,1] 0.8216213208701941 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.9992083 -0.02848148 -0.02777736 1.62011607] [ 0.02861434 0.99958085 0.00439734 0.03052328] [ 0.02764048 -0.00518869 0.99960446 -0.41498872] [ 0. 0. 0. 1. ]] SLAMing on 60.931346184 meters Centerline goodness [0,1] 0.8083075981415018 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99920367 -0.02872723 -0.02769065 1.61988578] [ 0.02885411 0.99957484 0.00419345 0.03046713] [ 0.02755841 -0.0049891 0.99960774 -0.41488534] [ 0. 0. 0. 1. ]] SLAMing on 60.961346184 meters Centerline goodness [0,1] 0.8044054831234819 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99918036 -0.02924239 -0.02799079 1.61901852] [ 0.02932016 0.99956726 0.00237222 0.03381871] [ 0.02790931 -0.00319097 0.99960537 -0.41119032] [ 0. 0. 0. 1. ]] SLAMing on 60.991346183999994 meters Centerline goodness [0,1] 0.8114019161475936 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99917105 -0.029318 -0.02824294 1.61917301] [ 0.0293829 0.99956645 0.00188543 0.03480695] [ 0.02817542 -0.00271372 0.99959931 -0.41011139] [ 0. 0. 0. 1. ]] SLAMing on 61.021346183999995 meters Centerline goodness [0,1] 0.8124213528704455 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99916973 -0.02903795 -0.02857714 1.62010448] [ 0.02910424 0.99957456 0.00190628 0.03464996] [ 0.02850963 -0.00273641 0.99958977 -0.40986778] [ 0. 0. 0. 1. ]] SLAMing on 61.051346183999996 meters Centerline goodness [0,1] 0.8074092657635056 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99917525 -0.02894163 -0.02848177 1.62059468] [ 0.02901132 0.99957701 0.00203655 0.0344226 ] [ 0.02841078 -0.00286117 0.99959224 -0.41069367] [ 0. 0. 0. 1. ]] SLAMing on 61.081346184 meters Centerline goodness [0,1] 0.8213588442014839 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.41 [[ 0.99919811 -0.02772182 -0.02889012 1.62405578] [ 0.02781903 0.99960857 0.00296811 0.03413515] [ 0.02879653 -0.00376942 0.99957819 -0.41362676] [ 0. 0. 0. 1. ]] SLAMing on 61.111346184 meters Centerline goodness [0,1] 0.8343020006706159 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.41 [[ 0.99919637 -0.02712721 -0.02950797 1.62636715] [ 0.02722484 0.99962509 0.00291212 0.03552986] [ 0.02941791 -0.00371313 0.9995603 -0.41422804] [ 0. 0. 0. 1. ]] SLAMing on 61.141346184 meters Centerline goodness [0,1] 0.8489873665929017 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.41 [[ 0.99918895 -0.02664326 -0.03019228 1.62840817] [ 0.02673521 0.99963905 0.00264574 0.03730267] [ 0.03011089 -0.00345079 0.99954061 -0.41419261] [ 0. 0. 0. 1. ]] SLAMing on 61.171346183999994 meters Centerline goodness [0,1] 0.8624129017756799 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.41 [[ 0.99918821 -0.02557899 -0.03112298 1.63161032] [ 0.02566837 0.99966745 0.00247551 0.03938958] [ 0.03104931 -0.00327238 0.9995125 -0.41425429] [ 0. 0. 0. 1. ]] SLAMing on 61.201346183999995 meters Centerline goodness [0,1] 0.8633362366890506 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.41 [[ 0.99918603 -0.02533799 -0.03138891 1.63281049] [ 0.02542912 0.99967348 0.00250741 0.03995165] [ 0.03131513 -0.00330356 0.9995041 -0.41483055] [ 0. 0. 0. 1. ]] SLAMing on 61.231346183999996 meters Centerline goodness [0,1] 0.8611986494091165 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.42 [[ 0.99918296 -0.02510484 -0.03167279 1.63393583] [ 0.02519739 0.9996793 0.00252619 0.04055509] [ 0.03159921 -0.0033222 0.9994951 -0.41521207] [ 0. 0. 0. 1. ]] SLAMing on 61.261346184 meters Centerline goodness [0,1] 0.887003569202878 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:-0.41 [[ 0.99918493 -0.02457323 -0.03202562 1.63508872] [ 0.02464557 0.99969451 0.00186596 0.04395608] [ 0.03196999 -0.00265373 0.99948531 -0.41438684] [ 0. 0. 0. 1. ]] SLAMing on 61.291346184 meters Centerline goodness [0,1] 0.8966916354556804 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99175432e-01 -2.42455328e-02 -3.25670251e-02 1.63625432e+00] [ 2.42846615e-02 9.99704759e-01 8.06416759e-04 4.64545440e-02] [ 3.25378580e-02 -1.59663099e-03 9.99469228e-01 -4.12719048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.321346184 meters Centerline goodness [0,1] 0.8938299687233437 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99173834e-01 -2.41419152e-02 -3.26927764e-02 1.63646031e+00] [ 2.41619236e-02 9.99708035e-01 2.17028382e-04 4.76738609e-02] [ 3.26779917e-02 -1.00676945e-03 9.99465425e-01 -4.11779555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35134618399999 meters Centerline goodness [0,1] 0.9037929953549343 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99179057e-01 -2.38461597e-02 -3.27501481e-02 1.63712011e+00] [ 2.38501528e-02 9.99715509e-01 -2.68775038e-04 4.92252682e-02] [ 3.27472403e-02 -5.12541650e-04 9.99463534e-01 -4.11420144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.381346183999995 meters Centerline goodness [0,1] 0.9009134629065764 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99178839e-01 -2.33308216e-02 -3.31258166e-02 1.63882865e+00] [ 2.33432912e-02 9.99727508e-01 -1.03107847e-05 4.95137105e-02] [ 3.31170307e-02 -7.62963266e-04 9.99451189e-01 -4.12263782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.411346183999996 meters Centerline goodness [0,1] 0.9120034173430158 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99176049e-01 -2.27125957e-02 -3.36357036e-02 1.64098536e+00] [ 2.27377675e-02 9.99741397e-01 3.65997759e-04 4.98661693e-02] [ 3.36186925e-02 -1.13049700e-03 9.99434093e-01 -4.13338210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.441346184 meters Centerline goodness [0,1] 0.909809404245606 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99166309e-01 -2.23401186e-02 -3.41702507e-02 1.64258541e+00] [ 2.23487003e-02 9.99750228e-01 -1.30821370e-04 5.22530327e-02] [ 3.41646385e-02 -6.32948388e-04 9.99416018e-01 -4.12889896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.471346184 meters Centerline goodness [0,1] 0.9074344231814411 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99161285e-01 -2.20889977e-02 -3.44790102e-02 1.64354251e+00] [ 2.20938946e-02 9.99755872e-01 -2.39014723e-04 5.33504720e-02] [ 3.44758725e-02 -5.22961361e-04 9.99405394e-01 -4.12900893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.501346184 meters Centerline goodness [0,1] 0.9139425139425139 Centerline is valid? [False, False] Translation: X:1.64, Y:0.05, Z:-0.41 [[ 9.99159223e-01 -2.16792796e-02 -3.47973494e-02 1.64486486e+00] [ 2.16882762e-02 9.99764775e-01 -1.18943149e-04 5.35928493e-02] [ 3.47917428e-02 -6.35851380e-04 9.99394382e-01 -4.13333300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.531346184 meters Centerline goodness [0,1] 0.9111403558963209 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:-0.41 [[ 9.99160739e-01 -2.10149398e-02 -3.51594983e-02 1.64679855e+00] [ 2.10412044e-02 9.99778538e-01 3.77125629e-04 5.30085554e-02] [ 3.51437866e-02 -1.11660731e-03 9.99381643e-01 -4.14459340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.561346183999994 meters Centerline goodness [0,1] 0.9203988652969999 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:-0.42 [[ 9.99167358e-01 -1.98204351e-02 -3.56614665e-02 1.64982799e+00] [ 1.98603359e-02 9.99802471e-01 7.64952122e-04 5.38887247e-02] [ 3.56392607e-02 -1.47256389e-03 9.99363635e-01 -4.15835508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.591346183999995 meters Centerline goodness [0,1] 0.9273850574712643 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:-0.42 [[ 9.99165465e-01 -1.92775287e-02 -3.60104338e-02 1.65170270e+00] [ 1.93309174e-02 9.99812496e-01 1.13497586e-03 5.42354126e-02] [ 3.59818021e-02 -1.83014340e-03 9.99350769e-01 -4.17087570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.621346184 meters Centerline goodness [0,1] 0.9254949285981093 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:-0.42 [[ 0.99916731 -0.01844712 -0.03639213 1.65414118] [ 0.01852951 0.99982646 0.00192781 0.05346623] [ 0.03635025 -0.00260053 0.99933573 -0.41890302] [ 0. 0. 0. 1. ]] SLAMing on 61.651346184 meters Centerline goodness [0,1] 0.9228699038021072 Centerline is valid? [False, False] Translation: X:1.65, Y:0.05, Z:-0.42 [[ 0.99916341 -0.01828936 -0.03657847 1.6549346 ] [ 0.01836438 0.99982989 0.00171616 0.05417707] [ 0.03654086 -0.00238647 0.99932931 -0.4188429 ] [ 0. 0. 0. 1. ]] SLAMing on 61.681346184 meters Centerline goodness [0,1] 0.9233490566037736 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:-0.42 [[ 9.99152230e-01 -1.86123399e-02 -3.67205826e-02 1.65444206e+00] [ 1.86511056e-02 9.99825798e-01 7.13390563e-04 5.62597606e-02] [ 3.67009079e-02 -1.39766523e-03 9.99325317e-01 -4.17064970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.711346184 meters Centerline goodness [0,1] 0.9233490566037736 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:-0.42 [[ 9.99152230e-01 -1.86123399e-02 -3.67205826e-02 1.65444206e+00] [ 1.86511056e-02 9.99825798e-01 7.13390563e-04 5.62597606e-02] [ 3.67009079e-02 -1.39766523e-03 9.99325317e-01 -4.17064970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.741346183999994 meters Centerline goodness [0,1] 0.9241228322866855 Centerline is valid? [False, False] Translation: X:1.65, Y:0.06, Z:-0.42 [[ 9.99141418e-01 -1.86147610e-02 -3.70123834e-02 1.65469442e+00] [ 1.86231048e-02 9.99826568e-01 -1.19345954e-04 5.80201687e-02] [ 3.70081858e-02 -5.70042009e-04 9.99314800e-01 -4.15544315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.771346183999995 meters Centerline goodness [0,1] 0.9227051750424302 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:-0.42 [[ 9.99137500e-01 -1.80938726e-02 -3.73746894e-02 1.65622081e+00] [ 1.81050383e-02 9.99836090e-01 -3.97069840e-05 5.81209219e-02] [ 3.73692817e-02 -6.36997447e-04 9.99301321e-01 -4.15803051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.801346183999996 meters Centerline goodness [0,1] 0.9237239478670265 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:-0.42 [[ 9.99136437e-01 -1.69251144e-02 -3.79462768e-02 1.65968149e+00] [ 1.69790541e-02 9.99855241e-01 1.09964197e-03 5.66182180e-02] [ 3.79221722e-02 -1.74298425e-03 9.99279176e-01 -4.18335326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.831346184 meters Centerline goodness [0,1] 0.9231877376973608 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:-0.42 [[ 9.99131900e-01 -1.66006215e-02 -3.82081845e-02 1.66092164e+00] [ 1.66592744e-02 9.99860484e-01 1.21720129e-03 5.69238550e-02] [ 3.81826475e-02 -1.85266527e-03 9.99269059e-01 -4.18902515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.861346184 meters Centerline goodness [0,1] 0.9229682590019316 Centerline is valid? [False, False] Translation: X:1.66, Y:0.06, Z:-0.42 [[ 9.99123387e-01 -1.59962655e-02 -3.86856248e-02 1.66320585e+00] [ 1.60677766e-02 9.99869722e-01 1.53829333e-03 5.76354386e-02] [ 3.86559780e-02 -2.15853682e-03 9.99250247e-01 -4.20163690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.891346184 meters Centerline goodness [0,1] 0.9188487714846003 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911287 -0.0151242 -0.03930305 1.66601614] [ 0.01522037 0.99988185 0.00214873 0.05690642] [ 0.03926591 -0.00274503 0.99922503 -0.42151327] [ 0. 0. 0. 1. ]] SLAMing on 61.921346183999994 meters Centerline goodness [0,1] 0.9185302593659942 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911472 -0.01466065 -0.03943146 1.66738401] [ 0.01477872 0.99988713 0.00270442 0.05588405] [ 0.03938736 -0.00328477 0.99921862 -0.42286563] [ 0. 0. 0. 1. ]] SLAMing on 61.951346183999995 meters Centerline goodness [0,1] 0.9143680645626171 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99912202 -0.01453896 -0.03929143 1.66759254] [ 0.01465636 0.99988894 0.00270157 0.05562461] [ 0.03924779 -0.00327507 0.99922414 -0.42318371] [ 0. 0. 0. 1. ]] SLAMing on 61.981346183999996 meters Centerline goodness [0,1] 0.9118933855276035 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911428 -0.01463252 -0.03945299 1.66774774] [ 0.01472648 0.99988937 0.00209207 0.05635746] [ 0.03941801 -0.00267122 0.99921924 -0.42217764] [ 0. 0. 0. 1. ]] SLAMing on 62.011346184 meters Centerline goodness [0,1] 0.9160976171953784 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911575 -0.01468171 -0.03939766 1.66773165] [ 0.01476885 0.99988909 0.00192152 0.05653765] [ 0.03936508 -0.00250168 0.99922176 -0.422017 ] [ 0. 0. 0. 1. ]] SLAMing on 62.041346184 meters Centerline goodness [0,1] 0.9120730372674385 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911967 -0.01463948 -0.03931365 1.66776105] [ 0.01473362 0.99988924 0.00210593 0.05564531] [ 0.03927847 -0.00268331 0.9992247 -0.42224618] [ 0. 0. 0. 1. ]] SLAMing on 62.071346184 meters Centerline goodness [0,1] 0.911189899688689 Centerline is valid? [False, False] Translation: X:1.67, Y:0.06, Z:-0.42 [[ 0.99911887 -0.01455854 -0.0393641 1.66822578] [ 0.01466104 0.99988984 0.00231666 0.05509289] [ 0.03932603 -0.00289174 0.99922225 -0.42277564] [ 0. 0. 0. 1. ]] SLAMing on 62.10134618399999 meters Centerline goodness [0,1] 0.9077901888530631 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.42 [[ 0.9991137 -0.01426767 -0.03960115 1.66935932] [ 0.01438349 0.99989306 0.00264116 0.05418753] [ 0.03955923 -0.00320842 0.99921208 -0.42342148] [ 0. 0. 0. 1. ]] SLAMing on 62.131346183999995 meters Centerline goodness [0,1] 0.9101531023368251 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.42 [[ 0.99911673 -0.01403233 -0.03960865 1.67021661] [ 0.01417416 0.99989409 0.00330228 0.05240273] [ 0.03955811 -0.00386079 0.99920981 -0.42476674] [ 0. 0. 0. 1. ]] SLAMing on 62.161346183999996 meters Centerline goodness [0,1] 0.9075738863199012 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.43 [[ 9.99040125e-01 -1.72083171e-02 -4.02827935e-02 1.67325329e+00] [ 1.72353344e-02 9.99851408e-01 3.23476843e-04 5.05421835e-02] [ 4.02712413e-02 -1.01745376e-03 9.99188266e-01 -4.26410460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.191346184 meters Centerline goodness [0,1] 0.9053276459305488 Centerline is valid? [False, False] Translation: X:1.67, Y:0.05, Z:-0.43 [[ 9.99036937e-01 -1.69131623e-02 -4.04863314e-02 1.67450939e+00] [ 1.69737728e-02 9.99855269e-01 1.15376038e-03 4.80997704e-02] [ 4.04609581e-02 -1.83985503e-03 9.99179426e-01 -4.27814655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.221346184 meters Centerline goodness [0,1] 0.9080884458956293 Centerline is valid? [False, False] Translation: X:1.68, Y:0.05, Z:-0.43 [[ 0.99903598 -0.01635077 -0.04074013 1.67629341] [ 0.01645462 0.99986216 0.00221499 0.04563301] [ 0.0406983 -0.00288322 0.99916732 -0.42966818] [ 0. 0. 0. 1. ]] SLAMing on 62.251346184 meters Centerline goodness [0,1] 0.9057931781266919 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.43 [[ 0.9990195 -0.01588536 -0.04132422 1.67852283] [ 0.01604891 0.99986462 0.00362889 0.04235694] [ 0.04126098 -0.00428854 0.9991392 -0.43185957] [ 0. 0. 0. 1. ]] SLAMing on 62.281346184 meters Centerline goodness [0,1] 0.9088435374149659 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.43 [[ 0.99900419 -0.01544389 -0.04185817 1.6801588 ] [ 0.01563391 0.99986889 0.00421609 0.04032817] [ 0.04178757 -0.0048663 0.99911467 -0.43234429] [ 0. 0. 0. 1. ]] SLAMing on 62.311346183999994 meters Centerline goodness [0,1] 0.901581622511855 Centerline is valid? [False, False] Translation: X:1.68, Y:0.04, Z:-0.43 [[ 0.99900321 -0.01514937 -0.04198897 1.68096867] [ 0.01536966 0.99986973 0.00492844 0.03797919] [ 0.04190884 -0.00556889 0.99910592 -0.433224 ] [ 0. 0. 0. 1. ]] SLAMing on 62.341346183999995 meters Centerline goodness [0,1] 0.9000790335327989 Centerline is valid? [False, False] Translation: X:1.69, Y:0.04, Z:-0.43 [[ 0.99890955 -0.01729374 -0.04336621 1.68604184] [ 0.01740879 0.99984586 0.00227673 0.0355996 ] [ 0.04332015 -0.00302921 0.99905665 -0.43442589] [ 0. 0. 0. 1. ]] SLAMing on 62.371346184 meters Centerline goodness [0,1] 0.8999380770096825 Centerline is valid? [False, False] Translation: X:1.69, Y:0.03, Z:-0.44 [[ 0.99890564 -0.01642051 -0.04379379 1.68833934] [ 0.01658307 0.99985688 0.00335115 0.03314153] [ 0.0437325 -0.00407372 0.99903497 -0.43607246] [ 0. 0. 0. 1. ]] SLAMing on 62.401346184 meters Centerline goodness [0,1] 0.9053332584017084 Centerline is valid? [False, False] Translation: X:1.69, Y:0.03, Z:-0.44 [[ 0.99890146 -0.01585946 -0.04409482 1.68984412] [ 0.01605737 0.99986251 0.00413757 0.03093561] [ 0.04402314 -0.00484107 0.99901878 -0.43714477] [ 0. 0. 0. 1. ]] SLAMing on 62.431346184 meters Centerline goodness [0,1] 0.9054216698855208 Centerline is valid? [False, False] Translation: X:1.69, Y:0.03, Z:-0.44 [[ 0.9988936 -0.0150989 -0.04453763 1.69180241] [ 0.01533421 0.99987019 0.00494643 0.02839158] [ 0.04445717 -0.0056239 0.99899546 -0.4380483 ] [ 0. 0. 0. 1. ]] SLAMing on 62.461346184 meters Centerline goodness [0,1] 0.902837057494351 Centerline is valid? [False, False] Translation: X:1.69, Y:0.02, Z:-0.44 [[ 0.99888418 -0.01474589 -0.04486585 1.69254299] [ 0.01502344 0.99987 0.00585544 0.02421248] [ 0.04477368 -0.00652295 0.99897586 -0.43822288] [ 0. 0. 0. 1. ]] SLAMing on 62.491346183999994 meters Centerline goodness [0,1] 0.9012834821428571 Centerline is valid? [False, False] Translation: X:1.69, Y:0.02, Z:-0.44 [[ 0.99887628 -0.01458105 -0.04509518 1.69287186] [ 0.01487597 0.99987006 0.00621113 0.02212074] [ 0.04499875 -0.00687498 0.99896339 -0.43791439] [ 0. 0. 0. 1. ]] SLAMing on 62.521346183999995 meters Centerline goodness [0,1] 0.901511998890276 Centerline is valid? [False, False] Translation: X:1.70, Y:0.02, Z:-0.44 [[ 0.99877814 -0.01718449 -0.04633494 1.69699101] [ 0.01732987 0.99984608 0.00273777 0.02196723] [ 0.04628076 -0.0035374 0.99892221 -0.43797654] [ 0. 0. 0. 1. ]] SLAMing on 62.551346183999996 meters Centerline goodness [0,1] 0.8977594501718213 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.44 [[ 9.98693440e-01 -1.97628214e-02 -4.71258378e-02 1.70111717e+00] [ 1.98492211e-02 9.99802052e-01 1.36607573e-03 1.44790779e-02] [ 4.70895118e-02 -2.29970204e-03 9.98888026e-01 -4.41186254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.581346184 meters Centerline goodness [0,1] 0.8781648165363373 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.44 [[ 9.98592485e-01 -2.29157101e-02 -4.78322054e-02 1.70399889e+00] [ 2.28665778e-02 9.99737286e-01 -1.57419265e-03 1.16806879e-02] [ 4.78557130e-02 4.78218100e-04 9.98854145e-01 -4.42217995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.611346184 meters Centerline goodness [0,1] 0.8647228574539911 Centerline is valid? [False, False] Translation: X:1.70, Y:0.01, Z:-0.44 [[ 9.98586557e-01 -2.27525898e-02 -4.80333970e-02 1.70474070e+00] [ 2.27584206e-02 9.99740903e-01 -4.25574056e-04 7.14340024e-03] [ 4.80306346e-02 -6.68191720e-04 9.98845640e-01 -4.43283817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.641346184 meters Centerline goodness [0,1] 0.8386527709927808 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.44 [[ 9.98548748e-01 -2.36148740e-02 -4.84018211e-02 1.70356953e+00] [ 2.36496814e-02 9.99720296e-01 1.46499774e-04 1.54775538e-03] [ 4.83848234e-02 -1.29097481e-03 9.98827934e-01 -4.41990353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.671346183999994 meters Centerline goodness [0,1] 0.8243681140635126 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:-0.44 [[ 9.98417820e-01 -2.70087405e-02 -4.93192055e-02 1.70571559e+00] [ 2.68646475e-02 9.99632661e-01 -3.58230310e-03 -5.37626008e-04] [ 4.93978421e-02 2.25169218e-03 9.98776643e-01 -4.40790543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.701346183999995 meters Centerline goodness [0,1] 0.8285591789704976 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.00, Z:-0.44 [[ 0.99829643 -0.03036142 -0.049824 1.70752804] [ 0.03007881 0.99952696 -0.00641224 -0.00484123] [ 0.04999512 0.00490267 0.99873743 -0.44113438] [ 0. 0. 0. 1. ]] SLAMing on 62.731346183999996 meters Centerline goodness [0,1] 0.7984797923618836 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.01, Z:-0.44 [[ 0.99802039 -0.03740007 -0.05056211 1.71076585] [ 0.03684682 0.9992509 -0.0118305 -0.01391629] [ 0.0509667 0.00994403 0.99865085 -0.4427646 ] [ 0. 0. 0. 1. ]] SLAMing on 62.761346184 meters Centerline goodness [0,1] 0.7841973354438728 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.02, Z:-0.44 [[ 0.99801967 -0.03748447 -0.05051382 1.71089861] [ 0.03703491 0.99926585 -0.00980687 -0.02075586] [ 0.05084434 0.00791668 0.99867521 -0.44491347] [ 0. 0. 0. 1. ]] SLAMing on 62.791346184 meters Centerline goodness [0,1] 0.7714203339186958 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.03, Z:-0.45 [[ 0.99801876 -0.03723766 -0.050714 1.71168497] [ 0.03689129 0.99928924 -0.00774932 -0.02722165] [ 0.05096652 0.00586306 0.99868315 -0.44683065] [ 0. 0. 0. 1. ]] SLAMing on 62.821346184 meters Centerline goodness [0,1] 0.7551368976761037 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:-0.45 [[ 0.997875 -0.04024692 -0.05124138 1.71315857] [ 0.03981757 0.999163 -0.00937297 -0.03604135] [ 0.05157572 0.00731275 0.99864231 -0.44699856] [ 0. 0. 0. 1. ]] SLAMing on 62.85134618399999 meters Centerline goodness [0,1] 0.7488107788434342 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.04, Z:-0.45 [[ 0.99788879 -0.03974604 -0.05136349 1.71401931] [ 0.03942446 0.99919618 -0.00725932 -0.04257039] [ 0.05161073 0.00521902 0.99865364 -0.44886236] [ 0. 0. 0. 1. ]] SLAMing on 62.881346183999995 meters Centerline goodness [0,1] 0.7363182806703339 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.05, Z:-0.45 [[ 0.99789457 -0.03923767 -0.05164128 1.71508718] [ 0.03901104 0.99922424 -0.00538965 -0.04867043] [ 0.0518127 0.00336372 0.99865116 -0.45026579] [ 0. 0. 0. 1. ]] SLAMing on 62.911346183999996 meters Centerline goodness [0,1] 0.7325403698232388 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.05, Z:-0.45 [[ 9.97899633e-01 -3.87333502e-02 -5.19235049e-02 1.71592091e+00] [ 3.85928815e-02 9.99248146e-01 -3.70557058e-03 -5.46901101e-02] [ 5.20279952e-02 1.69390986e-03 9.98644190e-01 -4.51086304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.941346184 meters Centerline goodness [0,1] 0.7339151050467856 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.06, Z:-0.45 [[ 0.99774234 -0.04154751 -0.05276391 1.71824622] [ 0.04133232 0.99913211 -0.00516348 -0.06423914] [ 0.05293264 0.00297097 0.99859367 -0.45146944] [ 0. 0. 0. 1. ]] SLAMing on 62.971346184 meters Centerline goodness [0,1] 0.742940823069991 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.07, Z:-0.45 [[ 0.99757942 -0.04401363 -0.05383403 1.72275115] [ 0.04368022 0.99901849 -0.00735496 -0.06876753] [ 0.05410491 0.00498568 0.99852281 -0.45329868] [ 0. 0. 0. 1. ]] SLAMing on 63.001346184 meters Centerline goodness [0,1] 0.726185146495548 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.08, Z:-0.46 [[ 0.99759686 -0.04311687 -0.05423508 1.7251977 ] [ 0.04287945 0.99906493 -0.00553428 -0.07560189] [ 0.05442298 0.00319541 0.99851286 -0.45553846] [ 0. 0. 0. 1. ]] SLAMing on 63.031346184 meters Centerline goodness [0,1] 0.7480110008839996 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.08, Z:-0.46 [[ 0.99744513 -0.04528478 -0.05524939 1.72925503] [ 0.04494007 0.99896178 -0.00746628 -0.08196701] [ 0.05553014 0.0049643 0.99844467 -0.45659845] [ 0. 0. 0. 1. ]] SLAMing on 63.061346183999994 meters Centerline goodness [0,1] 0.7543150936467131 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.08, Z:-0.46 [[ 0.99725598 -0.04812246 -0.05625601 1.73221567] [ 0.04757518 0.99880678 -0.01102824 -0.0824837 ] [ 0.05671959 0.00832159 0.99835547 -0.45580585] [ 0. 0. 0. 1. ]] SLAMing on 63.091346183999995 meters Centerline goodness [0,1] 0.7492266095047865 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.46 [[ 9.97480102e-01 -4.91034034e-02 -5.12084164e-02 1.74685071e+00] [ 4.90839128e-02 9.98793314e-01 -1.63888385e-03 -8.88190232e-02] [ 5.12270986e-02 -8.78755417e-04 9.98686644e-01 -4.59856272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.121346184 meters Centerline goodness [0,1] 0.7394937569839188 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.09, Z:-0.46 [[ 9.97485957e-01 -4.88671845e-02 -5.13202152e-02 1.74669920e+00] [ 4.88879746e-02 9.98803906e-01 -8.50866111e-04 -9.32020164e-02] [ 5.13004108e-02 -1.66021438e-03 9.98681887e-01 -4.59301076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.151346184 meters Centerline goodness [0,1] 0.7450410763186094 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.10, Z:-0.46 [[ 9.97311417e-01 -5.14393786e-02 -5.21912616e-02 1.74900838e+00] [ 5.13575394e-02 9.98676094e-01 -2.90886447e-03 -1.02921731e-01] [ 5.22717955e-02 2.20628968e-04 9.98632871e-01 -4.58255970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.181346184 meters Centerline goodness [0,1] 0.7431314763760815 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.11, Z:-0.46 [[ 9.97294290e-01 -5.19672758e-02 -5.19951967e-02 1.74781520e+00] [ 5.19049347e-02 9.98648776e-01 -2.54949257e-03 -1.08979559e-01] [ 5.20574297e-02 -1.56212906e-04 9.98644081e-01 -4.57316888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.211346184 meters Centerline goodness [0,1] 0.7332610591312956 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.12, Z:-0.46 [[ 0.99737844 -0.05551328 -0.04641689 1.7612517 ] [ 0.05575315 0.99843701 0.00388807 -0.1153875 ] [ 0.0461285 -0.00646577 0.99891459 -0.45967162] [ 0. 0. 0. 1. ]] SLAMing on 63.241346183999994 meters Centerline goodness [0,1] 0.7156846705775118 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.12, Z:-0.46 [[ 9.97142883e-01 -5.96623708e-02 -4.63300311e-02 1.75969006e+00] [ 5.97822277e-02 9.98210716e-01 1.20451146e-03 -1.21969130e-01] [ 4.61752695e-02 -3.97078250e-03 9.98925461e-01 -4.57488616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.271346183999995 meters Centerline goodness [0,1] 0.7138127215071814 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.13, Z:-0.46 [[ 9.96917817e-01 -6.30571856e-02 -4.66760977e-02 1.76127562e+00] [ 6.30470588e-02 9.98009123e-01 -1.69059525e-03 -1.25559004e-01] [ 4.66897756e-02 -1.25740615e-03 9.98908646e-01 -4.57562196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.301346183999996 meters Centerline goodness [0,1] 0.6996070272769301 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.13, Z:-0.46 [[ 9.96694838e-01 -6.62136918e-02 -4.70653545e-02 1.76369951e+00] [ 6.60922104e-02 9.97804954e-01 -4.13435209e-03 -1.30080316e-01] [ 4.72357946e-02 1.01003407e-03 9.98883256e-01 -4.58725393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.331346184 meters Centerline goodness [0,1] 0.7126070092492713 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.14, Z:-0.46 [[ 0.99642164 -0.07020924 -0.04705937 1.76451703] [ 0.06997803 0.99752706 -0.00654466 -0.13957191] [ 0.04740249 0.00322812 0.99887065 -0.45911657] [ 0. 0. 0. 1. ]] SLAMing on 63.361346184 meters Centerline goodness [0,1] 0.6957501023797606 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.15, Z:-0.46 [[ 9.96479274e-01 -7.26800294e-02 -4.17931755e-02 1.77873267e+00] [ 7.28056984e-02 9.97345030e-01 1.49075578e-03 -1.45992106e-01] [ 4.15738677e-02 -4.52828856e-03 9.99125171e-01 -4.63152148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.391346184 meters Centerline goodness [0,1] 0.6853958040690562 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.15, Z:-0.46 [[ 9.96463490e-01 -7.29944041e-02 -4.16212754e-02 1.77742819e+00] [ 7.31297587e-02 9.97320922e-01 1.73680962e-03 -1.49060853e-01] [ 4.13829914e-02 -4.77442120e-03 9.99131950e-01 -4.61838861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.421346183999994 meters Centerline goodness [0,1] 0.6571460903021387 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.15, Z:-0.46 [[ 0.99645408 -0.07320149 -0.04148272 1.77623982] [ 0.07334448 0.99730479 0.00193342 -0.1519706 ] [ 0.04122939 -0.00496909 0.99913735 -0.46047953] [ 0. 0. 0. 1. ]] SLAMing on 63.451346183999995 meters Centerline goodness [0,1] 0.7020513167693454 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.16, Z:-0.46 [[ 0.99647029 -0.0729205 -0.04158806 1.77628099] [ 0.07309229 0.99732173 0.00262328 -0.15503443] [ 0.04128539 -0.00565378 0.9991314 -0.46006808] [ 0. 0. 0. 1. ]] SLAMing on 63.481346183999996 meters Centerline goodness [0,1] 0.6569656808972666 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.16, Z:-0.46 [[ 0.99651525 -0.07201087 -0.04209273 1.77734754] [ 0.07223681 0.99738 0.00386953 -0.16049652] [ 0.0417038 -0.00689669 0.99910622 -0.45958562] [ 0. 0. 0. 1. ]] SLAMing on 63.511346184 meters Centerline goodness [0,1] 0.6738385760662711 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.16, Z:-0.46 [[ 0.99654708 -0.07140989 -0.04236208 1.77800302] [ 0.07166234 0.99741894 0.00446916 -0.16223657] [ 0.0419336 -0.0074895 0.99909233 -0.45938457] [ 0. 0. 0. 1. ]] SLAMing on 63.541346184 meters Centerline goodness [0,1] 0.7353045956537229 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.16, Z:-0.46 [[ 0.99661546 -0.06996234 -0.0431613 1.77959912] [ 0.07025706 0.99751458 0.00534785 -0.16463778] [ 0.04267987 -0.00836213 0.9990538 -0.45826624] [ 0. 0. 0. 1. ]] SLAMing on 63.571346184 meters Centerline goodness [0,1] 0.7409843350738807 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.99664537 -0.06930432 -0.04353059 1.78054683] [ 0.06962523 0.99755578 0.00589785 -0.16592425] [ 0.04301544 -0.00890889 0.99903469 -0.45820471] [ 0. 0. 0. 1. ]] SLAMing on 63.60134618399999 meters Centerline goodness [0,1] 0.7508477205735689 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.99667143 -0.06868976 -0.04390657 1.78160061] [ 0.06903705 0.9975933 0.00644113 -0.1671021 ] [ 0.04335846 -0.00945087 0.99901488 -0.45833432] [ 0. 0. 0. 1. ]] SLAMing on 63.631346183999995 meters Centerline goodness [0,1] 0.7508477205735689 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.99667143 -0.06868976 -0.04390657 1.78160061] [ 0.06903705 0.9975933 0.00644113 -0.1671021 ] [ 0.04335846 -0.00945087 0.99901488 -0.45833432] [ 0. 0. 0. 1. ]] SLAMing on 63.661346183999996 meters Centerline goodness [0,1] 0.7266607812844846 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.99669476 -0.06812533 -0.04425483 1.78265217] [ 0.068495 0.99762767 0.00688941 -0.16795185] [ 0.0436805 -0.00989787 0.99899652 -0.45850293] [ 0. 0. 0. 1. ]] SLAMing on 63.691346184 meters Centerline goodness [0,1] 0.7537696185256114 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.9967489 -0.06710947 -0.04458633 1.78374948] [ 0.06752143 0.99768736 0.00779704 -0.17082194] [ 0.04395996 -0.01078222 0.99897511 -0.45853667] [ 0. 0. 0. 1. ]] SLAMing on 63.721346184 meters Centerline goodness [0,1] 0.735159717035019 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.17, Z:-0.46 [[ 0.99676293 -0.06670976 -0.04487169 1.7845695 ] [ 0.06713577 0.99771135 0.00805326 -0.17183224] [ 0.04423176 -0.01103969 0.9989603 -0.45853182] [ 0. 0. 0. 1. ]] SLAMing on 63.751346184 meters Centerline goodness [0,1] 0.7753356146354304 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99677551 -0.06637799 -0.04508376 1.78507601] [ 0.06680788 0.99773302 0.00809488 -0.17204084] [ 0.04444423 -0.01108073 0.99895041 -0.45827975] [ 0. 0. 0. 1. ]] SLAMing on 63.781346184 meters Centerline goodness [0,1] 0.7821222910897182 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99679177 -0.06596097 -0.04533552 1.78568602] [ 0.06639736 0.99775967 0.00818683 -0.17226372] [ 0.04469394 -0.01117073 0.99893827 -0.45799671] [ 0. 0. 0. 1. ]] SLAMing on 63.811346183999994 meters Centerline goodness [0,1] 0.787670181746432 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99686341 -0.06443536 -0.04595026 1.78799885] [ 0.06492294 0.9978479 0.00919725 -0.17363741] [ 0.04525874 -0.01215163 0.99890139 -0.45863783] [ 0. 0. 0. 1. ]] SLAMing on 63.841346183999995 meters Centerline goodness [0,1] 0.7900155869245461 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99688095 -0.06390136 -0.04631411 1.78917608] [ 0.06439912 0.99788056 0.00933476 -0.17300359] [ 0.04561944 -0.01228824 0.99888331 -0.45888586] [ 0. 0. 0. 1. ]] SLAMing on 63.871346184 meters Centerline goodness [0,1] 0.7904511030622324 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99689419 -0.06347079 -0.04662008 1.79037577] [ 0.0639806 0.99790569 0.00952434 -0.17242785] [ 0.04591793 -0.01247754 0.99886729 -0.4593796 ] [ 0. 0. 0. 1. ]] SLAMing on 63.901346184 meters Centerline goodness [0,1] 0.7922580078210818 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99688095 -0.06353438 -0.04681627 1.7908028 ] [ 0.0640512 0.99790023 0.00962167 -0.17323388] [ 0.04610666 -0.0125903 0.99885718 -0.45926018] [ 0. 0. 0. 1. ]] SLAMing on 63.931346184 meters Centerline goodness [0,1] 0.7868180522981829 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 0.99664744 -0.06709056 -0.04682667 1.7918889 ] [ 0.06742786 0.9977081 0.00565926 -0.17242372] [ 0.04633966 -0.00879771 0.998887 -0.45930491] [ 0. 0. 0. 1. ]] SLAMing on 63.961346184 meters Centerline goodness [0,1] 0.7954629892694014 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 9.96377279e-01 -7.10173522e-02 -4.67851754e-02 1.79258930e+00] [ 7.11661939e-02 9.97463312e-01 1.52132304e-03 -1.71864581e-01] [ 4.65584557e-02 -4.84533458e-03 9.98903816e-01 -4.59104804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.991346183999994 meters Centerline goodness [0,1] 0.7788488862657661 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.17, Z:-0.46 [[ 9.96080299e-01 -7.51521342e-02 -4.66496952e-02 1.79284582e+00] [ 7.51086980e-02 9.97171736e-01 -2.68575682e-03 -1.71593014e-01] [ 4.67195979e-02 -8.28568409e-04 9.98907700e-01 -4.58572701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.021346184 meters Centerline goodness [0,1] 0.7454207650273224 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.17, Z:-0.46 [[ 9.95786041e-01 -8.25678776e-02 -3.99087257e-02 1.80246841e+00] [ 8.26945545e-02 9.96573764e-01 1.53105664e-03 -1.73491924e-01] [ 3.96455729e-02 -4.82483912e-03 9.99202156e-01 -4.61667913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.051346184 meters Centerline goodness [0,1] 0.7446054961631796 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.47 [[ 0.99559676 -0.0873489 -0.03401859 1.81463711] [ 0.08765505 0.99612181 0.00761178 -0.17444435] [ 0.03322178 -0.01056017 0.99939221 -0.46580473] [ 0. 0. 0. 1. ]] SLAMing on 64.081346184 meters Centerline goodness [0,1] 0.7118370551290998 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.17, Z:-0.47 [[ 0.9952099 -0.09161857 -0.03410709 1.81571321] [ 0.09178295 0.99577363 0.0032823 -0.17275134] [ 0.03366222 -0.00639703 0.99941279 -0.465785 ] [ 0. 0. 0. 1. ]] SLAMing on 64.111346184 meters Centerline goodness [0,1] 0.7074684263426998 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.47 [[ 0.99508848 -0.09302832 -0.03383259 1.81470984] [ 0.09317035 0.99564668 0.00264248 -0.17340654] [ 0.03343948 -0.0057817 0.99942402 -0.46556891] [ 0. 0. 0. 1. ]] SLAMing on 64.141346184 meters Centerline goodness [0,1] 0.692956761246885 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.46 [[ 9.94588817e-01 -9.84585921e-02 -3.31510338e-02 1.81320373e+00] [ 9.84297165e-02 9.95140850e-01 -2.50585837e-03 -1.72018218e-01] [ 3.32366712e-02 -7.70748142e-04 9.99447212e-01 -4.64360679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.171346184 meters Centerline goodness [0,1] 0.6799755239406455 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.46 [[ 9.94543525e-01 -9.90713386e-02 -3.26809772e-02 1.81227389e+00] [ 9.90329572e-02 9.95080229e-01 -2.79501605e-03 -1.72502765e-01] [ 3.27971002e-02 -4.56728696e-04 9.99461926e-01 -4.64381447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.201346184 meters Centerline goodness [0,1] 0.6713367721629655 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.46 [[ 9.94502008e-01 -9.95548097e-02 -3.24745361e-02 1.81163497e+00] [ 9.95018834e-02 9.95032080e-01 -3.24581726e-03 -1.72223524e-01] [ 3.26363419e-02 -3.30572344e-06 9.99467293e-01 -4.63929985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.231346184 meters Centerline goodness [0,1] 0.6642638946882623 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.46 [[ 9.94736829e-01 -9.72610310e-02 -3.22324819e-02 1.80859333e+00] [ 9.72799232e-02 9.95256573e-01 -9.85279614e-04 -1.69261526e-01] [ 3.21754188e-02 -2.15547944e-03 9.99479913e-01 -4.61833635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26134618399999 meters Centerline goodness [0,1] 0.6687144933280487 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.17, Z:-0.46 [[ 0.9950528 -0.09388214 -0.03249725 1.80800042] [ 0.09400564 0.99556903 0.00229039 -0.16745578] [ 0.03213823 -0.00533398 0.9994692 -0.46146136] [ 0. 0. 0. 1. ]] SLAMing on 64.29134618399999 meters Centerline goodness [0,1] 0.6656099332937058 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.46 [[ 0.99509471 -0.09321897 -0.03311721 1.81002149] [ 0.09334651 0.99563097 0.00232291 -0.16470855] [ 0.03275598 -0.00540289 0.99944878 -0.46220624] [ 0. 0. 0. 1. ]] SLAMing on 64.32134618399999 meters Centerline goodness [0,1] 0.6804898536628499 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.46 [[ 0.99515109 -0.09243876 -0.03360625 1.81277044] [ 0.09258121 0.99570146 0.00270422 -0.1636584 ] [ 0.03321181 -0.00580241 0.99943149 -0.46443496] [ 0. 0. 0. 1. ]] SLAMing on 64.351346184 meters Centerline goodness [0,1] 0.6754574216243723 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.47 [[ 0.99516401 -0.09229145 -0.0336285 1.81381085] [ 0.09244144 0.99571381 0.00292952 -0.16392438] [ 0.03321399 -0.00602402 0.99943011 -0.46575011] [ 0. 0. 0. 1. ]] SLAMing on 64.381346184 meters Centerline goodness [0,1] 0.6784502450599899 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.47 [[ 0.99515897 -0.09236783 -0.03356805 1.81419951] [ 0.0925153 0.99570715 0.00286354 -0.16353511] [ 0.03315944 -0.00595523 0.99943233 -0.4663959 ] [ 0. 0. 0. 1. ]] SLAMing on 64.411346184 meters Centerline goodness [0,1] 0.6578636798859916 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.47 [[ 9.95085266e-01 -9.32625312e-02 -3.32778351e-02 1.81301587e+00] [ 9.33708896e-02 9.95629921e-01 1.71374907e-03 -1.60289180e-01] [ 3.29725797e-02 -4.81250751e-03 9.99444670e-01 -4.65476925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.441346184 meters Centerline goodness [0,1] 0.6317515561207416 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.47 [[ 9.95070270e-01 -9.34260748e-02 -3.32675065e-02 1.81321894e+00] [ 9.35229838e-02 9.95616184e-01 1.36555268e-03 -1.58860820e-01] [ 3.29940897e-02 -4.47009734e-03 9.99445550e-01 -4.65696227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.471346184 meters Centerline goodness [0,1] 0.6652288947684373 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.16, Z:-0.47 [[ 9.95085428e-01 -9.32163484e-02 -3.34021330e-02 1.81433010e+00] [ 9.33192933e-02 9.95635053e-01 1.53298455e-03 -1.58437760e-01] [ 3.31134353e-02 -4.64251404e-03 9.99440817e-01 -4.66686051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.501346184 meters Centerline goodness [0,1] 0.6575742706753502 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.16, Z:-0.47 [[ 9.95099679e-01 -9.30990096e-02 -3.33047078e-02 1.81509607e+00] [ 9.32017720e-02 9.95646046e-01 1.54310331e-03 -1.57944443e-01] [ 3.30160392e-02 -4.63959939e-03 9.99444053e-01 -4.67819162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.531346184 meters Centerline goodness [0,1] 0.6532657682907689 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.16, Z:-0.47 [[ 9.95088954e-01 -9.31438819e-02 -3.34991164e-02 1.81557915e+00] [ 9.32344299e-02 9.95643522e-01 1.14775101e-03 -1.56357469e-01] [ 3.32462723e-02 -4.26538537e-03 9.99438088e-01 -4.67775512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.561346184 meters Centerline goodness [0,1] 0.643815268275117 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.15, Z:-0.47 [[ 9.95081005e-01 -9.31320550e-02 -3.37670381e-02 1.81616815e+00] [ 9.32081368e-02 9.95646412e-01 6.82619796e-04 -1.54100705e-01] [ 3.35564566e-02 -3.82662470e-03 9.99429498e-01 -4.67650615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.591346184 meters Centerline goodness [0,1] 0.6431204070096099 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.15, Z:-0.47 [[ 9.95076405e-01 -9.30065340e-02 -3.42451937e-02 1.81713749e+00] [ 9.30635306e-02 9.95660170e-01 7.07265487e-05 -1.48978447e-01] [ 3.40899973e-02 -3.25735695e-03 9.99413459e-01 -4.67404051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.621346184 meters Centerline goodness [0,1] 0.6376283762385196 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.15, Z:-0.47 [[ 9.95078082e-01 -9.29076465e-02 -3.44641773e-02 1.81786097e+00] [ 9.29559637e-02 9.95670201e-01 -2.01161625e-04 -1.47083841e-01] [ 3.43336438e-02 -3.00347929e-03 9.99405914e-01 -4.67539570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65134618399999 meters Centerline goodness [0,1] 0.6335399495947143 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.15, Z:-0.47 [[ 9.95055286e-01 -9.31500779e-02 -3.44679558e-02 1.81766766e+00] [ 9.31775849e-02 9.95649175e-01 -8.10893367e-04 -1.45482987e-01] [ 3.43935265e-02 -2.40475714e-03 9.99405475e-01 -4.67019490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68134618399999 meters Centerline goodness [0,1] 0.6254092397235358 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 9.95039014e-01 -9.33753755e-02 -3.43278364e-02 1.81746784e+00] [ 9.33889922e-02 9.95628963e-01 -1.21002640e-03 -1.44374635e-01] [ 3.42907749e-02 -2.00181858e-03 9.99409894e-01 -4.66962049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71134618399999 meters Centerline goodness [0,1] 0.6134330748289982 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 9.94979804e-01 -9.41309781e-02 -3.39786610e-02 1.81669997e+00] [ 9.41161047e-02 9.95559137e-01 -2.04045713e-03 -1.42339430e-01] [ 3.40198366e-02 -1.16772557e-03 9.99420476e-01 -4.66914142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.741346184 meters Centerline goodness [0,1] 0.6067541613316261 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 9.95001448e-01 -9.38901407e-02 -3.40111694e-02 1.81796955e+00] [ 9.38864151e-02 9.95581446e-01 -1.71011807e-03 -1.42068200e-01] [ 3.40214525e-02 -1.49161682e-03 9.99419990e-01 -4.68518658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.771346184 meters Centerline goodness [0,1] 0.6043741680818837 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 9.95048961e-01 -9.33251727e-02 -3.41756939e-02 1.82055724e+00] [ 9.33402155e-02 9.95633598e-01 -1.15851654e-03 -1.40549431e-01] [ 3.41345878e-02 -2.03718595e-03 9.99415169e-01 -4.71577520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.801346184 meters Centerline goodness [0,1] 0.5998989295722883 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 9.95076968e-01 -9.28674306e-02 -3.46044384e-02 1.82235590e+00] [ 9.28852862e-02 9.95676215e-01 -1.09473677e-03 -1.38293254e-01] [ 3.45564816e-02 -2.12489582e-03 9.99400487e-01 -4.72728690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.831346184 meters Centerline goodness [0,1] 0.6597352186871838 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.14, Z:-0.47 [[ 0.99539654 -0.08934225 -0.03469422 1.82159113] [ 0.08948135 0.99598542 0.00247445 -0.1376834 ] [ 0.03433387 -0.00556755 0.99939491 -0.47268766] [ 0. 0. 0. 1. ]] SLAMing on 64.861346184 meters Centerline goodness [0,1] 0.6037047302291205 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99540734 -0.08911717 -0.03496213 1.82234081] [ 0.08923986 0.99600823 0.00196125 -0.13467447] [ 0.03464779 -0.00507226 0.99938671 -0.47254947] [ 0. 0. 0. 1. ]] SLAMing on 64.891346184 meters Centerline goodness [0,1] 0.6027632249988409 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95411963e-01 -8.89095179e-02 -3.53570588e-02 1.82317727e+00] [ 8.90170451e-02 9.96029010e-01 1.47558833e-03 -1.32687994e-01] [ 3.50854624e-02 -4.61619917e-03 9.99373654e-01 -4.72157242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.921346184 meters Centerline goodness [0,1] 0.6005345729227194 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95397346e-01 -8.91069057e-02 -3.52715640e-02 1.82293591e+00] [ 8.91797366e-02 9.96015427e-01 4.93894008e-04 -1.29968610e-01] [ 3.50870125e-02 -3.63712958e-03 9.99377643e-01 -4.71419367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.951346184 meters Centerline goodness [0,1] 0.6447227773388484 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95390405e-01 -8.91181624e-02 -3.54386015e-02 1.82351346e+00] [ 8.91859933e-02 9.96014933e-01 3.34704622e-04 -1.29447148e-01] [ 3.52675480e-02 -3.49378864e-03 9.99371799e-01 -4.71592565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.981346184 meters Centerline goodness [0,1] 0.6630361423351718 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95393963e-01 -8.90623987e-02 -3.54788388e-02 1.82432401e+00] [ 8.91340544e-02 9.96019541e-01 4.39985026e-04 -1.29057146e-01] [ 3.52984307e-02 -3.60033119e-03 9.99370331e-01 -4.72608261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01134618399999 meters Centerline goodness [0,1] 0.5857222506156206 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.47 [[ 9.95399907e-01 -8.89863575e-02 -3.55028673e-02 1.82509907e+00] [ 8.90673369e-02 9.96025359e-01 7.02764417e-04 -1.29190397e-01] [ 3.52992197e-02 -3.86167748e-03 9.99369327e-01 -4.73666779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04134618399999 meters Centerline goodness [0,1] 0.6291205591147351 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95363209e-01 -8.95333475e-02 -3.51548312e-02 1.82437152e+00] [ 8.95975790e-02 9.95978017e-01 2.52820410e-04 -1.28208491e-01] [ 3.49908032e-02 -3.40143590e-03 9.99381846e-01 -4.73566060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07134618399999 meters Centerline goodness [0,1] 0.6367654585213791 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95348674e-01 -8.97178387e-02 -3.50959572e-02 1.82418092e+00] [ 8.97693780e-02 9.95962573e-01 -1.07650471e-04 -1.26965516e-01] [ 3.49639180e-02 -3.04339249e-03 9.99383941e-01 -4.73349746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.101346184 meters Centerline goodness [0,1] 0.6343781221682661 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.12, Z:-0.47 [[ 9.95316561e-01 -9.00744331e-02 -3.50932892e-02 1.82363128e+00] [ 9.00868123e-02 9.95933155e-01 -1.23152172e-03 -1.23909115e-01] [ 3.50614989e-02 -1.93568859e-03 9.99383282e-01 -4.71972331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.131346184 meters Centerline goodness [0,1] 0.6326949543959505 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.12, Z:-0.47 [[ 9.95285374e-01 -9.04801328e-02 -3.49338004e-02 1.82293775e+00] [ 9.04724134e-02 9.95897326e-01 -1.80491357e-03 -1.22892677e-01] [ 3.49537872e-02 -1.36414115e-03 9.99387999e-01 -4.71337441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.161346184 meters Centerline goodness [0,1] 0.6226581954432265 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.12, Z:-0.47 [[ 9.95269000e-01 -9.07354175e-02 -3.47376044e-02 1.82272263e+00] [ 9.07271656e-02 9.95874128e-01 -1.81703566e-03 -1.23615114e-01] [ 3.47591510e-02 -1.34320512e-03 9.99394815e-01 -4.71586269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.191346184 meters Centerline goodness [0,1] 0.6210623985154257 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95249514e-01 -9.09716728e-02 -3.46779466e-02 1.82300179e+00] [ 9.09760708e-02 9.95852017e-01 -1.45434013e-03 -1.25805840e-01] [ 3.46664069e-02 -1.70743202e-03 9.99397481e-01 -4.72254968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.221346184 meters Centerline goodness [0,1] 0.5926491337635602 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.94863618e-01 -9.51977878e-02 -3.44058454e-02 1.82414976e+00] [ 9.50850549e-02 9.95457083e-01 -4.90179555e-03 -1.27874268e-01] [ 3.47161826e-02 1.60513636e-03 9.99395923e-01 -4.73680439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.251346184 meters Centerline goodness [0,1] 0.5897240150831656 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.48 [[ 9.94857041e-01 -9.53243432e-02 -3.42452428e-02 1.82462767e+00] [ 9.52332393e-02 9.95445762e-01 -4.28540582e-03 -1.29915156e-01] [ 3.44977853e-02 1.00208075e-03 9.99404272e-01 -4.75028353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.281346184 meters Centerline goodness [0,1] 0.5779525002319325 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.48 [[ 9.94844793e-01 -9.54874255e-02 -3.41465926e-02 1.82488025e+00] [ 9.54095729e-02 9.95430438e-01 -3.90589712e-03 -1.31163706e-01] [ 3.43635217e-02 6.27849596e-04 9.99409203e-01 -4.75858653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.311346184 meters Centerline goodness [0,1] 0.5737556770785059 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.48 [[ 9.94836668e-01 -9.55592850e-02 -3.41822623e-02 1.82531660e+00] [ 9.54893623e-02 9.95423663e-01 -3.67601381e-03 -1.31524250e-01] [ 3.43771100e-02 3.92990907e-04 9.99408855e-01 -4.76403905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.341346184 meters Centerline goodness [0,1] 0.5832810575962455 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.94776715e-01 -9.62835712e-02 -3.38933884e-02 1.82352742e+00] [ 9.61812979e-02 9.95353022e-01 -4.63889805e-03 -1.29340307e-01] [ 3.41825362e-02 1.35475768e-03 9.99414688e-01 -4.74474803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.371346184 meters Centerline goodness [0,1] 0.5612831448173559 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.94804281e-01 -9.59138990e-02 -3.41316147e-02 1.82429843e+00] [ 9.58202335e-02 9.95389048e-01 -4.37325331e-03 -1.29479305e-01] [ 3.43936912e-02 1.08003183e-03 9.99407778e-01 -4.74608711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40134618399999 meters Centerline goodness [0,1] 0.5979548774549586 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.94821670e-01 -9.57155712e-02 -3.41814778e-02 1.82457883e+00] [ 9.56234479e-02 9.95408189e-01 -4.32354716e-03 -1.30291622e-01] [ 3.44383537e-02 1.03260765e-03 9.99406291e-01 -4.74506276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43134618399999 meters Centerline goodness [0,1] 0.5973357344045804 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.48 [[ 9.94888150e-01 -9.50073743e-02 -3.42223334e-02 1.82545978e+00] [ 9.49332619e-02 9.95476433e-01 -3.78772690e-03 -1.32320384e-01] [ 3.44273884e-02 5.19526864e-04 9.99407067e-01 -4.75037386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46134618399999 meters Centerline goodness [0,1] 0.6019590589107077 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 9.95210100e-01 -9.15644917e-02 -3.42461768e-02 1.82442704e+00] [ 9.16190406e-02 9.95794131e-01 2.36835931e-05 -1.33771094e-01] [ 3.40999733e-02 -3.16117201e-03 9.99413427e-01 -4.74876571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.491346184 meters Centerline goodness [0,1] 0.6109333704270413 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99552671 -0.0880658 -0.03421955 1.82330427] [ 0.08824217 0.99609227 0.00367558 -0.13376556] [ 0.03376214 -0.00667874 0.99940758 -0.47459374] [ 0. 0. 0. 1. ]] SLAMing on 65.521346184 meters Centerline goodness [0,1] 0.6109333704270413 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99552671 -0.0880658 -0.03421955 1.82330427] [ 0.08824217 0.99609227 0.00367558 -0.13376556] [ 0.03376214 -0.00667874 0.99940758 -0.47459374] [ 0. 0. 0. 1. ]] SLAMing on 65.551346184 meters Centerline goodness [0,1] 0.6073736575387048 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99583845 -0.08438447 -0.03442446 1.82227423] [ 0.08466349 0.99638689 0.00672742 -0.13111916] [ 0.0337324 -0.00961392 0.99938466 -0.47325009] [ 0. 0. 0. 1. ]] SLAMing on 65.581346184 meters Centerline goodness [0,1] 0.6138814487015256 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99585571 -0.0840929 -0.0346379 1.82300104] [ 0.08437808 0.99641025 0.00685275 -0.13130104] [ 0.03393729 -0.00974703 0.99937643 -0.47340081] [ 0. 0. 0. 1. ]] SLAMing on 65.611346184 meters Centerline goodness [0,1] 0.608582635133567 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.13, Z:-0.47 [[ 0.99588452 -0.08366687 -0.03484066 1.82418404] [ 0.08397255 0.99644058 0.00740208 -0.13326339] [ 0.03409734 -0.01029728 0.99936547 -0.47421187] [ 0. 0. 0. 1. ]] SLAMing on 65.641346184 meters Centerline goodness [0,1] 0.602045549422515 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99591163 -0.0833029 -0.03493794 1.82507247] [ 0.08362613 0.99646595 0.00789212 -0.13515649] [ 0.03415703 -0.01078158 0.99935832 -0.47491839] [ 0. 0. 0. 1. ]] SLAMing on 65.671346184 meters Centerline goodness [0,1] 0.6579509071504803 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.47 [[ 0.99592333 -0.08314233 -0.03498682 1.82530473] [ 0.08346119 0.99648088 0.00775159 -0.13486682] [ 0.03421922 -0.01064003 0.99935771 -0.47468838] [ 0. 0. 0. 1. ]] SLAMing on 65.701346184 meters Centerline goodness [0,1] 0.5942765631527642 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.47 [[ 0.99590826 -0.08332309 -0.03498577 1.82519175] [ 0.08363168 0.99646889 0.00744931 -0.13375895] [ 0.03424153 -0.01034475 0.99936005 -0.47447113] [ 0. 0. 0. 1. ]] SLAMing on 65.731346184 meters Centerline goodness [0,1] 0.5935548280745746 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.47 [[ 0.99589459 -0.08346004 -0.03504834 1.82522962] [ 0.08376216 0.99645948 0.00723961 -0.13311506] [ 0.03432004 -0.01014561 0.9993594 -0.47427472] [ 0. 0. 0. 1. ]] SLAMing on 65.76134618399999 meters Centerline goodness [0,1] 0.6154166185138102 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.13, Z:-0.47 [[ 0.99590123 -0.08336221 -0.03509262 1.82602909] [ 0.08367275 0.99646526 0.00747314 -0.13445705] [ 0.0343456 -0.01037881 0.99935612 -0.47499247] [ 0. 0. 0. 1. ]] SLAMing on 65.79134618399999 meters Centerline goodness [0,1] 0.6371652816251154 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99591699 -0.08317586 -0.03508744 1.82685257] [ 0.08349942 0.99647685 0.00785676 -0.13638696] [ 0.03431033 -0.01075446 0.99935336 -0.47594551] [ 0. 0. 0. 1. ]] SLAMing on 65.82134618399999 meters Centerline goodness [0,1] 0.6364328038180435 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99593516 -0.08295673 -0.03509042 1.82762272] [ 0.08329515 0.99649042 0.0082922 -0.13830973] [ 0.03427937 -0.01118136 0.99934974 -0.47688986] [ 0. 0. 0. 1. ]] SLAMing on 65.851346184 meters Centerline goodness [0,1] 0.6289861091882413 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99593159 -0.08302745 -0.03502431 1.82753847] [ 0.08336011 0.99648621 0.00814449 -0.13795565] [ 0.03422502 -0.01103099 0.99935327 -0.47670091] [ 0. 0. 0. 1. ]] SLAMing on 65.881346184 meters Centerline goodness [0,1] 0.6154201399311889 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99590091 -0.08335192 -0.03512603 1.82705639] [ 0.08366705 0.99646481 0.00759658 -0.13659584] [ 0.03436866 -0.01050433 0.99935402 -0.4756408 ] [ 0. 0. 0. 1. ]] SLAMing on 65.911346184 meters Centerline goodness [0,1] 0.6365714021884668 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.9958785 -0.08361688 -0.03513149 1.8265456 ] [ 0.08392129 0.9964458 0.00727919 -0.13653431] [ 0.03439796 -0.01019747 0.99935619 -0.47475472] [ 0. 0. 0. 1. ]] SLAMing on 65.941346184 meters Centerline goodness [0,1] 0.6250143721112056 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99582997 -0.08428635 -0.03490674 1.82539566] [ 0.08458426 0.99639072 0.00714463 -0.13984042] [ 0.03417856 -0.01006739 0.99936504 -0.47368797] [ 0. 0. 0. 1. ]] SLAMing on 65.971346184 meters Centerline goodness [0,1] 0.6167270559097372 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99582383 -0.08436181 -0.03489975 1.82556276] [ 0.08466849 0.99638168 0.00740213 -0.14161062] [ 0.03414901 -0.01032612 0.99936341 -0.47390905] [ 0. 0. 0. 1. ]] SLAMing on 66.001346184 meters Centerline goodness [0,1] 0.6144197756923782 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.9958225 -0.08435558 -0.03495268 1.82601792] [ 0.08467108 0.99637963 0.00764433 -0.14303011] [ 0.03418129 -0.01057188 0.99935973 -0.47431477] [ 0. 0. 0. 1. ]] SLAMing on 66.031346184 meters Centerline goodness [0,1] 0.6081368490863768 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99582147 -0.08432497 -0.03505579 1.82695576] [ 0.08465288 0.99637859 0.00797495 -0.14481863] [ 0.03425635 -0.0109092 0.99935354 -0.47527949] [ 0. 0. 0. 1. ]] SLAMing on 66.061346184 meters Centerline goodness [0,1] 0.6352763612248165 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99581457 -0.08439189 -0.03509054 1.827252 ] [ 0.08471377 0.9963749 0.00778688 -0.14438375] [ 0.03430618 -0.01072694 0.9993538 -0.47542138] [ 0. 0. 0. 1. ]] SLAMing on 66.091346184 meters Centerline goodness [0,1] 0.64468362240351 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 0.99581002 -0.08438696 -0.03523144 1.82759078] [ 0.08469934 0.99637857 0.00746765 -0.14334675] [ 0.03447368 -0.01042044 0.99935128 -0.47525164] [ 0. 0. 0. 1. ]] SLAMing on 66.121346184 meters Centerline goodness [0,1] 0.6002610427972797 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99581012 -0.08430338 -0.03542806 1.82793371] [ 0.08460476 0.99638935 0.00709271 -0.14214172] [ 0.0347022 -0.01006038 0.99934706 -0.47487753] [ 0. 0. 0. 1. ]] SLAMing on 66.15134618399999 meters Centerline goodness [0,1] 0.6426016782062451 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.9958193 -0.08423663 -0.03532873 1.82736248] [ 0.08451007 0.9964026 0.0063168 -0.14062412] [ 0.03466953 -0.00927602 0.99935578 -0.47351496] [ 0. 0. 0. 1. ]] SLAMing on 66.18134618399999 meters Centerline goodness [0,1] 0.6433436957118039 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99581051 -0.0843135 -0.03539299 1.82719017] [ 0.08457463 0.99639942 0.00594443 -0.14021974] [ 0.03476436 -0.00891287 0.99935579 -0.47278843] [ 0. 0. 0. 1. ]] SLAMing on 66.21134618399999 meters Centerline goodness [0,1] 0.6477369084450555 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.995797 -0.08443437 -0.03548482 1.82707504] [ 0.08468166 0.99639276 0.00552198 -0.13934956] [ 0.03489057 -0.00850369 0.99935496 -0.47215771] [ 0. 0. 0. 1. ]] SLAMing on 66.241346184 meters Centerline goodness [0,1] 0.6277089960409181 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.9957931 -0.08438608 -0.03570837 1.8275642 ] [ 0.0846337 0.99639707 0.00547818 -0.13893642] [ 0.03511743 -0.00847727 0.99934724 -0.47206783] [ 0. 0. 0. 1. ]] SLAMing on 66.271346184 meters Centerline goodness [0,1] 0.6319069189910091 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.995775 -0.0845252 -0.0358838 1.82826382] [ 0.08477588 0.99638475 0.00552018 -0.13777783] [ 0.03528747 -0.00853894 0.99934072 -0.4727575 ] [ 0. 0. 0. 1. ]] SLAMing on 66.301346184 meters Centerline goodness [0,1] 0.6260022514760952 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99576992 -0.08452141 -0.0360334 1.82929191] [ 0.0847844 0.99638225 0.00583157 -0.13835783] [ 0.03541015 -0.00886198 0.99933357 -0.47383274] [ 0. 0. 0. 1. ]] SLAMing on 66.331346184 meters Centerline goodness [0,1] 0.6181990040575434 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.47 [[ 0.99575738 -0.08467463 -0.03602012 1.8298601 ] [ 0.08494924 0.99636624 0.00616033 -0.14044414] [ 0.03536761 -0.00919408 0.99933208 -0.47473147] [ 0. 0. 0. 1. ]] SLAMing on 66.361346184 meters Centerline goodness [0,1] 0.6115634621963736 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 9.95169202e-01 -9.13016813e-02 -3.60868598e-02 1.83351761e+00] [ 9.13437918e-02 9.95819300e-01 -4.83495491e-04 -1.42876375e-01] [ 3.59801354e-02 -2.81515079e-03 9.99348540e-01 -4.76645438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.391346184 meters Centerline goodness [0,1] 0.5993012262793724 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 9.95126119e-01 -9.19104396e-02 -3.57278405e-02 1.83261813e+00] [ 9.19471674e-02 9.95763696e-01 -6.17198973e-04 -1.44409065e-01] [ 3.56332135e-02 -2.67088291e-03 9.99361366e-01 -4.76538281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.421346184 meters Centerline goodness [0,1] 0.5877162828005043 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.14, Z:-0.48 [[ 9.95095536e-01 -9.22425706e-02 -3.57236921e-02 1.83220003e+00] [ 9.22658506e-02 9.95733907e-01 -9.99872370e-04 -1.43614892e-01] [ 3.56635223e-02 -2.30110831e-03 9.99361205e-01 -4.75925942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.451346184 meters Centerline goodness [0,1] 0.6204689364045151 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.48 [[ 0.99521935 -0.09335305 -0.02869942 1.84340646] [ 0.09355631 0.99559698 0.00582002 -0.14289167] [ 0.02802974 -0.00847721 0.99957114 -0.47749883] [ 0. 0. 0. 1. ]] SLAMing on 66.481346184 meters Centerline goodness [0,1] 0.6200267700544633 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.47 [[ 0.99547824 -0.09058155 -0.02860152 1.8402655 ] [ 0.09083048 0.99583794 0.00752511 -0.13825866] [ 0.02780084 -0.01008897 0.99956257 -0.47397847] [ 0. 0. 0. 1. ]] SLAMing on 66.51134618399999 meters Centerline goodness [0,1] 0.6093100581878637 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.47 [[ 0.9954644 -0.09066963 -0.02880359 1.84033761] [ 0.09090332 0.99583577 0.00690733 -0.13694041] [ 0.02805736 -0.00949434 0.99956122 -0.47314099] [ 0. 0. 0. 1. ]] SLAMing on 66.54134618399999 meters Centerline goodness [0,1] 0.6170940170940171 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.47 [[ 0.99545258 -0.09079866 -0.02880562 1.84041425] [ 0.09102309 0.99582708 0.00657526 -0.13690149] [ 0.02808839 -0.00916734 0.99956341 -0.47300658] [ 0. 0. 0. 1. ]] SLAMing on 66.57134618399999 meters Centerline goodness [0,1] 0.6317763934881782 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.47 [[ 0.99543929 -0.09096159 -0.02875097 1.84049228] [ 0.09117962 0.99581413 0.00636293 -0.13736486] [ 0.02805184 -0.00895541 0.99956635 -0.47310192] [ 0. 0. 0. 1. ]] SLAMing on 66.601346184 meters Centerline goodness [0,1] 0.6377702514614456 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.14, Z:-0.47 [[ 0.99539403 -0.09153396 -0.02850021 1.84001928] [ 0.09173194 0.99576733 0.00571587 -0.13602985] [ 0.02785639 -0.00830393 0.99957744 -0.47322607] [ 0. 0. 0. 1. ]] SLAMing on 66.631346184 meters Centerline goodness [0,1] 0.6117652523282009 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.13, Z:-0.47 [[ 0.99537307 -0.09175219 -0.02853042 1.84027365] [ 0.09193815 0.99575076 0.00527322 -0.13416302] [ 0.02792536 -0.00787186 0.99957902 -0.47347964] [ 0. 0. 0. 1. ]] SLAMing on 66.661346184 meters Centerline goodness [0,1] 0.6101072117956232 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.13, Z:-0.47 [[ 0.99538511 -0.09151944 -0.02885609 1.84192951] [ 0.09170632 0.99577242 0.00521814 -0.13179174] [ 0.02825654 -0.00784034 0.99956996 -0.47490368] [ 0. 0. 0. 1. ]] SLAMing on 66.691346184 meters Centerline goodness [0,1] 0.5901681278050368 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.13, Z:-0.48 [[ 0.99538116 -0.0915208 -0.02898777 1.84253325] [ 0.09170467 0.99577331 0.00507568 -0.13107786] [ 0.02840071 -0.00771055 0.99956688 -0.47528741] [ 0. 0. 0. 1. ]] SLAMing on 66.721346184 meters Centerline goodness [0,1] 0.6053531944606074 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.13, Z:-0.48 [[ 0.99536141 -0.09172428 -0.02902259 1.84264931] [ 0.09189502 0.99575806 0.00460226 -0.1294415 ] [ 0.02847734 -0.00724795 0.99956816 -0.4752345 ] [ 0. 0. 0. 1. ]] SLAMing on 66.751346184 meters Centerline goodness [0,1] 0.6078266554590455 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.13, Z:-0.47 [[ 0.99532459 -0.09206933 -0.02919246 1.84266643] [ 0.09221612 0.99573207 0.00371969 -0.12669021] [ 0.0287254 -0.00639432 0.99956689 -0.47460351] [ 0. 0. 0. 1. ]] SLAMing on 66.781346184 meters Centerline goodness [0,1] 0.6153972692877118 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.12, Z:-0.47 [[ 0.99556663 -0.08950026 -0.02892724 1.84007549] [ 0.08970641 0.99595074 0.00590635 -0.12278033] [ 0.02828149 -0.00847512 0.99956407 -0.47301372] [ 0. 0. 0. 1. ]] SLAMing on 66.811346184 meters Centerline goodness [0,1] 0.6134718435649149 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.12, Z:-0.47 [[ 0.99555506 -0.08960008 -0.02901631 1.84048446] [ 0.08979705 0.99594459 0.00555501 -0.12167009] [ 0.02840091 -0.00813589 0.9995635 -0.47323874] [ 0. 0. 0. 1. ]] SLAMing on 66.841346184 meters Centerline goodness [0,1] 0.6223989052989194 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.12, Z:-0.47 [[ 0.99555967 -0.08955909 -0.02898482 1.84129233] [ 0.08976057 0.99594692 0.00572392 -0.12219643] [ 0.02835471 -0.0083002 0.99956346 -0.47444322] [ 0. 0. 0. 1. ]] SLAMing on 66.871346184 meters Centerline goodness [0,1] 0.5750933821974769 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.12, Z:-0.48 [[ 0.99524377 -0.09294992 -0.02915742 1.84403881] [ 0.09304701 0.99565973 0.00198787 -0.12087583] [ 0.02884609 -0.00469143 0.99957286 -0.47631915] [ 0. 0. 0. 1. ]] SLAMing on 66.90134618399999 meters Centerline goodness [0,1] 0.6044246326564306 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.12, Z:-0.48 [[ 9.95175954e-01 -9.37026880e-02 -2.90624482e-02 1.84293585e+00] [ 9.37691931e-02 9.95593527e-01 9.30981355e-04 -1.18629511e-01] [ 2.88471499e-02 -3.65165258e-03 9.99577164e-01 -4.75051891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93134618399999 meters Centerline goodness [0,1] 0.60941841299741 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.12, Z:-0.48 [[ 0.99515672 -0.09545381 -0.02348773 1.85527177] [ 0.09566501 0.99538115 0.00803601 -0.11741007] [ 0.02261218 -0.01024404 0.99969183 -0.47622529] [ 0. 0. 0. 1. ]] SLAMing on 66.96134618399999 meters Centerline goodness [0,1] 0.622656268518738 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99502079 -0.096931 -0.02319505 1.8526289 ] [ 0.09708471 0.99526041 0.00559236 -0.11168213] [ 0.02254304 -0.0078164 0.99971532 -0.4731248 ] [ 0. 0. 0. 1. ]] SLAMing on 66.991346184 meters Centerline goodness [0,1] 0.6113357435068024 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.9949863 -0.0973515 -0.02291177 1.85229319] [ 0.09749933 0.99522081 0.00542347 -0.11271121] [ 0.02227429 -0.00763016 0.99972278 -0.47343872] [ 0. 0. 0. 1. ]] SLAMing on 67.021346184 meters Centerline goodness [0,1] 0.6031370507937259 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 9.94622816e-01 -1.00960271e-01 -2.30754914e-02 1.85431464e+00] [ 1.01021956e-01 9.94883035e-01 1.52030473e-03 -1.12878539e-01] [ 2.28039245e-02 -3.84326105e-03 9.99732569e-01 -4.74157629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.051346184 meters Centerline goodness [0,1] 0.5973838584539691 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 9.94589548e-01 -1.01355755e-01 -2.27737159e-02 1.85416074e+00] [ 1.01417687e-01 9.94842682e-01 1.57812467e-03 -1.14821063e-01] [ 2.24963126e-02 -3.87924388e-03 9.99739400e-01 -4.74859672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.081346184 meters Centerline goodness [0,1] 0.5923105935599453 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.48 [[ 9.94565277e-01 -1.01554594e-01 -2.29471881e-02 1.85486512e+00] [ 1.01608234e-01 9.94823790e-01 1.18078359e-03 -1.12200763e-01] [ 2.27084946e-02 -3.50598962e-03 9.99735981e-01 -4.75490462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.111346184 meters Centerline goodness [0,1] 0.5929155313351498 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.48 [[ 0.99490572 -0.09814512 -0.02302504 1.85405679] [ 0.09828374 0.99514604 0.00496537 -0.11134731] [ 0.02242596 -0.00720306 0.99972256 -0.47583541] [ 0. 0. 0. 1. ]] SLAMing on 67.141346184 meters Centerline goodness [0,1] 0.5957744807121661 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.99491661 -0.09792424 -0.02349004 1.85522548] [ 0.09805981 0.99516948 0.00468791 -0.10886405] [ 0.02291751 -0.00696751 0.99971308 -0.47594058] [ 0. 0. 0. 1. ]] SLAMing on 67.171346184 meters Centerline goodness [0,1] 0.5987191391091112 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.48 [[ 0.99490984 -0.09799616 -0.02347674 1.85497595] [ 0.09812325 0.99516489 0.00432106 -0.10789439] [ 0.02293978 -0.00660268 0.99971504 -0.47544597] [ 0. 0. 0. 1. ]] SLAMing on 67.201346184 meters Centerline goodness [0,1] 0.5939405442596504 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99487737 -0.09835571 -0.02334907 1.85413054] [ 0.09847031 0.99513271 0.00380742 -0.10791178] [ 0.02286094 -0.00608711 0.99972012 -0.47437851] [ 0. 0. 0. 1. ]] SLAMing on 67.231346184 meters Centerline goodness [0,1] 0.5888899390387978 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99483609 -0.09881083 -0.02318564 1.85326712] [ 0.09891082 0.99509115 0.00320353 -0.10787751] [ 0.02275528 -0.00548029 0.99972604 -0.4733707 ] [ 0. 0. 0. 1. ]] SLAMing on 67.26134618399999 meters Centerline goodness [0,1] 0.5975965991402854 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99479009 -0.09933562 -0.02291524 1.85225968] [ 0.0994271 0.99504067 0.00288476 -0.10844462] [ 0.02251504 -0.00514813 0.99973325 -0.47279307] [ 0. 0. 0. 1. ]] SLAMing on 67.29134618399999 meters Centerline goodness [0,1] 0.5961301044634377 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99479753 -0.09924443 -0.02298735 1.85281107] [ 0.09933849 0.99504923 0.00298391 -0.10854013] [ 0.0225774 -0.00525191 0.9997313 -0.47326389] [ 0. 0. 0. 1. ]] SLAMing on 67.32134618399999 meters Centerline goodness [0,1] 0.583222243382213 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.11, Z:-0.47 [[ 0.99482695 -0.09888006 -0.02328252 1.854114 ] [ 0.09898062 0.9950842 0.0032041 -0.10825403] [ 0.02285125 -0.00549204 0.99972379 -0.47406721] [ 0. 0. 0. 1. ]] SLAMing on 67.351346184 meters Centerline goodness [0,1] 0.5822330073989485 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.47 [[ 0.99485607 -0.09849667 -0.02366008 1.85543702] [ 0.09860085 0.99512168 0.00327457 -0.10756256] [ 0.02322212 -0.00559063 0.9997147 -0.47457661] [ 0. 0. 0. 1. ]] SLAMing on 67.381346184 meters Centerline goodness [0,1] 0.5839073861461921 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.9949454 -0.09743933 -0.02427416 1.8577573 ] [ 0.09755715 0.99522299 0.00371478 -0.10703962] [ 0.02379623 -0.00606412 0.99969844 -0.47551635] [ 0. 0. 0. 1. ]] SLAMing on 67.411346184 meters Centerline goodness [0,1] 0.5995368712549833 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.99498402 -0.09695853 -0.02461402 1.85891822] [ 0.09707816 0.99526985 0.0037101 -0.10641322] [ 0.02413787 -0.00608097 0.99969014 -0.47573431] [ 0. 0. 0. 1. ]] SLAMing on 67.441346184 meters Centerline goodness [0,1] 0.5995368712549833 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.99498402 -0.09695853 -0.02461402 1.85891822] [ 0.09707816 0.99526985 0.0037101 -0.10641322] [ 0.02413787 -0.00608097 0.99969014 -0.47573431] [ 0. 0. 0. 1. ]] SLAMing on 67.471346184 meters Centerline goodness [0,1] 0.5863756834841575 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.99538821 -0.09260182 -0.02504416 1.85951518] [ 0.09282985 0.99564905 0.00809841 -0.10710195] [ 0.02418527 -0.01038591 0.99965354 -0.47655017] [ 0. 0. 0. 1. ]] SLAMing on 67.501346184 meters Centerline goodness [0,1] 0.5983779633362127 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.11, Z:-0.48 [[ 0.99542662 -0.09202442 -0.02563898 1.86102774] [ 0.09225596 0.99570321 0.00799687 -0.1057162 ] [ 0.0247929 -0.01032565 0.99963928 -0.47645164] [ 0. 0. 0. 1. ]] SLAMing on 67.531346184 meters Centerline goodness [0,1] 0.6145186895655939 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.10, Z:-0.48 [[ 0.99545143 -0.0916263 -0.02609741 1.86202724] [ 0.09185147 0.99574401 0.00756136 -0.1035649 ] [ 0.02529352 -0.00992405 0.99963081 -0.47596746] [ 0. 0. 0. 1. ]] SLAMing on 67.561346184 meters Centerline goodness [0,1] 0.6081315713321115 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.10, Z:-0.48 [[ 0.99580059 -0.08769595 -0.02627932 1.86173021] [ 0.0880253 0.99605015 0.01164706 -0.10419371] [ 0.02515412 -0.01391139 0.99958679 -0.47623961] [ 0. 0. 0. 1. ]] SLAMing on 67.591346184 meters Centerline goodness [0,1] 0.6263104497801826 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.10, Z:-0.48 [[ 0.99591805 -0.08614388 -0.02695295 1.86462837] [ 0.08649451 0.99617856 0.01212314 -0.10264728] [ 0.02580562 -0.01440493 0.99956319 -0.47741443] [ 0. 0. 0. 1. ]] SLAMing on 67.621346184 meters Centerline goodness [0,1] 0.6439269494637163 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99593555 -0.08582817 -0.02731113 1.86554485] [ 0.08617561 0.99621 0.01180719 -0.10198287] [ 0.02619423 -0.01411276 0.99955725 -0.47702092] [ 0. 0. 0. 1. ]] SLAMing on 67.65134618399999 meters Centerline goodness [0,1] 0.6625627655465431 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99594367 -0.08568349 -0.02746894 1.86579572] [ 0.08601731 0.9962306 0.01120819 -0.10041139] [ 0.02640505 -0.01352553 0.99955982 -0.47629591] [ 0. 0. 0. 1. ]] SLAMing on 67.68134618399999 meters Centerline goodness [0,1] 0.6181752178121975 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99594882 -0.08553732 -0.02773668 1.86612101] [ 0.08585688 0.99625172 0.01054063 -0.09866167] [ 0.0267311 -0.01287931 0.99955969 -0.4753436 ] [ 0. 0. 0. 1. ]] SLAMing on 67.71134618399999 meters Centerline goodness [0,1] 0.6836244541484716 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.47 [[ 0.99601333 -0.08462761 -0.02820653 1.86744726] [ 0.0849448 0.99633302 0.01024131 -0.09627435] [ 0.0272364 -0.01259648 0.99954965 -0.47479413] [ 0. 0. 0. 1. ]] SLAMing on 67.741346184 meters Centerline goodness [0,1] 0.6244064347320477 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99604495 -0.08409834 -0.02866942 1.86915316] [ 0.08443044 0.99637326 0.01057473 -0.09652684] [ 0.02767612 -0.01295347 0.99953301 -0.4755417 ] [ 0. 0. 0. 1. ]] SLAMing on 67.771346184 meters Centerline goodness [0,1] 0.6192250012094238 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99606692 -0.08376641 -0.02887693 1.87030007] [ 0.08411071 0.99639658 0.01091982 -0.09719096] [ 0.02785816 -0.01330573 0.99952333 -0.47635779] [ 0. 0. 0. 1. ]] SLAMing on 67.801346184 meters Centerline goodness [0,1] 0.6830146721133161 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.48 [[ 0.99602496 -0.08433469 -0.02866939 1.86960083] [ 0.0846711 0.99635121 0.01072758 -0.09750927] [ 0.02766008 -0.01311241 0.99953138 -0.47622111] [ 0. 0. 0. 1. ]] SLAMing on 67.831346184 meters Centerline goodness [0,1] 0.6527965284474446 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.47 [[ 0.9959651 -0.08512423 -0.0284144 1.86804783] [ 0.08544054 0.996292 0.01010803 -0.09759487] [ 0.0274486 -0.01249498 0.99954512 -0.47484781] [ 0. 0. 0. 1. ]] SLAMing on 67.861346184 meters Centerline goodness [0,1] 0.6540627707711563 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.47 [[ 0.99588485 -0.08618663 -0.02802209 1.86586216] [ 0.08647779 0.99620992 0.00934791 -0.0983823 ] [ 0.02711021 -0.01173273 0.99956359 -0.47303891] [ 0. 0. 0. 1. ]] SLAMing on 67.891346184 meters Centerline goodness [0,1] 0.6567558480234401 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.10, Z:-0.47 [[ 0.99582257 -0.08697518 -0.02779789 1.86440092] [ 0.0872557 0.99614492 0.0090409 -0.10071912] [ 0.02690439 -0.01142866 0.99957268 -0.4717184 ] [ 0. 0. 0. 1. ]] SLAMing on 67.921346184 meters Centerline goodness [0,1] 0.6376275875226558 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.10, Z:-0.47 [[ 0.99545806 -0.09111369 -0.02759604 1.86474787] [ 0.09129633 0.99580897 0.00542949 -0.10436426] [ 0.02698569 -0.00792425 0.99960441 -0.47142809] [ 0. 0. 0. 1. ]] SLAMing on 67.951346184 meters Centerline goodness [0,1] 0.6422131536490463 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99544411 -0.09123934 -0.02768393 1.86514919] [ 0.09143216 0.99579454 0.00577831 -0.10626699] [ 0.0270403 -0.00828318 0.99960003 -0.47183641] [ 0. 0. 0. 1. ]] SLAMing on 67.981346184 meters Centerline goodness [0,1] 0.6401130211795992 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99542522 -0.09139307 -0.02785574 1.8653246 ] [ 0.09158324 0.99578153 0.0056265 -0.10593957] [ 0.02722401 -0.00815188 0.99959612 -0.47152286] [ 0. 0. 0. 1. ]] SLAMing on 68.01134618399999 meters Centerline goodness [0,1] 0.6389867631654128 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.10, Z:-0.47 [[ 0.99540561 -0.09152763 -0.02811338 1.86509913] [ 0.09170748 0.99577255 0.00517335 -0.10434282] [ 0.02752103 -0.00772779 0.99959135 -0.47026875] [ 0. 0. 0. 1. ]] SLAMing on 68.04134618399999 meters Centerline goodness [0,1] 0.6359185225679176 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99541857 -0.09135946 -0.02820138 1.86536071] [ 0.09154575 0.99578632 0.00538408 -0.10580271] [ 0.02759066 -0.00794113 0.99958776 -0.47007566] [ 0. 0. 0. 1. ]] SLAMing on 68.07134618399999 meters Centerline goodness [0,1] 0.6334005456055035 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99544334 -0.09108129 -0.02822672 1.86585876] [ 0.09128412 0.99580693 0.00597993 -0.10893547] [ 0.0275637 -0.00852933 0.99958366 -0.47044386] [ 0. 0. 0. 1. ]] SLAMing on 68.101346184 meters Centerline goodness [0,1] 0.6325006499184648 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99547542 -0.09075399 -0.02814971 1.86640361] [ 0.09097579 0.99583058 0.00669861 -0.11270475] [ 0.02742442 -0.00922925 0.99958127 -0.47110841] [ 0. 0. 0. 1. ]] SLAMing on 68.131346184 meters Centerline goodness [0,1] 0.6357979760031933 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99554075 -0.08992385 -0.0285013 1.86809754] [ 0.09018176 0.99589404 0.00789384 -0.11753542] [ 0.02767443 -0.01042894 0.99956259 -0.47199985] [ 0. 0. 0. 1. ]] SLAMing on 68.161346184 meters Centerline goodness [0,1] 0.6400150946956296 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99586649 -0.08622104 -0.02856352 1.86694014] [ 0.08658703 0.99617403 0.01183202 -0.11840793] [ 0.02743407 -0.01425634 0.99952195 -0.47137671] [ 0. 0. 0. 1. ]] SLAMing on 68.191346184 meters Centerline goodness [0,1] 0.6232889644104598 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99589811 -0.08552823 -0.02952748 1.86865366] [ 0.08588092 0.99624591 0.01088829 -0.11450046] [ 0.02848538 -0.01337948 0.99950466 -0.46967101] [ 0. 0. 0. 1. ]] SLAMing on 68.221346184 meters Centerline goodness [0,1] 0.6900197182429382 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99656455 -0.07712901 -0.03016983 1.86777779] [ 0.07770632 0.99680549 0.01845362 -0.11342682] [ 0.02865015 -0.02073461 0.99937443 -0.46808827] [ 0. 0. 0. 1. ]] SLAMing on 68.251346184 meters Centerline goodness [0,1] 0.689675600104263 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99663864 -0.07586619 -0.03091505 1.87060624] [ 0.07646699 0.99689605 0.01873672 -0.11341418] [ 0.02939761 -0.02103772 0.99934638 -0.46875902] [ 0. 0. 0. 1. ]] SLAMing on 68.281346184 meters Centerline goodness [0,1] 0.7077855941637652 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.99671584 -0.07464445 -0.03139646 1.87320238] [ 0.07527963 0.99697063 0.01955867 -0.11473235] [ 0.0298414 -0.02185795 0.99931563 -0.47028843] [ 0. 0. 0. 1. ]] SLAMing on 68.311346184 meters Centerline goodness [0,1] 0.7502480275901167 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99740538 -0.06767586 -0.02454567 1.87290683] [ 0.06795758 0.99762943 0.01082983 -0.11505407] [ 0.02375457 -0.0124698 0.99964005 -0.47254758] [ 0. 0. 0. 1. ]] SLAMing on 68.341346184 meters Centerline goodness [0,1] 0.7467432313788767 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.11, Z:-0.47 [[ 0.9974241 -0.06719828 -0.02509079 1.87441415] [ 0.06748267 0.99766345 0.01066439 -0.11342721] [ 0.02431554 -0.01233012 0.99962829 -0.47256717] [ 0. 0. 0. 1. ]] SLAMing on 68.371346184 meters Centerline goodness [0,1] 0.7615324286427264 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.11, Z:-0.47 [[ 0.99743231 -0.06688803 -0.02558869 1.87555027] [ 0.06716617 0.99768999 0.0101681 -0.11089396] [ 0.02484946 -0.01186069 0.99962084 -0.47212664] [ 0. 0. 0. 1. ]] SLAMing on 68.40134618399999 meters Centerline goodness [0,1] 0.7592667539578621 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.11, Z:-0.47 [[ 0.99746812 -0.06614303 -0.02612364 1.87732853] [ 0.06642936 0.9977385 0.01024834 -0.10954298] [ 0.02538671 -0.01195777 0.99960619 -0.47239139] [ 0. 0. 0. 1. ]] SLAMing on 68.43134618399999 meters Centerline goodness [0,1] 0.768102179383695 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.11, Z:-0.47 [[ 0.99747644 -0.06601505 -0.02612991 1.87773319] [ 0.06630887 0.99774346 0.01054144 -0.11158267] [ 0.02537505 -0.01224749 0.99960297 -0.47266527] [ 0. 0. 0. 1. ]] SLAMing on 68.46134618399999 meters Centerline goodness [0,1] 0.765368949512172 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.11, Z:-0.47 [[ 0.99746991 -0.06616753 -0.02599316 1.87731707] [ 0.06646247 0.99773208 0.01065099 -0.11380274] [ 0.02522946 -0.01235161 0.99960538 -0.47233899] [ 0. 0. 0. 1. ]] SLAMing on 68.491346184 meters Centerline goodness [0,1] 0.7581477553905974 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.12, Z:-0.47 [[ 0.99740242 -0.06732824 -0.02559911 1.87501078] [ 0.06759847 0.99766407 0.00984094 -0.1156584 ] [ 0.02487673 -0.01154584 0.99962385 -0.4702715 ] [ 0. 0. 0. 1. ]] SLAMing on 68.521346184 meters Centerline goodness [0,1] 0.7268616645471244 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99737897 -0.0677002 -0.02553168 1.87465939] [ 0.06796581 0.99764067 0.00968224 -0.11612497] [ 0.02481595 -0.01139214 0.99962712 -0.46991864] [ 0. 0. 0. 1. ]] SLAMing on 68.551346184 meters Centerline goodness [0,1] 0.7433655432477021 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99734924 -0.06820631 -0.02534537 1.87402201] [ 0.0684659 0.99760805 0.00951878 -0.11690052] [ 0.02463551 -0.01122884 0.99963344 -0.46961832] [ 0. 0. 0. 1. ]] SLAMing on 68.581346184 meters Centerline goodness [0,1] 0.7369213398569816 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99731573 -0.06877311 -0.02513137 1.87331276] [ 0.06902671 0.99757085 0.0093657 -0.11819902] [ 0.02442622 -0.01107529 0.99964028 -0.46928556] [ 0. 0. 0. 1. ]] SLAMing on 68.611346184 meters Centerline goodness [0,1] 0.7072902273951429 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99703656 -0.07280762 -0.02484265 1.87375795] [ 0.07297324 0.99731689 0.0058253 -0.12031963] [ 0.02435186 -0.00762089 0.9996744 -0.4696892 ] [ 0. 0. 0. 1. ]] SLAMing on 68.641346184 meters Centerline goodness [0,1] 0.7082242990654206 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.12, Z:-0.47 [[ 0.99699893 -0.07346881 -0.02440199 1.87255825] [ 0.07363011 0.99726888 0.00577754 -0.12333338] [ 0.02391088 -0.00755692 0.99968553 -0.46930699] [ 0. 0. 0. 1. ]] SLAMing on 68.671346184 meters Centerline goodness [0,1] 0.7033471633024102 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99694936 -0.07427209 -0.02399218 1.87117652] [ 0.07442268 0.99721192 0.00544462 -0.12577298] [ 0.0235209 -0.00721357 0.99969732 -0.46847287] [ 0. 0. 0. 1. ]] SLAMing on 68.701346184 meters Centerline goodness [0,1] 0.6831310171619924 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99685834 -0.0756381 -0.02350153 1.8684865 ] [ 0.07576294 0.99711585 0.00446652 -0.1267719 ] [ 0.02309591 -0.00623304 0.99971382 -0.46600584] [ 0. 0. 0. 1. ]] SLAMing on 68.731346184 meters Centerline goodness [0,1] 0.6841664729132759 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99684612 -0.07577684 -0.02357292 1.86830841] [ 0.07589586 0.99710693 0.004195 -0.12613247] [ 0.02318684 -0.00597085 0.99971332 -0.46536438] [ 0. 0. 0. 1. ]] SLAMing on 68.76134618399999 meters Centerline goodness [0,1] 0.67206543776654 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.9968483 -0.07571462 -0.02368051 1.86868055] [ 0.07583656 0.99711102 0.00429321 -0.1263851 ] [ 0.02328704 -0.00607553 0.99971036 -0.46545795] [ 0. 0. 0. 1. ]] SLAMing on 68.79134618399999 meters Centerline goodness [0,1] 0.6808169524606162 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99686348 -0.07546838 -0.02382708 1.86959972] [ 0.07560428 0.99712609 0.00485355 -0.12793383] [ 0.02339231 -0.00663976 0.99970431 -0.46627701] [ 0. 0. 0. 1. ]] SLAMing on 68.82134618399999 meters Centerline goodness [0,1] 0.6918641006044606 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99661441 -0.07861331 -0.02407633 1.87261521] [ 0.07869263 0.99689612 0.00236385 -0.13089476] [ 0.02381577 -0.00425048 0.99970733 -0.468871 ] [ 0. 0. 0. 1. ]] SLAMing on 68.851346184 meters Centerline goodness [0,1] 0.6637039094507327 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.13, Z:-0.47 [[ 0.99660006 -0.07887702 -0.02380624 1.87270915] [ 0.0789673 0.99687306 0.00287501 -0.13387867] [ 0.02350503 -0.00474515 0.99971246 -0.46992876] [ 0. 0. 0. 1. ]] SLAMing on 68.881346184 meters Centerline goodness [0,1] 0.6565079072340818 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.14, Z:-0.47 [[ 0.99657965 -0.07922042 -0.02351844 1.87231817] [ 0.0793158 0.99684456 0.00314922 -0.1363826 ] [ 0.02319474 -0.00500384 0.99971844 -0.47023181] [ 0. 0. 0. 1. ]] SLAMing on 68.911346184 meters Centerline goodness [0,1] 0.6491761723700887 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.14, Z:-0.47 [[ 0.99654085 -0.07985665 -0.02300563 1.87054396] [ 0.07994043 0.99679587 0.00274369 -0.13732748] [ 0.02271282 -0.00457328 0.99973157 -0.46912593] [ 0. 0. 0. 1. ]] SLAMing on 68.941346184 meters Centerline goodness [0,1] 0.6464797823781641 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.47 [[ 0.99654704 -0.08145741 -0.01608352 1.87955128] [ 0.08160861 0.99662401 0.00897854 -0.13756827] [ 0.01529785 -0.01026009 0.99983034 -0.46699803] [ 0. 0. 0. 1. ]] SLAMing on 68.971346184 meters Centerline goodness [0,1] 0.6694846928197922 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.47 [[ 0.99653393 -0.08161248 -0.01611001 1.87899497] [ 0.08175393 0.99661777 0.00832502 -0.1365271 ] [ 0.0153761 -0.00961322 0.99983557 -0.4656287 ] [ 0. 0. 0. 1. ]] SLAMing on 69.001346184 meters Centerline goodness [0,1] 0.6671119607527005 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.47 [[ 0.99663803 -0.08024854 -0.01651713 1.88153197] [ 0.08040958 0.99671827 0.00932731 -0.1373094 ] [ 0.01571443 -0.01062409 0.99982008 -0.46743323] [ 0. 0. 0. 1. ]] SLAMing on 69.031346184 meters Centerline goodness [0,1] 0.6832895282888367 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.47 [[ 0.99669345 -0.07945806 -0.016988 1.88400084] [ 0.07963482 0.99677401 0.00999342 -0.13752323] [ 0.01613913 -0.01131321 0.99980575 -0.46936328] [ 0. 0. 0. 1. ]] SLAMing on 69.061346184 meters Centerline goodness [0,1] 0.6776124902132363 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99674648 -0.07869518 -0.01742162 1.88641159] [ 0.07888819 0.99682624 0.01068207 -0.1374356 ] [ 0.0165257 -0.01202167 0.99979117 -0.47137071] [ 0. 0. 0. 1. ]] SLAMing on 69.091346184 meters Centerline goodness [0,1] 0.6809281084945914 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99677954 -0.07820544 -0.01773289 1.88823334] [ 0.07840842 0.99686003 0.01105485 -0.13692573] [ 0.01681266 -0.01240965 0.99978164 -0.4728637 ] [ 0. 0. 0. 1. ]] SLAMing on 69.121346184 meters Centerline goodness [0,1] 0.6723994644258737 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99677366 -0.07827215 -0.01776891 1.88866278] [ 0.07847127 0.99685789 0.01079857 -0.13546853] [ 0.01686786 -0.01215808 0.9997838 -0.47313139] [ 0. 0. 0. 1. ]] SLAMing on 69.15134618399999 meters Centerline goodness [0,1] 0.6703695150115474 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99673765 -0.07877989 -0.01754376 1.8876539 ] [ 0.07896476 0.99682618 0.0101059 -0.13490673] [ 0.01669193 -0.01145827 0.99979502 -0.47205763] [ 0. 0. 0. 1. ]] SLAMing on 69.18134618399999 meters Centerline goodness [0,1] 0.666275160057114 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99669612 -0.07935203 -0.01732319 1.88646144] [ 0.07952377 0.99678808 0.00945975 -0.13538137] [ 0.0165169 -0.0108061 0.99980519 -0.47073996] [ 0. 0. 0. 1. ]] SLAMing on 69.21134618399999 meters Centerline goodness [0,1] 0.6743135130150093 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.14, Z:-0.47 [[ 0.99662972 -0.08028284 -0.01684815 1.88439106] [ 0.08043453 0.99672343 0.00852612 -0.13659612] [ 0.01610845 -0.00985256 0.99982171 -0.46895183] [ 0. 0. 0. 1. ]] SLAMing on 69.241346184 meters Centerline goodness [0,1] 0.6675802031275189 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99663407 -0.08019727 -0.01699795 1.88524773] [ 0.08035098 0.99672987 0.00856036 -0.13629941] [ 0.01625585 -0.00989734 0.99981888 -0.46958201] [ 0. 0. 0. 1. ]] SLAMing on 69.271346184 meters Centerline goodness [0,1] 0.64721320533186 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99665395 -0.07986485 -0.01739287 1.88680616] [ 0.08002394 0.99675541 0.0086501 -0.13513217] [ 0.01664559 -0.010013 0.99981131 -0.47050579] [ 0. 0. 0. 1. ]] SLAMing on 69.301346184 meters Centerline goodness [0,1] 0.6742112799667421 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.9967544 -0.07846569 -0.01799426 1.88987075] [ 0.07864428 0.99685804 0.00944033 -0.13269069] [ 0.01719698 -0.01082484 0.99979352 -0.47250016] [ 0. 0. 0. 1. ]] SLAMing on 69.331346184 meters Centerline goodness [0,1] 0.6742112799667421 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.9967544 -0.07846569 -0.01799426 1.88987075] [ 0.07864428 0.99685804 0.00944033 -0.13269069] [ 0.01719698 -0.01082484 0.99979352 -0.47250016] [ 0. 0. 0. 1. ]] SLAMing on 69.361346184 meters Centerline goodness [0,1] 0.6557150108439851 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99675192 -0.07847728 -0.01808121 1.8900478 ] [ 0.07865012 0.99686117 0.00905386 -0.13180268] [ 0.01731393 -0.01044654 0.99979553 -0.47218785] [ 0. 0. 0. 1. ]] SLAMing on 69.391346184 meters Centerline goodness [0,1] 0.6727863263613747 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99675757 -0.07840105 -0.01810039 1.89020101] [ 0.07857386 0.99686729 0.00904146 -0.13256118] [ 0.01733483 -0.01043436 0.99979529 -0.47209187] [ 0. 0. 0. 1. ]] SLAMing on 69.421346184 meters Centerline goodness [0,1] 0.6750005734339519 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.99675352 -0.0784845 -0.01796113 1.89027268] [ 0.07865998 0.9968583 0.00928073 -0.13607412] [ 0.01717631 -0.01066342 0.99979561 -0.4723432 ] [ 0. 0. 0. 1. ]] SLAMing on 69.451346184 meters Centerline goodness [0,1] 0.710520278950266 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.14, Z:-0.47 [[ 0.9967368 -0.07870372 -0.01792987 1.8900491 ] [ 0.07887378 0.99684414 0.00898259 -0.13578906] [ 0.01716632 -0.01036748 0.9997989 -0.47195651] [ 0. 0. 0. 1. ]] SLAMing on 69.481346184 meters Centerline goodness [0,1] 0.7051396827583041 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99671824 -0.07889658 -0.01811313 1.88987458] [ 0.07905764 0.99683504 0.00835364 -0.13350626] [ 0.01739673 -0.00975821 0.99980105 -0.47096268] [ 0. 0. 0. 1. ]] SLAMing on 69.51134618399999 meters Centerline goodness [0,1] 0.6801709204296108 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99696359 -0.07567525 -0.01835357 1.88873013] [ 0.07588865 0.99705314 0.01122305 -0.13098245] [ 0.01745018 -0.0125818 0.99976857 -0.46962928] [ 0. 0. 0. 1. ]] SLAMing on 69.54134618399999 meters Centerline goodness [0,1] 0.6982492513245796 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99700155 -0.0750357 -0.01890893 1.89115334] [ 0.07526377 0.99709558 0.01165219 -0.13130406] [ 0.01797968 -0.01304041 0.99975331 -0.47111721] [ 0. 0. 0. 1. ]] SLAMing on 69.57134618399999 meters Centerline goodness [0,1] 0.7151783449770583 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99705141 -0.07425654 -0.01935072 1.89384925] [ 0.07450502 0.99714289 0.01245197 -0.1327895 ] [ 0.01837079 -0.01385698 0.99973521 -0.47337128] [ 0. 0. 0. 1. ]] SLAMing on 69.601346184 meters Centerline goodness [0,1] 0.7143547496318114 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.13, Z:-0.47 [[ 0.99708229 -0.07374232 -0.01972245 1.89589954] [ 0.07400436 0.99717445 0.01290273 -0.13369638] [ 0.01871524 -0.01432463 0.99972223 -0.47491616] [ 0. 0. 0. 1. ]] SLAMing on 69.631346184 meters Centerline goodness [0,1] 0.7194590983436615 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.13, Z:-0.47 [[ 0.99708256 -0.0737885 -0.01953504 1.89529639] [ 0.07402377 0.99718894 0.01160641 -0.13002582] [ 0.0186237 -0.0130186 0.9997418 -0.47356039] [ 0. 0. 0. 1. ]] SLAMing on 69.661346184 meters Centerline goodness [0,1] 0.7312011831584786 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.13, Z:-0.47 [[ 0.99703488 -0.07443595 -0.0195126 1.89397444] [ 0.07463617 0.99716325 0.00974121 -0.12561501] [ 0.01873215 -0.01116867 0.99976216 -0.47088657] [ 0. 0. 0. 1. ]] SLAMing on 69.691346184 meters Centerline goodness [0,1] 0.7212381173197311 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.12, Z:-0.47 [[ 0.99698319 -0.07508396 -0.01967029 1.89291657] [ 0.07524625 0.99713568 0.00764394 -0.12121286] [ 0.01904001 -0.009101 0.9997773 -0.4677755 ] [ 0. 0. 0. 1. ]] SLAMing on 69.721346184 meters Centerline goodness [0,1] 0.7245266422850793 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.12, Z:-0.47 [[ 0.99696894 -0.07526141 -0.01971412 1.89217011] [ 0.0753911 0.99713647 0.00591895 -0.11771402] [ 0.0192122 -0.00738728 0.99978814 -0.46507237] [ 0. 0. 0. 1. ]] SLAMing on 69.751346184 meters Centerline goodness [0,1] 0.7187470911291074 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.12, Z:-0.47 [[ 0.99698011 -0.07507167 -0.01987222 1.89309327] [ 0.07520474 0.99714985 0.00603481 -0.11783681] [ 0.01936254 -0.00751107 0.99978431 -0.46581408] [ 0. 0. 0. 1. ]] SLAMing on 69.781346184 meters Centerline goodness [0,1] 0.7301424474856038 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.47 [[ 0.99700479 -0.07463796 -0.02026375 1.89505686] [ 0.07478116 0.99717942 0.00640214 -0.1179247 ] [ 0.01972875 -0.00789831 0.99977417 -0.46733924] [ 0. 0. 0. 1. ]] SLAMing on 69.811346184 meters Centerline goodness [0,1] 0.732033165946514 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.47 [[ 0.99703287 -0.07412576 -0.02075647 1.89743659] [ 0.07428274 0.99721338 0.00689616 -0.11755544] [ 0.02018745 -0.00841754 0.99976078 -0.469283 ] [ 0. 0. 0. 1. ]] SLAMing on 69.841346184 meters Centerline goodness [0,1] 0.7388765099096986 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.12, Z:-0.47 [[ 0.9971124 -0.07274752 -0.02178656 1.90168912] [ 0.07293342 0.99730582 0.00786222 -0.1150122 ] [ 0.02115591 -0.00942848 0.99973173 -0.47222686] [ 0. 0. 0. 1. ]] SLAMing on 69.87134618399999 meters Centerline goodness [0,1] 0.7278497378875854 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.47 [[ 0.99711903 -0.07249338 -0.02232386 1.9033059 ] [ 0.0726798 0.99732595 0.00765489 -0.11301913] [ 0.02170924 -0.00925533 0.99972149 -0.47270968] [ 0. 0. 0. 1. ]] SLAMing on 69.90134618399999 meters Centerline goodness [0,1] 0.7522475876676865 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.47 [[ 0.99712394 -0.07226378 -0.02284285 1.90455566] [ 0.0724474 0.99734541 0.00731477 -0.11133156] [ 0.02225362 -0.00894864 0.99971231 -0.47259145] [ 0. 0. 0. 1. ]] SLAMing on 69.93134618399999 meters Centerline goodness [0,1] 0.7597615288545373 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.11, Z:-0.47 [[ 0.99715823 -0.07173922 -0.02299881 1.90492039] [ 0.07190947 0.99738891 0.00666217 -0.10954726] [ 0.02246082 -0.00829707 0.99971329 -0.47151955] [ 0. 0. 0. 1. ]] SLAMing on 69.96134618399999 meters Centerline goodness [0,1] 0.760881840854548 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 0.99716366 -0.07155837 -0.0233244 1.90551047] [ 0.07172331 0.99740459 0.00631243 -0.10900714] [ 0.02281216 -0.00796743 0.99970802 -0.47093947] [ 0. 0. 0. 1. ]] SLAMing on 69.991346184 meters Centerline goodness [0,1] 0.7775921699644731 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 0.99716027 -0.07155099 -0.02349146 1.9055787 ] [ 0.07170606 0.9974088 0.00582531 -0.10804155] [ 0.02301378 -0.00749324 0.99970707 -0.47009003] [ 0. 0. 0. 1. ]] SLAMing on 70.021346184 meters Centerline goodness [0,1] 0.7794128067647684 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 0.99714897 -0.07163422 -0.0237164 1.90542616] [ 0.07177872 0.99740651 0.00529754 -0.10659447] [ 0.02327541 -0.00698477 0.99970469 -0.46891272] [ 0. 0. 0. 1. ]] SLAMing on 70.051346184 meters Centerline goodness [0,1] 0.7802236693091733 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.10, Z:-0.46 [[ 0.99709295 -0.07238108 -0.02380414 1.90366512] [ 0.07247539 0.99736531 0.00312236 -0.10213457] [ 0.02351542 -0.0048385 0.99971177 -0.46474439] [ 0. 0. 0. 1. ]] SLAMing on 70.081346184 meters Centerline goodness [0,1] 0.7680358829084042 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.10, Z:-0.46 [[ 0.99707667 -0.07258902 -0.02385284 1.90340502] [ 0.07268066 0.99735076 0.00299648 -0.10234186] [ 0.02357214 -0.00472136 0.99971099 -0.4641913 ] [ 0. 0. 0. 1. ]] SLAMing on 70.111346184 meters Centerline goodness [0,1] 0.7707287172595894 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.10, Z:-0.46 [[ 0.99707508 -0.07259879 -0.02388919 1.90384622] [ 0.07270147 0.99734775 0.00345719 -0.10456853] [ 0.02357484 -0.00518386 0.99970863 -0.4647753 ] [ 0. 0. 0. 1. ]] SLAMing on 70.141346184 meters Centerline goodness [0,1] 0.7573458827936597 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 9.96883280e-01 -7.49818103e-02 -2.45245565e-02 1.90801473e+00] [ 7.50359047e-02 9.97179996e-01 1.29166528e-03 -1.08422997e-01] [ 2.43585458e-02 -3.12786181e-03 9.99698393e-01 -4.67496299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.171346184 meters Centerline goodness [0,1] 0.7665970478492479 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 9.96913375e-01 -7.44385878e-02 -2.49523491e-02 1.90984335e+00] [ 7.45075524e-02 9.97218744e-01 1.84433614e-03 -1.08772336e-01] [ 2.47456605e-02 -3.69778182e-03 9.99686940e-01 -4.68734008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.201346184 meters Centerline goodness [0,1] 0.7673071058249467 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.11, Z:-0.47 [[ 0.99719789 -0.07032704 -0.0255044 1.91064026] [ 0.07050455 0.99749264 0.00612771 -0.10876092] [ 0.02500951 -0.00790872 0.99965593 -0.46929956] [ 0. 0. 0. 1. ]] SLAMing on 70.231346184 meters Centerline goodness [0,1] 0.7940168718542499 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.10, Z:-0.47 [[ 0.99771303 -0.06227372 -0.02628102 1.91009734] [ 0.0626269 0.99795446 0.01283596 -0.10394464] [ 0.02542792 -0.0144525 0.99957218 -0.46729049] [ 0. 0. 0. 1. ]] SLAMing on 70.26134618399999 meters Centerline goodness [0,1] 0.8174292666634859 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.10, Z:-0.47 [[ 0.99796418 -0.05785546 -0.02683746 1.91097401] [ 0.05832223 0.99815394 0.01694782 -0.10376763] [ 0.02580739 -0.01847854 0.99949613 -0.4675091 ] [ 0. 0. 0. 1. ]] SLAMing on 70.29134618399999 meters Centerline goodness [0,1] 0.8474378234017693 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.10, Z:-0.47 [[ 0.99799434 -0.05687812 -0.02778817 1.91390215] [ 0.05736795 0.99820563 0.01715936 -0.1034917 ] [ 0.02676231 -0.01871909 0.99946654 -0.46819349] [ 0. 0. 0. 1. ]] SLAMing on 70.32134618399999 meters Centerline goodness [0,1] 0.8643793571105665 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99789983 -0.05820575 -0.02842564 1.91871164] [ 0.05864397 0.99816875 0.01483342 -0.10449505] [ 0.02751019 -0.01646926 0.99948584 -0.4709058 ] [ 0. 0. 0. 1. ]] SLAMing on 70.351346184 meters Centerline goodness [0,1] 0.8535191139692747 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99788679 -0.05833527 -0.02861732 1.91924103] [ 0.05877209 0.99816366 0.0146677 -0.10468091] [ 0.02770913 -0.01631861 0.99948282 -0.47101362] [ 0. 0. 0. 1. ]] SLAMing on 70.381346184 meters Centerline goodness [0,1] 0.8646587876477316 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99786337 -0.05865344 -0.02878328 1.91911499] [ 0.05907869 0.998153 0.01415245 -0.10414151] [ 0.02790002 -0.01582269 0.99948548 -0.47021414] [ 0. 0. 0. 1. ]] SLAMing on 70.411346184 meters Centerline goodness [0,1] 0.8592294312468727 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99782168 -0.05953113 -0.02842444 1.91647616] [ 0.05990177 0.99812762 0.01237024 -0.10230738] [ 0.0276348 -0.01404597 0.9995194 -0.46641938] [ 0. 0. 0. 1. ]] SLAMing on 70.441346184 meters Centerline goodness [0,1] 0.8645974874252068 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.46 [[ 0.99779851 -0.05986918 -0.02852759 1.915492 ] [ 0.0602173 0.998119 0.01150361 -0.10148069] [ 0.02778522 -0.01319613 0.99952681 -0.46418447] [ 0. 0. 0. 1. ]] SLAMing on 70.471346184 meters Centerline goodness [0,1] 0.8695424213536702 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.46 [[ 0.99779416 -0.05965514 -0.02912181 1.91618096] [ 0.060001 0.99813604 0.0111498 -0.10106018] [ 0.02840239 -0.01287255 0.99951368 -0.4628857 ] [ 0. 0. 0. 1. ]] SLAMing on 70.501346184 meters Centerline goodness [0,1] 0.8842122814539565 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.46 [[ 0.99781058 -0.05908963 -0.02970615 1.91766375] [ 0.05944664 0.99816773 0.01128144 -0.10119207] [ 0.02898511 -0.01302267 0.99949501 -0.46285044] [ 0. 0. 0. 1. ]] SLAMing on 70.531346184 meters Centerline goodness [0,1] 0.8911006468797564 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99789586 -0.05710556 -0.03070521 1.92171504] [ 0.05752554 0.99825975 0.01297253 -0.10393336] [ 0.02991097 -0.01471156 0.9994443 -0.46502786] [ 0. 0. 0. 1. ]] SLAMing on 70.561346184 meters Centerline goodness [0,1] 0.9004010536557583 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.47 [[ 0.99790816 -0.05651324 -0.03139363 1.92347972] [ 0.05694957 0.99829003 0.013182 -0.10414596] [ 0.03059499 -0.01494228 0.99942017 -0.46513299] [ 0. 0. 0. 1. ]] SLAMing on 70.591346184 meters Centerline goodness [0,1] 0.9135017090770984 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.10, Z:-0.46 [[ 0.99792101 -0.05596825 -0.03195633 1.92485895] [ 0.05641283 0.99832048 0.01318374 -0.10349403] [ 0.03116479 -0.01495908 0.99940231 -0.46495826] [ 0. 0. 0. 1. ]] SLAMing on 70.62134618399999 meters Centerline goodness [0,1] 0.9203581750130289 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.10, Z:-0.46 [[ 0.9980006 -0.05393197 -0.03295685 1.92783929] [ 0.05440732 0.99842483 0.01370057 -0.10222942] [ 0.03216604 -0.01546627 0.99936287 -0.4646205 ] [ 0. 0. 0. 1. ]] SLAMing on 70.65134618399999 meters Centerline goodness [0,1] 0.9245991451578625 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.10, Z:-0.46 [[ 0.99802072 -0.05300637 -0.03383746 1.93022683] [ 0.05350619 0.99846881 0.01404 -0.10249038] [ 0.03304144 -0.01582273 0.99932873 -0.4648465 ] [ 0. 0. 0. 1. ]] SLAMing on 70.68134618399999 meters Centerline goodness [0,1] 0.9268782169334655 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.10, Z:-0.47 [[ 0.99803927 -0.05222435 -0.03449973 1.93215858] [ 0.05274849 0.99850312 0.01446058 -0.10338324] [ 0.03369289 -0.01625203 0.99930009 -0.46518991] [ 0. 0. 0. 1. ]] SLAMing on 70.71134618399999 meters Centerline goodness [0,1] 0.9368925200732497 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.47 [[ 0.99812789 -0.04956234 -0.03583691 1.93697975] [ 0.05016384 0.99861148 0.01608434 -0.10664244] [ 0.03498997 -0.01785195 0.99922821 -0.46639875] [ 0. 0. 0. 1. ]] SLAMing on 70.741346184 meters Centerline goodness [0,1] 0.9394594086842167 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.47 [[ 0.99813569 -0.049017 -0.03636597 1.93806659] [ 0.04962327 0.99864048 0.01595997 -0.10630003] [ 0.03553422 -0.01773481 0.99921109 -0.4657831 ] [ 0. 0. 0. 1. ]] SLAMing on 70.771346184 meters Centerline goodness [0,1] 0.9421791835681962 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.46 [[ 0.99814254 -0.04830008 -0.03712911 1.93947144] [ 0.04891117 0.99867926 0.01572977 -0.10545694] [ 0.03632032 -0.01751658 0.99918667 -0.46468306] [ 0. 0. 0. 1. ]] SLAMing on 70.801346184 meters Centerline goodness [0,1] 0.9433012617927289 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.46 [[ 0.99817954 -0.04715466 -0.03760377 1.94026453] [ 0.04778523 0.99872868 0.01604981 -0.10577497] [ 0.03679914 -0.01781749 0.99916383 -0.46345716] [ 0. 0. 0. 1. ]] SLAMing on 70.831346184 meters Centerline goodness [0,1] 0.9433437689827578 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.46 [[ 0.99818309 -0.04682563 -0.03791944 1.94094424] [ 0.04748164 0.99873437 0.01658794 -0.10803479] [ 0.03709471 -0.01835827 0.99914311 -0.46339684] [ 0. 0. 0. 1. ]] SLAMing on 70.861346184 meters Centerline goodness [0,1] 0.9440548072457037 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.46 [[ 0.99800481 -0.05004512 -0.03849535 1.94273487] [ 0.05057009 0.99863867 0.01278601 -0.1086836 ] [ 0.03780307 -0.01470721 0.99917697 -0.46271638] [ 0. 0. 0. 1. ]] SLAMing on 70.891346184 meters Centerline goodness [0,1] 0.944210550532588 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.11, Z:-0.46 [[ 0.99780431 -0.05416855 -0.03810942 1.94118397] [ 0.05456499 0.9984656 0.0094399 -0.11455159] [ 0.0375396 -0.01149862 0.99922898 -0.46076909] [ 0. 0. 0. 1. ]] SLAMing on 70.921346184 meters Centerline goodness [0,1] 0.947937873138596 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.46 [[ 0.99758682 -0.05792278 -0.03828169 1.941619 ] [ 0.05818466 0.99828921 0.00576155 -0.11644089] [ 0.03788247 -0.00797506 0.99925038 -0.45978636] [ 0. 0. 0. 1. ]] SLAMing on 70.951346184 meters Centerline goodness [0,1] 0.9493466284205254 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.12, Z:-0.46 [[ 0.99753146 -0.05878181 -0.03841468 1.94131825] [ 0.05904626 0.99823848 0.00578512 -0.1207974 ] [ 0.03800695 -0.00803908 0.99924514 -0.45918271] [ 0. 0. 0. 1. ]] SLAMing on 70.981346184 meters Centerline goodness [0,1] 0.9447823736144904 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.46 [[ 0.99725986 -0.06315033 -0.03853319 1.94159367] [ 0.06332071 0.99798805 0.00321607 -0.12708404] [ 0.03825257 -0.00564721 0.99925215 -0.45910945] [ 0. 0. 0. 1. ]] SLAMing on 71.01134618399999 meters Centerline goodness [0,1] 0.9434080858419198 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.46 [[ 0.99720454 -0.06390173 -0.03872567 1.94139297] [ 0.06409159 0.99793724 0.00367994 -0.13180315] [ 0.03841063 -0.00615164 0.9992431 -0.4586823 ] [ 0. 0. 0. 1. ]] SLAMing on 71.04134618399999 meters Centerline goodness [0,1] 0.9439749608763693 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.13, Z:-0.46 [[ 9.96958131e-01 -6.74941715e-02 -3.89746338e-02 1.94265300e+00] [ 6.75692494e-02 9.97714400e-01 6.10799624e-04 -1.34684816e-01] [ 3.88443280e-02 -3.24242840e-03 9.99240014e-01 -4.58745360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07134618399999 meters Centerline goodness [0,1] 0.9374051254576301 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.14, Z:-0.46 [[ 9.96699869e-01 -7.10983992e-02 -3.91712723e-02 1.94388941e+00] [ 7.10612943e-02 9.97469205e-01 -2.34051499e-03 -1.38332993e-01] [ 3.92385447e-02 -4.50770331e-04 9.99229770e-01 -4.58911454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.101346184 meters Centerline goodness [0,1] 0.931453390951583 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.15, Z:-0.46 [[ 0.99612649 -0.07875945 -0.03910197 1.9449254 ] [ 0.07848898 0.99687953 -0.00840711 -0.14693546] [ 0.03964209 0.00530547 0.99919986 -0.45873674] [ 0. 0. 0. 1. ]] SLAMing on 71.131346184 meters Centerline goodness [0,1] 0.926005385406861 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.15, Z:-0.46 [[ 0.99608247 -0.07928289 -0.03916556 1.94513804] [ 0.07904767 0.99684247 -0.00752084 -0.15301248] [ 0.03963817 0.00439543 0.99920443 -0.45911905] [ 0. 0. 0. 1. ]] SLAMing on 71.161346184 meters Centerline goodness [0,1] 0.9202795984582889 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.16, Z:-0.46 [[ 0.9960832 -0.07912447 -0.03946602 1.94621219] [ 0.07895796 0.99686129 -0.00576252 -0.15899166] [ 0.0397981 0.00262379 0.9992043 -0.46027701] [ 0. 0. 0. 1. ]] SLAMing on 71.191346184 meters Centerline goodness [0,1] 0.9067480428734715 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.17, Z:-0.46 [[ 0.99579768 -0.08275539 -0.03922404 1.9459169 ] [ 0.08250671 0.99655904 -0.00791974 -0.16638563] [ 0.03974447 0.00465021 0.99919906 -0.45963501] [ 0. 0. 0. 1. ]] SLAMing on 71.221346184 meters Centerline goodness [0,1] 0.9066151202749141 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.17, Z:-0.46 [[ 0.99581046 -0.08257047 -0.03928917 1.94546938] [ 0.08236174 0.99657858 -0.00690456 -0.17055905] [ 0.03972485 0.0036397 0.99920403 -0.45892819] [ 0. 0. 0. 1. ]] SLAMing on 71.251346184 meters Centerline goodness [0,1] 0.9066151202749141 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.17, Z:-0.46 [[ 0.99581046 -0.08257047 -0.03928917 1.94546938] [ 0.08236174 0.99657858 -0.00690456 -0.17055905] [ 0.03972485 0.0036397 0.99920403 -0.45892819] [ 0. 0. 0. 1. ]] SLAMing on 71.281346184 meters Centerline goodness [0,1] 0.9095311562526784 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.17, Z:-0.46 [[ 0.9958389 -0.08216642 -0.0394152 1.94531454] [ 0.08199789 0.99661518 -0.00587622 -0.17421837] [ 0.03976462 0.0026198 0.99920564 -0.45834265] [ 0. 0. 0. 1. ]] SLAMing on 71.311346184 meters Centerline goodness [0,1] 0.9127762549254754 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.18, Z:-0.46 [[ 9.95877095e-01 -8.15587033e-02 -3.97113193e-02 1.94585578e+00] [ 8.14323393e-02 9.96667352e-01 -4.79196764e-03 -1.77682031e-01] [ 3.99698021e-02 1.53842519e-03 9.99199704e-01 -4.58147500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.341346184 meters Centerline goodness [0,1] 0.9225007447759288 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.18, Z:-0.46 [[ 9.95946132e-01 -8.04907392e-02 -4.01564902e-02 1.94669944e+00] [ 8.04312884e-02 9.96755346e-01 -3.09648832e-03 -1.83028124e-01] [ 4.02754349e-02 -1.45902678e-04 9.99188605e-01 -4.57979327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37134618399999 meters Centerline goodness [0,1] 0.929655816718687 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.19, Z:-0.46 [[ 9.96002493e-01 -7.95727811e-02 -4.05857882e-02 1.94806618e+00] [ 7.95643644e-02 9.96828060e-01 -1.82516287e-03 -1.86107144e-01] [ 4.06022858e-02 -1.41131567e-03 9.99174390e-01 -4.58538936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40134618399999 meters Centerline goodness [0,1] 0.9335323762334308 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.19, Z:-0.46 [[ 9.96042416e-01 -7.88938644e-02 -4.09299973e-02 1.94908496e+00] [ 7.89303889e-02 9.96879866e-01 -7.25379516e-04 -1.89119733e-01] [ 4.08595182e-02 -2.50811184e-03 9.99161753e-01 -4.58927557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43134618399999 meters Centerline goodness [0,1] 0.9313832925904071 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.19, Z:-0.46 [[ 9.95997633e-01 -7.94855532e-02 -4.08749574e-02 1.94835183e+00] [ 7.95399626e-02 9.96831634e-01 -2.96011795e-04 -1.94464961e-01] [ 4.07689793e-02 -2.95636554e-03 9.99164226e-01 -4.58148127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46134618399999 meters Centerline goodness [0,1] 0.9216796214937479 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.20, Z:-0.46 [[ 9.95984024e-01 -7.96010522e-02 -4.09816502e-02 1.94878613e+00] [ 7.96873692e-02 9.96819792e-01 4.74416273e-04 -1.98215074e-01] [ 4.08135560e-02 -3.73823092e-03 9.99159787e-01 -4.58554941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.491346184 meters Centerline goodness [0,1] 0.9066585268298845 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.20, Z:-0.46 [[ 9.95713480e-01 -8.27934376e-02 -4.12299913e-02 1.95100895e+00] [ 8.27729190e-02 9.96565989e-01 -2.20744200e-03 -2.01209774e-01] [ 4.12711688e-02 -1.21474697e-03 9.99147244e-01 -4.59800060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.521346184 meters Centerline goodness [0,1] 0.8934573578595317 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.20, Z:-0.46 [[ 9.95426983e-01 -8.60022933e-02 -4.15779641e-02 1.95384909e+00] [ 8.58843148e-02 9.96294410e-01 -4.61878580e-03 -2.04530015e-01] [ 4.18211194e-02 1.02676905e-03 9.99124587e-01 -4.61705996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.551346184 meters Centerline goodness [0,1] 0.8325435758271579 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.21, Z:-0.46 [[ 0.99502253 -0.09067008 -0.04134125 1.95421277] [ 0.09043957 0.99587433 -0.00741608 -0.20943937] [ 0.04184311 0.00364029 0.99911756 -0.4624108 ] [ 0. 0. 0. 1. ]] SLAMing on 71.581346184 meters Centerline goodness [0,1] 0.8490487229288056 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.21, Z:-0.46 [[ 0.99497836 -0.09110224 -0.04145417 1.95384905] [ 0.09088933 0.99583642 -0.00699605 -0.21230657] [ 0.04191893 0.00319317 0.99911591 -0.46172327] [ 0. 0. 0. 1. ]] SLAMing on 71.611346184 meters Centerline goodness [0,1] 0.8346758164738373 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.22, Z:-0.46 [[ 0.99495776 -0.09129331 -0.04152825 1.95324413] [ 0.09110398 0.99582061 -0.00643279 -0.21529494] [ 0.04194196 0.00261696 0.99911662 -0.4607192 ] [ 0. 0. 0. 1. ]] SLAMing on 71.641346184 meters Centerline goodness [0,1] 0.7846221239491854 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.46 [[ 9.94871697e-01 -9.50111956e-02 -3.46868754e-02 1.96239448e+00] [ 9.50739676e-02 9.95470198e-01 1.61036165e-04 -2.19598932e-01] [ 3.45144505e-02 -3.45802919e-03 9.99398216e-01 -4.61553336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.671346184 meters Centerline goodness [0,1] 0.8050902263481798 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.46 [[ 9.94870418e-01 -9.49418441e-02 -3.49127078e-02 1.96253455e+00] [ 9.50134947e-02 9.95475906e-01 3.95184025e-04 -2.20292726e-01] [ 3.47172399e-02 -3.71033527e-03 9.99390287e-01 -4.61108584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.701346184 meters Centerline goodness [0,1] 0.7868948247078464 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.46 [[ 9.94891543e-01 -9.46368975e-02 -3.51379581e-02 1.96324431e+00] [ 9.47237871e-02 9.95503262e-01 8.12641097e-04 -2.20813151e-01] [ 3.49030460e-02 -4.13689021e-03 9.99382141e-01 -4.61469987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.731346184 meters Centerline goodness [0,1] 0.803617301225956 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.46 [[ 9.94921734e-01 -9.42197113e-02 -3.54032277e-02 1.96440570e+00] [ 9.43229712e-02 9.95540860e-01 1.25417031e-03 -2.21137826e-01] [ 3.51271921e-02 -4.58713893e-03 9.99372322e-01 -4.62290880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76134618399999 meters Centerline goodness [0,1] 0.8001250130221897 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.46 [[ 9.94948195e-01 -9.38067704e-02 -3.57544355e-02 1.96586450e+00] [ 9.39333475e-02 9.95576726e-01 1.87325482e-03 -2.21751102e-01] [ 3.54205599e-02 -5.22232532e-03 9.99358850e-01 -4.63349049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79134618399999 meters Centerline goodness [0,1] 0.79471238382316 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.46 [[ 9.94901887e-01 -9.43838324e-02 -3.55236070e-02 1.96538275e+00] [ 9.45079490e-02 9.95522430e-01 1.82736701e-03 -2.23018365e-01] [ 3.51920736e-02 -5.17531413e-03 9.99367167e-01 -4.63449812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82134618399999 meters Centerline goodness [0,1] 0.7774554409984555 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.46 [[ 0.99489801 -0.09436899 -0.03567129 1.96604504] [ 0.09450776 0.99552165 0.0022206 -0.22411367] [ 0.03530199 -0.00558048 0.99936111 -0.46399295] [ 0. 0. 0. 1. ]] SLAMing on 71.851346184 meters Centerline goodness [0,1] 0.7686705757152098 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.46 [[ 0.99487995 -0.09450616 -0.03581166 1.96651892] [ 0.09465474 0.99550709 0.00247251 -0.22511829] [ 0.03541709 -0.0058496 0.9993555 -0.46431296] [ 0. 0. 0. 1. ]] SLAMing on 71.881346184 meters Centerline goodness [0,1] 0.7514289290333347 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.46 [[ 0.99480915 -0.09520341 -0.03593145 1.9670094 ] [ 0.09535057 0.99544086 0.00240052 -0.22576724] [ 0.0355391 -0.00581414 0.99935137 -0.46498461] [ 0. 0. 0. 1. ]] SLAMing on 71.911346184 meters Centerline goodness [0,1] 0.7526276276276276 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.46 [[ 0.99477548 -0.09557189 -0.03588547 1.96680935] [ 0.09571364 0.99540637 0.00224936 -0.22582796] [ 0.03550565 -0.00567233 0.99935338 -0.46485679] [ 0. 0. 0. 1. ]] SLAMing on 71.941346184 meters Centerline goodness [0,1] 0.7206504743041802 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.46 [[ 0.99473244 -0.09606878 -0.03575142 1.96611157] [ 0.09620257 0.99535969 0.00203681 -0.22588931] [ 0.03538984 -0.00546546 0.99935864 -0.4643341 ] [ 0. 0. 0. 1. ]] SLAMing on 71.971346184 meters Centerline goodness [0,1] 0.7225755332679997 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.23, Z:-0.46 [[ 9.94570617e-01 -9.79944151e-02 -3.50197568e-02 1.96332169e+00] [ 9.80815840e-02 9.95178075e-01 7.75790851e-04 -2.25561447e-01] [ 3.47748710e-02 -4.20637201e-03 9.99386319e-01 -4.62788290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.001346184 meters Centerline goodness [0,1] 0.7179732512427981 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.23, Z:-0.46 [[ 9.94553153e-01 -9.81138315e-02 -3.51809762e-02 1.96410330e+00] [ 9.82055328e-02 9.95165761e-01 8.83903377e-04 -2.25563774e-01] [ 3.49241798e-02 -4.33405540e-03 9.99380567e-01 -4.63482601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.031346184 meters Centerline goodness [0,1] 0.7114453701202916 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.23, Z:-0.46 [[ 9.94533853e-01 -9.82909025e-02 -3.52322826e-02 1.96478812e+00] [ 9.83812040e-02 9.95148452e-01 8.34414850e-04 -2.25079737e-01] [ 3.49793361e-02 -4.29604819e-03 9.99378802e-01 -4.64368952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.061346184 meters Centerline goodness [0,1] 0.6965337774539399 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.47 [[ 9.94514558e-01 -9.84122198e-02 -3.54376647e-02 1.96588840e+00] [ 9.85043991e-02 9.95136243e-01 8.60447944e-04 -2.24865771e-01] [ 3.51806259e-02 -4.34649387e-03 9.99371518e-01 -4.65408068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.091346184 meters Centerline goodness [0,1] 0.6794687649618019 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.47 [[ 9.94456450e-01 -9.89482685e-02 -3.55754015e-02 1.96739479e+00] [ 9.90424884e-02 9.95082806e-01 8.91650880e-04 -2.25437744e-01] [ 3.53122431e-02 -4.41018426e-03 9.99366597e-01 -4.67413839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12134618399999 meters Centerline goodness [0,1] 0.6775506812894649 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.23, Z:-0.47 [[ 9.94430945e-01 -9.91438028e-02 -3.57435618e-02 1.96785497e+00] [ 9.92402100e-02 9.95063072e-01 9.28804185e-04 -2.25375388e-01] [ 3.54750132e-02 -4.47083020e-03 9.99360563e-01 -4.67700469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15134618399999 meters Centerline goodness [0,1] 0.6961961961961962 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.47 [[ 9.94370667e-01 -9.97625936e-02 -3.56987528e-02 1.96716459e+00] [ 9.98330936e-02 9.95004179e-01 1.93350128e-04 -2.23456189e-01] [ 3.55011191e-02 -3.75617863e-03 9.99362578e-01 -4.66910203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18134618399999 meters Centerline goodness [0,1] 0.6547502141618436 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.46 [[ 0.9945331 -0.09809776 -0.03578755 1.96457035] [ 0.09823491 0.99516106 0.00209001 -0.21990323] [ 0.03540935 -0.00559418 0.99935723 -0.4647649 ] [ 0. 0. 0. 1. ]] SLAMing on 72.21134618399999 meters Centerline goodness [0,1] 0.6771466148932173 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.47 [[ 9.94523629e-01 -9.81424465e-02 -3.59278593e-02 1.96530066e+00] [ 9.82755790e-02 9.95157320e-01 1.95423470e-03 -2.19165523e-01] [ 3.55620788e-02 -5.47436376e-03 9.99352475e-01 -4.65371989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.241346184 meters Centerline goodness [0,1] 0.6643473536847824 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.47 [[ 0.9945242 -0.09808696 -0.03606336 1.96617537] [ 0.09822274 0.99516243 0.00200859 -0.21946184] [ 0.03569188 -0.00553984 0.99934749 -0.46618272] [ 0. 0. 0. 1. ]] SLAMing on 72.271346184 meters Centerline goodness [0,1] 0.6444276602886875 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.22, Z:-0.47 [[ 9.94534977e-01 -9.81085306e-02 -3.57056875e-02 1.96565758e+00] [ 9.82117166e-02 9.95164887e-01 1.14330518e-03 -2.17049573e-01] [ 3.54208784e-02 -4.64377385e-03 9.99361695e-01 -4.66052549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.301346184 meters Centerline goodness [0,1] 0.6956786622129787 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.22, Z:-0.47 [[ 0.99487514 -0.09454902 -0.03583196 1.96494466] [ 0.0947663 0.99548978 0.0044108 -0.21519632] [ 0.03525331 -0.00778386 0.9993481 -0.4659221 ] [ 0. 0. 0. 1. ]] SLAMing on 72.331346184 meters Centerline goodness [0,1] 0.7005218196355679 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.21, Z:-0.47 [[ 0.99521876 -0.09075996 -0.03608674 1.96461629] [ 0.0910894 0.9958138 0.00758903 -0.2119397 ] [ 0.03524689 -0.01083986 0.99931985 -0.46588619] [ 0. 0. 0. 1. ]] SLAMing on 72.361346184 meters Centerline goodness [0,1] 0.7091504649196957 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.21, Z:-0.47 [[ 0.9955621 -0.08676688 -0.03643639 1.9646243 ] [ 0.08721168 0.99613128 0.01079791 -0.20826174] [ 0.03535853 -0.01392766 0.99927764 -0.46597136] [ 0. 0. 0. 1. ]] SLAMing on 72.391346184 meters Centerline goodness [0,1] 0.7306101673347332 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.20, Z:-0.47 [[ 0.99621586 -0.07856191 -0.03717505 1.96492904] [ 0.07926204 0.99669581 0.01774776 -0.20377309] [ 0.03565791 -0.02062718 0.99915116 -0.46618326] [ 0. 0. 0. 1. ]] SLAMing on 72.421346184 meters Centerline goodness [0,1] 0.7186737659362339 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.20, Z:-0.47 [[ 0.99623076 -0.07816104 -0.03761826 1.96580634] [ 0.07884894 0.99673884 0.01716184 -0.20147181] [ 0.03615419 -0.02006331 0.9991448 -0.46575863] [ 0. 0. 0. 1. ]] SLAMing on 72.451346184 meters Centerline goodness [0,1] 0.7402374390502438 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.20, Z:-0.47 [[ 0.99622139 -0.07808539 -0.03802132 1.96632687] [ 0.07875467 0.99675857 0.01643307 -0.19926791] [ 0.03661489 -0.01936533 0.9991418 -0.46508568] [ 0. 0. 0. 1. ]] SLAMing on 72.481346184 meters Centerline goodness [0,1] 0.7448475557826606 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.46 [[ 0.99624317 -0.07770384 -0.03823161 1.96681463] [ 0.07832657 0.99681389 0.01506703 -0.19368919] [ 0.03693903 -0.01800498 0.99915531 -0.4643872 ] [ 0. 0. 0. 1. ]] SLAMing on 72.51134618399999 meters Centerline goodness [0,1] 0.748035027765912 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.46 [[ 0.99624997 -0.0774799 -0.03850792 1.96763551] [ 0.0780886 0.99684009 0.01456049 -0.19115518] [ 0.0372581 -0.01751292 0.99915221 -0.464543 ] [ 0. 0. 0. 1. ]] SLAMing on 72.54134618399999 meters Centerline goodness [0,1] 0.7535806174957118 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.47 [[ 0.99627203 -0.07705721 -0.0387844 1.96895843] [ 0.07765795 0.99687855 0.01422647 -0.18854568] [ 0.03756708 -0.01718535 0.99914632 -0.46534204] [ 0. 0. 0. 1. ]] SLAMing on 72.57134618399999 meters Centerline goodness [0,1] 0.7562194389637128 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.19, Z:-0.47 [[ 0.99630818 -0.07622551 -0.03949271 1.97161789] [ 0.07683868 0.99694176 0.01424586 -0.18586077] [ 0.03828604 -0.01722783 0.9991183 -0.46678406] [ 0. 0. 0. 1. ]] SLAMing on 72.601346184 meters Centerline goodness [0,1] 0.7770907204012799 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.18, Z:-0.47 [[ 0.99663662 -0.07137038 -0.04027063 1.97468747] [ 0.07213897 0.99723279 0.01796468 -0.18137027] [ 0.03887704 -0.02080934 0.9990273 -0.46953155] [ 0. 0. 0. 1. ]] SLAMing on 72.631346184 meters Centerline goodness [0,1] 0.785137737768064 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.18, Z:-0.47 [[ 0.99668372 -0.07032425 -0.04093964 1.9771618 ] [ 0.07110194 0.99730917 0.01785869 -0.1779339 ] [ 0.03957358 -0.02071035 0.99900201 -0.47054488] [ 0. 0. 0. 1. ]] SLAMing on 72.661346184 meters Centerline goodness [0,1] 0.8005034066744782 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.47 [[ 0.99672345 -0.06945873 -0.04144701 1.97878897] [ 0.07023126 0.99737754 0.01748175 -0.17464788] [ 0.04012405 -0.02033535 0.99898775 -0.4707826 ] [ 0. 0. 0. 1. ]] SLAMing on 72.691346184 meters Centerline goodness [0,1] 0.8151424482893197 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.47 [[ 0.99674581 -0.06880681 -0.04199294 1.97994688] [ 0.06956636 0.99743415 0.01690068 -0.17184548] [ 0.04072231 -0.01976698 0.99897495 -0.47024116] [ 0. 0. 0. 1. ]] SLAMing on 72.721346184 meters Centerline goodness [0,1] 0.8338781380753137 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.47 [[ 0.99698872 -0.06511096 -0.04211962 1.97802079] [ 0.06598017 0.99762871 0.01958513 -0.16960378] [ 0.04074453 -0.02230521 0.9989206 -0.46765456] [ 0. 0. 0. 1. ]] SLAMing on 72.751346184 meters Centerline goodness [0,1] 0.8423005163361825 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.47 [[ 0.99697224 -0.065094 -0.04253384 1.97813805] [ 0.06593885 0.99764711 0.01877002 -0.16708579] [ 0.04121194 -0.02151782 0.99891869 -0.46632909] [ 0. 0. 0. 1. ]] SLAMing on 72.781346184 meters Centerline goodness [0,1] 0.8812471343420449 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99694153 -0.0656164 -0.04245081 1.97664988] [ 0.06638688 0.99764912 0.01700069 -0.16252418] [ 0.04123549 -0.01976687 0.99895391 -0.4639035 ] [ 0. 0. 0. 1. ]] SLAMing on 72.811346184 meters Centerline goodness [0,1] 0.8548756794516361 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99692916 -0.06568883 -0.04262904 1.97711759] [ 0.06645914 0.99764584 0.01691008 -0.16274364] [ 0.04141788 -0.01969125 0.99894785 -0.46400812] [ 0. 0. 0. 1. ]] SLAMing on 72.841346184 meters Centerline goodness [0,1] 0.8453960989430097 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99669003 -0.06886646 -0.04320181 1.9800296 ] [ 0.06949504 0.99749471 0.01321884 -0.16171234] [ 0.04218324 -0.01617739 0.99897891 -0.46518566] [ 0. 0. 0. 1. ]] SLAMing on 72.87134618399999 meters Centerline goodness [0,1] 0.8349561088239779 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99668351 -0.06879885 -0.04345923 1.98125226] [ 0.06944374 0.99749444 0.01350595 -0.16299435] [ 0.04242114 -0.01647913 0.99896391 -0.46615487] [ 0. 0. 0. 1. ]] SLAMing on 72.90134618399999 meters Centerline goodness [0,1] 0.852595547997471 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99668305 -0.06868892 -0.04364325 1.98237108] [ 0.06934487 0.99749872 0.01369618 -0.16326407] [ 0.04259331 -0.01667719 0.99895329 -0.46718055] [ 0. 0. 0. 1. ]] SLAMing on 72.93134618399999 meters Centerline goodness [0,1] 0.8621642798067296 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99667951 -0.06837902 -0.04420703 1.98383589] [ 0.06903403 0.99752347 0.01346219 -0.16162649] [ 0.04317702 -0.01646928 0.99893168 -0.46740336] [ 0. 0. 0. 1. ]] SLAMing on 72.96134618399999 meters Centerline goodness [0,1] 0.8945683421900863 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99667852 -0.06825029 -0.04442783 1.98399987] [ 0.0688987 0.99753595 0.01322903 -0.16081357] [ 0.04341547 -0.01624611 0.998925 -0.46686549] [ 0. 0. 0. 1. ]] SLAMing on 72.991346184 meters Centerline goodness [0,1] 0.9057352043929225 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.47 [[ 0.99667273 -0.06823074 -0.04458736 1.98377994] [ 0.06886603 0.99754291 0.01286925 -0.16005283] [ 0.04359973 -0.01589698 0.99892259 -0.4659058 ] [ 0. 0. 0. 1. ]] SLAMing on 73.021346184 meters Centerline goodness [0,1] 0.911126585859465 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99665271 -0.06855206 -0.04454204 1.98217269] [ 0.06914415 0.99753583 0.01188929 -0.15890242] [ 0.04361724 -0.01492932 0.99893676 -0.46320837] [ 0. 0. 0. 1. ]] SLAMing on 73.051346184 meters Centerline goodness [0,1] 0.8839709274491883 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.9966318 -0.06879252 -0.04463907 1.98167045] [ 0.06937276 0.99752359 0.01158034 -0.15905617] [ 0.04373189 -0.01463807 0.99893606 -0.46214908] [ 0. 0. 0. 1. ]] SLAMing on 73.081346184 meters Centerline goodness [0,1] 0.9125287805725705 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99661691 -0.06893249 -0.04475538 1.98182195] [ 0.06951229 0.99751448 0.01152863 -0.15964313] [ 0.04384944 -0.01460068 0.99893145 -0.46203158] [ 0. 0. 0. 1. ]] SLAMing on 73.111346184 meters Centerline goodness [0,1] 0.8988183161004432 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99637008 -0.0721932 -0.04510884 1.9845492 ] [ 0.07264313 0.99732251 0.00841367 -0.16055566] [ 0.04438065 -0.01165998 0.99894665 -0.46384567] [ 0. 0. 0. 1. ]] SLAMing on 73.141346184 meters Centerline goodness [0,1] 0.8988183161004432 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.16, Z:-0.46 [[ 0.99637008 -0.0721932 -0.04510884 1.9845492 ] [ 0.07264313 0.99732251 0.00841367 -0.16055566] [ 0.04438065 -0.01165998 0.99894665 -0.46384567] [ 0. 0. 0. 1. ]] SLAMing on 73.171346184 meters Centerline goodness [0,1] 0.8888407273357751 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.16, Z:-0.46 [[ 0.99635454 -0.07223431 -0.04538531 1.98576109] [ 0.0727151 0.99731186 0.00903124 -0.1631598 ] [ 0.04461094 -0.01229852 0.99892873 -0.46491583] [ 0. 0. 0. 1. ]] SLAMing on 73.201346184 meters Centerline goodness [0,1] 0.8757393894909546 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.16, Z:-0.47 [[ 0.99611246 -0.07529811 -0.04571838 1.9883785 ] [ 0.07565104 0.99711608 0.0060367 -0.16419268] [ 0.04513198 -0.00947188 0.99893613 -0.46640881] [ 0. 0. 0. 1. ]] SLAMing on 73.231346184 meters Centerline goodness [0,1] 0.8666753072818785 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.17, Z:-0.47 [[ 0.99609946 -0.07548478 -0.04569366 1.9882498 ] [ 0.07585351 0.99709851 0.0063877 -0.16709383] [ 0.0450789 -0.00982881 0.99893508 -0.46631839] [ 0. 0. 0. 1. ]] SLAMing on 73.26134618399999 meters Centerline goodness [0,1] 0.8605331669427889 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.17, Z:-0.46 [[ 0.99605206 -0.07619375 -0.04555009 1.98629498] [ 0.07655183 0.99704653 0.00616665 -0.16912238] [ 0.04494569 -0.00962925 0.99894302 -0.46402726] [ 0. 0. 0. 1. ]] SLAMing on 73.29134618399999 meters Centerline goodness [0,1] 0.8539030331773989 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.46 [[ 0.99602724 -0.07657301 -0.04545669 1.9848117 ] [ 0.07691138 0.99702141 0.00573955 -0.16909042] [ 0.0448818 -0.00921288 0.99894982 -0.46218438] [ 0. 0. 0. 1. ]] SLAMing on 73.32134618399999 meters Centerline goodness [0,1] 0.850534650057015 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.46 [[ 0.99602117 -0.07667751 -0.0454136 1.98419086] [ 0.07702561 0.99701128 0.0059629 -0.1707026 ] [ 0.04482065 -0.00943719 0.99895047 -0.46142732] [ 0. 0. 0. 1. ]] SLAMing on 73.351346184 meters Centerline goodness [0,1] 0.8456400343642612 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.17, Z:-0.46 [[ 0.99576736 -0.07999065 -0.04526423 1.98467071] [ 0.08021142 0.99677312 0.00307927 -0.17468556] [ 0.04487185 -0.00669695 0.9989703 -0.46124646] [ 0. 0. 0. 1. ]] SLAMing on 73.381346184 meters Centerline goodness [0,1] 0.8375755238462528 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.18, Z:-0.46 [[ 0.99577274 -0.07987773 -0.04534525 1.98490552] [ 0.08012716 0.99677776 0.00370703 -0.1770895 ] [ 0.04490303 -0.00732474 0.9989645 -0.46138748] [ 0. 0. 0. 1. ]] SLAMing on 73.411346184 meters Centerline goodness [0,1] 0.8304194684598143 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.18, Z:-0.46 [[ 0.99578606 -0.07957303 -0.04558788 1.98579003] [ 0.07985345 0.99679708 0.00436058 -0.17852815] [ 0.04509488 -0.00798256 0.99895081 -0.46192404] [ 0. 0. 0. 1. ]] SLAMing on 73.441346184 meters Centerline goodness [0,1] 0.8288315240618856 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.18, Z:-0.46 [[ 0.99580397 -0.07902465 -0.0461471 1.988087 ] [ 0.07935587 0.99683179 0.00538735 -0.18031526] [ 0.04557517 -0.00902678 0.99892013 -0.46370297] [ 0. 0. 0. 1. ]] SLAMing on 73.471346184 meters Centerline goodness [0,1] 0.821280771363966 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.18, Z:-0.47 [[ 0.99583558 -0.07844568 -0.04645179 1.98983034] [ 0.07882527 0.99686794 0.00639436 -0.18274229] [ 0.04580469 -0.01002931 0.99890007 -0.46522269] [ 0. 0. 0. 1. ]] SLAMing on 73.501346184 meters Centerline goodness [0,1] 0.8579773173019527 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.47 [[ 0.99585478 -0.07811881 -0.04659076 1.99077665] [ 0.07853568 0.99688543 0.00718217 -0.18528334] [ 0.04588459 -0.01081144 0.99888824 -0.46612362] [ 0. 0. 0. 1. ]] SLAMing on 73.531346184 meters Centerline goodness [0,1] 0.8612157188144933 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.47 [[ 0.99582329 -0.07870434 -0.04627754 1.98930975] [ 0.07912089 0.99683876 0.0072364 -0.188178 ] [ 0.04556171 -0.01086769 0.99890241 -0.46502529] [ 0. 0. 0. 1. ]] SLAMing on 73.561346184 meters Centerline goodness [0,1] 0.8492946974847043 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99579673 -0.07904654 -0.04626568 1.98848616] [ 0.07945976 0.99681237 0.00715864 -0.18900421] [ 0.04555234 -0.01080481 0.99890352 -0.4639659 ] [ 0. 0. 0. 1. ]] SLAMing on 73.591346184 meters Centerline goodness [0,1] 0.8136760467875911 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99576123 -0.07962666 -0.04603437 1.9868363 ] [ 0.08002007 0.9967703 0.00676443 -0.18960911] [ 0.04534707 -0.01041943 0.99891695 -0.46231736] [ 0. 0. 0. 1. ]] SLAMing on 73.62134618399999 meters Centerline goodness [0,1] 0.8511275657658798 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.19, Z:-0.46 [[ 0.99569689 -0.0806751 -0.04559863 1.98357537] [ 0.08102623 0.99669449 0.00590231 -0.19119175] [ 0.04497174 -0.00957159 0.9989424 -0.45893429] [ 0. 0. 0. 1. ]] SLAMing on 73.65134618399999 meters Centerline goodness [0,1] 0.8496321436853089 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.19, Z:-0.46 [[ 0.99571094 -0.08042997 -0.04572463 1.98403548] [ 0.08080348 0.99670965 0.00637683 -0.19282193] [ 0.04506129 -0.01004419 0.99893373 -0.45917365] [ 0. 0. 0. 1. ]] SLAMing on 73.68134618399999 meters Centerline goodness [0,1] 0.8437453940580717 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99572877 -0.08003733 -0.04602434 1.98578124] [ 0.08044792 0.99673327 0.00713625 -0.19467387] [ 0.04530283 -0.01080833 0.99891483 -0.46070492] [ 0. 0. 0. 1. ]] SLAMing on 73.71134618399999 meters Centerline goodness [0,1] 0.8382566280512163 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99552662 -0.08218008 -0.04661751 1.99084125] [ 0.08251682 0.99657535 0.0053423 -0.19691325] [ 0.04601883 -0.00916513 0.99889853 -0.46488074] [ 0. 0. 0. 1. ]] SLAMing on 73.741346184 meters Centerline goodness [0,1] 0.8306456699535353 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.47 [[ 0.99551764 -0.08217271 -0.04682177 1.9916295 ] [ 0.08253004 0.99657201 0.00574709 -0.19826155] [ 0.04618901 -0.00958554 0.99888673 -0.46544998] [ 0. 0. 0. 1. ]] SLAMing on 73.771346184 meters Centerline goodness [0,1] 0.8240440836242796 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.47 [[ 0.99550764 -0.08230153 -0.04680808 1.99128957] [ 0.08265995 0.9965611 0.00577059 -0.19835588] [ 0.04617218 -0.00961382 0.99888723 -0.46504206] [ 0. 0. 0. 1. ]] SLAMing on 73.801346184 meters Centerline goodness [0,1] 0.8158595667037185 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99545804 -0.0828216 -0.04694537 1.99039089] [ 0.08314892 0.99652429 0.00505967 -0.19699266] [ 0.04636316 -0.00894014 0.99888464 -0.46343558] [ 0. 0. 0. 1. ]] SLAMing on 73.831346184 meters Centerline goodness [0,1] 0.8120262758969177 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99537556 -0.0842024 -0.04623252 1.98635256] [ 0.08445741 0.99642063 0.00358705 -0.19630292] [ 0.04576499 -0.00747514 0.99892427 -0.45976645] [ 0. 0. 0. 1. ]] SLAMing on 73.861346184 meters Centerline goodness [0,1] 0.8100558659217877 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99535691 -0.08446988 -0.04614598 1.9858063 ] [ 0.08472191 0.99639838 0.00352975 -0.19734481] [ 0.04568163 -0.00742293 0.99892847 -0.45923518] [ 0. 0. 0. 1. ]] SLAMing on 73.891346184 meters Centerline goodness [0,1] 0.7934611427251538 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99535009 -0.08460318 -0.04604899 1.98536742] [ 0.08485353 0.99638727 0.00350575 -0.19803206] [ 0.04558603 -0.00739687 0.99893303 -0.45887198] [ 0. 0. 0. 1. ]] SLAMing on 73.921346184 meters Centerline goodness [0,1] 0.7913028878441908 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99534414 -0.08461688 -0.04615221 1.98564307] [ 0.08486978 0.99638575 0.00354441 -0.19824388] [ 0.04568549 -0.00744484 0.99892813 -0.45894638] [ 0. 0. 0. 1. ]] SLAMing on 73.951346184 meters Centerline goodness [0,1] 0.7966593129530413 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.9953622 -0.08415175 -0.04661092 1.98814577] [ 0.08444536 0.99641856 0.00436275 -0.19882403] [ 0.04607686 -0.00827859 0.99890359 -0.46129051] [ 0. 0. 0. 1. ]] SLAMing on 73.981346184 meters Centerline goodness [0,1] 0.7865619289659953 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99537678 -0.08374663 -0.04702727 1.99021294] [ 0.08406967 0.99644768 0.00493036 -0.1990378 ] [ 0.04644731 -0.00886113 0.99888144 -0.46295605] [ 0. 0. 0. 1. ]] SLAMing on 74.01134618399999 meters Centerline goodness [0,1] 0.7907622412922766 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99538378 -0.08350449 -0.04730895 1.99165759] [ 0.08384171 0.99646559 0.00518547 -0.19865837] [ 0.04670873 -0.00912799 0.99886685 -0.46411544] [ 0. 0. 0. 1. ]] SLAMing on 74.04134618399999 meters Centerline goodness [0,1] 0.7813019944820033 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99535797 -0.08369727 -0.04751088 1.99195313] [ 0.08402219 0.99645193 0.00488004 -0.19757283] [ 0.04693386 -0.00884936 0.9988588 -0.46401545] [ 0. 0. 0. 1. ]] SLAMing on 74.07134618399999 meters Centerline goodness [0,1] 0.780686776702713 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99534429 -0.08384633 -0.04753462 1.99191369] [ 0.08416489 0.99644058 0.00473671 -0.19731587] [ 0.04696827 -0.0087154 0.99885836 -0.46390994] [ 0. 0. 0. 1. ]] SLAMing on 74.101346184 meters Centerline goodness [0,1] 0.7773756417809948 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99532482 -0.08400028 -0.04767032 1.99204832] [ 0.0843118 0.99642899 0.00455866 -0.19678062] [ 0.04711716 -0.00855652 0.99885272 -0.46372286] [ 0. 0. 0. 1. ]] SLAMing on 74.131346184 meters Centerline goodness [0,1] 0.7684599156118144 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.20, Z:-0.46 [[ 0.99530906 -0.08422781 -0.04759776 1.99171001] [ 0.08452591 0.99641208 0.00428168 -0.19605339] [ 0.04706635 -0.00828484 0.99885741 -0.46347205] [ 0. 0. 0. 1. ]] SLAMing on 74.161346184 meters Centerline goodness [0,1] 0.7604340744188014 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99527961 -0.08469898 -0.04737703 1.99099831] [ 0.08496236 0.99637777 0.00356978 -0.19426748] [ 0.04690307 -0.00757819 0.9988707 -0.4631007 ] [ 0. 0. 0. 1. ]] SLAMing on 74.191346184 meters Centerline goodness [0,1] 0.7558740104144617 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99526431 -0.08483651 -0.04745226 1.99102303] [ 0.08508799 0.99636797 0.00330146 -0.19319561] [ 0.04699983 -0.00732344 0.99886805 -0.46292247] [ 0. 0. 0. 1. ]] SLAMing on 74.221346184 meters Centerline goodness [0,1] 0.7507564696671534 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99523736 -0.0850982 -0.04754884 1.99100315] [ 0.08533796 0.99634745 0.00303174 -0.19230488] [ 0.04711716 -0.00707502 0.99886431 -0.46266911] [ 0. 0. 0. 1. ]] SLAMing on 74.251346184 meters Centerline goodness [0,1] 0.7386582551813197 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99519438 -0.08559351 -0.04755934 1.99065198] [ 0.08582237 0.99630655 0.00278739 -0.19240919] [ 0.0471451 -0.00685565 0.99886453 -0.46227943] [ 0. 0. 0. 1. ]] SLAMing on 74.281346184 meters Centerline goodness [0,1] 0.7140111108764073 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 9.94804753e-01 -8.99823685e-02 -4.76096211e-02 1.99183268e+00] [ 9.00303757e-02 9.95938368e-01 -1.13942536e-03 -1.92912885e-01] [ 4.75187765e-02 -3.15280631e-03 9.98865369e-01 -4.62783647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.311346184 meters Centerline goodness [0,1] 0.7007236134258771 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 9.94790612e-01 -9.00985837e-02 -4.76852552e-02 1.99255404e+00] [ 9.01695929e-02 9.95926204e-01 -6.64270814e-04 -1.94514129e-01] [ 4.75508451e-02 -3.63894968e-03 9.98862190e-01 -4.63700450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.341346184 meters Centerline goodness [0,1] 0.6884391355731893 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 9.94741121e-01 -9.06929882e-02 -4.75908083e-02 1.99212771e+00] [ 9.07533066e-02 9.95873001e-01 -8.96231668e-04 -1.94635517e-01] [ 4.74756830e-02 -3.42750473e-03 9.98866513e-01 -4.63550719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37134618399999 meters Centerline goodness [0,1] 0.7122317414538977 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 9.94727373e-01 -9.08539023e-02 -4.75712223e-02 1.99181466e+00] [ 9.08973011e-02 9.95859481e-01 -1.25467361e-03 -1.93483768e-01] [ 4.74882448e-02 -3.07603753e-03 9.98867061e-01 -4.63134040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40134618399999 meters Centerline goodness [0,1] 0.6914909367795428 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 9.94727474e-01 -9.07375519e-02 -4.77906707e-02 1.99241772e+00] [ 9.07706861e-02 9.95870719e-01 -1.48095355e-03 -1.91620401e-01] [ 4.77277077e-02 -2.86484677e-03 9.98856275e-01 -4.63298121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43134618399999 meters Centerline goodness [0,1] 0.7068881702703274 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99501929 -0.08733958 -0.04804594 1.99188213] [ 0.08754257 0.9961585 0.00213306 -0.19152511] [ 0.04767507 -0.0063285 0.99884285 -0.46316856] [ 0. 0. 0. 1. ]] SLAMing on 74.46134618399999 meters Centerline goodness [0,1] 0.6698087229130039 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99528283 -0.08418649 -0.0482153 1.99143917] [ 0.08453232 0.9964073 0.00517539 -0.18901542] [ 0.04760638 -0.00922672 0.99882356 -0.46340937] [ 0. 0. 0. 1. ]] SLAMing on 74.491346184 meters Centerline goodness [0,1] 0.6656187603551553 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99526629 -0.08437617 -0.04822534 1.99187453] [ 0.08471419 0.99639272 0.00500524 -0.18849991] [ 0.04762906 -0.00906691 0.99882394 -0.46399941] [ 0. 0. 0. 1. ]] SLAMing on 74.521346184 meters Centerline goodness [0,1] 0.6557941007835892 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99522257 -0.08486049 -0.04827761 1.99219603] [ 0.08519512 0.99635218 0.00491262 -0.18937544] [ 0.04768461 -0.00900217 0.99882188 -0.46443183] [ 0. 0. 0. 1. ]] SLAMing on 74.551346184 meters Centerline goodness [0,1] 0.668259385665529 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.19, Z:-0.46 [[ 0.99510958 -0.08636548 -0.04793667 1.99057476] [ 0.08664703 0.99623174 0.00382292 -0.19020376] [ 0.04742586 -0.0079578 0.99884306 -0.4633417 ] [ 0. 0. 0. 1. ]] SLAMing on 74.581346184 meters Centerline goodness [0,1] 0.6458622086700642 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.19, Z:-0.47 [[ 0.99476218 -0.09321044 -0.04195265 2.00168848] [ 0.09361529 0.99557799 0.00778694 -0.18894986] [ 0.04104131 -0.01167356 0.99908925 -0.46698057] [ 0. 0. 0. 1. ]] SLAMing on 74.611346184 meters Centerline goodness [0,1] 0.6574250229794147 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.19, Z:-0.47 [[ 0.99471467 -0.09366653 -0.04206307 2.00173129] [ 0.09404518 0.99554253 0.00711095 -0.18630385] [ 0.04120952 -0.0110292 0.99908965 -0.46680077] [ 0. 0. 0. 1. ]] SLAMing on 74.641346184 meters Centerline goodness [0,1] 0.6486376138903215 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.18, Z:-0.47 [[ 0.99468749 -0.09387579 -0.0422389 2.00199953] [ 0.09422911 0.99552965 0.00644858 -0.18324886] [ 0.04144471 -0.01039445 0.99908673 -0.46669782] [ 0. 0. 0. 1. ]] SLAMing on 74.671346184 meters Centerline goodness [0,1] 0.6418822305992461 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.18, Z:-0.47 [[ 0.99468203 -0.09392641 -0.04225508 2.00236654] [ 0.09424205 0.99553392 0.00553651 -0.17891707] [ 0.04154634 -0.00948927 0.99909151 -0.46705479] [ 0. 0. 0. 1. ]] SLAMing on 74.701346184 meters Centerline goodness [0,1] 0.6381500379980458 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.18, Z:-0.47 [[ 0.99468109 -0.09396493 -0.04219138 2.00253942] [ 0.0942596 0.99553487 0.00504564 -0.17724368] [ 0.04152887 -0.00899575 0.99909681 -0.46732843] [ 0. 0. 0. 1. ]] SLAMing on 74.731346184 meters Centerline goodness [0,1] 0.640809333795975 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.18, Z:-0.47 [[ 0.99470354 -0.09368614 -0.0422821 2.00326551] [ 0.09397166 0.99556324 0.00481207 -0.1755486 ] [ 0.04164368 -0.0087599 0.99909412 -0.4678849 ] [ 0. 0. 0. 1. ]] SLAMing on 74.76134618399999 meters Centerline goodness [0,1] 0.6762969119062199 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.17, Z:-0.47 [[ 0.99504585 -0.08996472 -0.04230971 2.00253962] [ 0.09037193 0.99587747 0.0078085 -0.17193217] [ 0.0414328 -0.01159342 0.99907403 -0.46792634] [ 0. 0. 0. 1. ]] SLAMing on 74.79134618399999 meters Centerline goodness [0,1] 0.6484105538346625 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.17, Z:-0.47 [[ 0.99505635 -0.08967231 -0.0426818 2.00341662] [ 0.09007134 0.99590696 0.0075155 -0.16865322] [ 0.04183317 -0.01132275 0.99906045 -0.46810089] [ 0. 0. 0. 1. ]] SLAMing on 74.82134618399999 meters Centerline goodness [0,1] 0.6689749470712774 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.17, Z:-0.47 [[ 0.99503605 -0.08986335 -0.0427533 2.00310711] [ 0.09022865 0.99589861 0.00668909 -0.16523298] [ 0.04197685 -0.01051346 0.99906327 -0.46742964] [ 0. 0. 0. 1. ]] SLAMing on 74.851346184 meters Centerline goodness [0,1] 0.6725445834442374 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.47 [[ 0.99495213 -0.0909065 -0.04250022 2.0010838 ] [ 0.09117973 0.99582414 0.00453121 -0.16056208] [ 0.04191083 -0.0083835 0.99908618 -0.46500229] [ 0. 0. 0. 1. ]] SLAMing on 74.881346184 meters Centerline goodness [0,1] 0.6719895171678586 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.47 [[ 0.99493942 -0.091105 -0.04237253 2.00090855] [ 0.09137071 0.99580735 0.00437298 -0.16112275] [ 0.04179648 -0.00822246 0.99909231 -0.46508114] [ 0. 0. 0. 1. ]] SLAMing on 74.911346184 meters Centerline goodness [0,1] 0.6514267976319816 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.47 [[ 0.9949471 -0.09095835 -0.04250692 2.00206442] [ 0.09124079 0.99581754 0.0047485 -0.16217964] [ 0.04189722 -0.00860288 0.99908489 -0.46628324] [ 0. 0. 0. 1. ]] SLAMing on 74.941346184 meters Centerline goodness [0,1] 0.6641223067876717 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.47 [[ 0.99493663 -0.09104231 -0.04257229 2.00298705] [ 0.09132102 0.99581068 0.00464425 -0.16117737] [ 0.04197112 -0.00850848 0.99908259 -0.46740498] [ 0. 0. 0. 1. ]] SLAMing on 74.971346184 meters Centerline goodness [0,1] 0.646064139941691 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.16, Z:-0.47 [[ 0.99514431 -0.08861831 -0.04283225 2.00444575] [ 0.08899882 0.99600674 0.00705609 -0.15526621] [ 0.04203591 -0.01083384 0.99905736 -0.47003654] [ 0. 0. 0. 1. ]] SLAMing on 75.001346184 meters Centerline goodness [0,1] 0.6778314449510224 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.15, Z:-0.47 [[ 0.99513639 -0.08856114 -0.04313337 2.00547071] [ 0.08892599 0.9960163 0.00661103 -0.1518963 ] [ 0.04237606 -0.01041456 0.99904745 -0.47063255] [ 0. 0. 0. 1. ]] SLAMing on 75.031346184 meters Centerline goodness [0,1] 0.6597153185720741 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.15, Z:-0.47 [[ 0.9951263 -0.08867377 -0.04313486 2.00563567] [ 0.08901436 0.99601205 0.00603662 -0.14980563] [ 0.04242755 -0.00984682 0.99905102 -0.47076033] [ 0. 0. 0. 1. ]] SLAMing on 75.061346184 meters Centerline goodness [0,1] 0.6597153185720741 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.15, Z:-0.47 [[ 0.9951263 -0.08867377 -0.04313486 2.00563567] [ 0.08901436 0.99601205 0.00603662 -0.14980563] [ 0.04242755 -0.00984682 0.99905102 -0.47076033] [ 0. 0. 0. 1. ]] SLAMing on 75.091346184 meters Centerline goodness [0,1] 0.6600707194342446 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.15, Z:-0.47 [[ 0.99511005 -0.08904957 -0.04273361 2.00491699] [ 0.08935663 0.99598545 0.00532605 -0.14902657] [ 0.04208778 -0.00911854 0.99907231 -0.47076925] [ 0. 0. 0. 1. ]] SLAMing on 75.12134618399999 meters Centerline goodness [0,1] 0.6635021812346014 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.15, Z:-0.47 [[ 0.99507479 -0.08951505 -0.0425819 2.00427828] [ 0.08979281 0.9959496 0.00465175 -0.14768949] [ 0.04199303 -0.00845239 0.99908215 -0.47031539] [ 0. 0. 0. 1. ]] SLAMing on 75.15134618399999 meters Centerline goodness [0,1] 0.6245370896285357 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.14, Z:-0.47 [[ 0.99500546 -0.09045854 -0.04220646 2.00230027] [ 0.0906743 0.99587539 0.00322201 -0.14420094] [ 0.04174091 -0.00703296 0.99910372 -0.46869404] [ 0. 0. 0. 1. ]] SLAMing on 75.18134618399999 meters Centerline goodness [0,1] 0.6397691884960616 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.14, Z:-0.47 [[ 0.99504687 -0.09281052 -0.03560796 2.01172296] [ 0.09315604 0.99561803 0.00816643 -0.13806589] [ 0.034694 -0.01144308 0.99933247 -0.46704291] [ 0. 0. 0. 1. ]] SLAMing on 75.21134618399999 meters Centerline goodness [0,1] 0.6335442167514784 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.14, Z:-0.47 [[ 0.99499098 -0.09351342 -0.03532984 2.01078073] [ 0.09383519 0.99555905 0.00755847 -0.13737167] [ 0.03446613 -0.0108358 0.99934712 -0.46667042] [ 0. 0. 0. 1. ]] SLAMing on 75.241346184 meters Centerline goodness [0,1] 0.6481830293563651 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.14, Z:-0.47 [[ 0.99491964 -0.09437511 -0.03504624 2.0100974 ] [ 0.09467794 0.99548278 0.00708047 -0.13802604] [ 0.03421971 -0.0103626 0.99936061 -0.46672401] [ 0. 0. 0. 1. ]] SLAMing on 75.271346184 meters Centerline goodness [0,1] 0.6342435764488996 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.14, Z:-0.47 [[ 0.99455753 -0.09811074 -0.03506573 2.01271765] [ 0.09827554 0.99515471 0.00300338 -0.13501061] [ 0.03460117 -0.00643314 0.9993805 -0.46912387] [ 0. 0. 0. 1. ]] SLAMing on 75.301346184 meters Centerline goodness [0,1] 0.6407295114217604 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.13, Z:-0.47 [[ 0.9945305 -0.09834563 -0.0351743 2.01316161] [ 0.09848612 0.99513581 0.00227987 -0.13133099] [ 0.03477899 -0.00573158 0.99937859 -0.4695002 ] [ 0. 0. 0. 1. ]] SLAMing on 75.331346184 meters Centerline goodness [0,1] 0.626800584537589 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.13, Z:-0.47 [[ 0.99483722 -0.09516587 -0.03524722 2.01227276] [ 0.09541454 0.99542277 0.00543755 -0.12896636] [ 0.03456842 -0.00877257 0.99936383 -0.46959932] [ 0. 0. 0. 1. ]] SLAMing on 75.361346184 meters Centerline goodness [0,1] 0.6203542088482394 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.13, Z:-0.47 [[ 0.99514908 -0.09187534 -0.03517427 2.01084918] [ 0.09222939 0.99570086 0.00857537 -0.12656624] [ 0.03423519 -0.01177787 0.9993444 -0.46931173] [ 0. 0. 0. 1. ]] SLAMing on 75.391346184 meters Centerline goodness [0,1] 0.62650489310272 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:-0.47 [[ 0.99546381 -0.0885151 -0.03488394 2.00922731] [ 0.08894883 0.99597456 0.01108115 -0.12184276] [ 0.03376267 -0.01413377 0.99932993 -0.46906917] [ 0. 0. 0. 1. ]] SLAMing on 75.421346184 meters Centerline goodness [0,1] 0.6154226629295523 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:-0.47 [[ 0.99546669 -0.08848564 -0.03487636 2.0093278 ] [ 0.08889622 0.9959866 0.01039994 -0.11924582] [ 0.03381614 -0.01345317 0.99933752 -0.46900168] [ 0. 0. 0. 1. ]] SLAMing on 75.451346184 meters Centerline goodness [0,1] 0.6420106445890006 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.12, Z:-0.47 [[ 0.99544038 -0.08879694 -0.03483608 2.00892415] [ 0.08917312 0.99597183 0.0093949 -0.11607473] [ 0.03386151 -0.0124585 0.99934888 -0.46842192] [ 0. 0. 0. 1. ]] SLAMing on 75.481346184 meters Centerline goodness [0,1] 0.6316548463356975 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.11, Z:-0.47 [[ 0.99540253 -0.08926513 -0.03472076 2.00824849] [ 0.08960404 0.99594265 0.00832763 -0.11273721] [ 0.03383652 -0.01140046 0.99936236 -0.46776876] [ 0. 0. 0. 1. ]] SLAMing on 75.51134618399999 meters Centerline goodness [0,1] 0.6310313558917577 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.11, Z:-0.47 [[ 0.99562617 -0.0869156 -0.03426686 2.00544781] [ 0.08732823 0.99612178 0.01073181 -0.10942945] [ 0.03320121 -0.01367734 0.9993551 -0.46695938] [ 0. 0. 0. 1. ]] SLAMing on 75.54134618399999 meters Centerline goodness [0,1] 0.6335118592195869 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.11, Z:-0.47 [[ 0.99560139 -0.08725708 -0.03411859 2.00508995] [ 0.08764644 0.9961006 0.01008485 -0.10752198] [ 0.03310557 -0.01303086 0.99936691 -0.4668626 ] [ 0. 0. 0. 1. ]] SLAMing on 75.57134618399999 meters Centerline goodness [0,1] 0.6405855628470469 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.11, Z:-0.47 [[ 0.99557797 -0.08755667 -0.03403425 2.0048728 ] [ 0.08792712 0.99608121 0.00954201 -0.10615447] [ 0.03306541 -0.01249235 0.99937511 -0.46680941] [ 0. 0. 0. 1. ]] SLAMing on 75.601346184 meters Centerline goodness [0,1] 0.641379144987652 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.10, Z:-0.47 [[ 0.99554737 -0.08785765 -0.03415358 2.00524552] [ 0.08819249 0.99606785 0.00842163 -0.10251566] [ 0.03327938 -0.01139623 0.99938111 -0.4667453 ] [ 0. 0. 0. 1. ]] SLAMing on 75.631346184 meters Centerline goodness [0,1] 0.6376501167240258 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.10, Z:-0.47 [[ 0.99554981 -0.08771068 -0.034459 2.00640904] [ 0.08803583 0.99608493 0.00803177 -0.10005015] [ 0.03361962 -0.01102965 0.99937384 -0.46734056] [ 0. 0. 0. 1. ]] SLAMing on 75.661346184 meters Centerline goodness [0,1] 0.636001352526326 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.10, Z:-0.47 [[ 0.99557746 -0.08721831 -0.03490673 2.00832858] [ 0.08754391 0.99612928 0.00790766 -0.09765692] [ 0.03408192 -0.01092856 0.99935929 -0.46848825] [ 0. 0. 0. 1. ]] SLAMing on 75.691346184 meters Centerline goodness [0,1] 0.6454988011334738 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.10, Z:-0.47 [[ 0.99561756 -0.08652428 -0.03548547 2.01082037] [ 0.08685985 0.99618823 0.00802364 -0.09574587] [ 0.03465597 -0.01107074 0.99933798 -0.47001127] [ 0. 0. 0. 1. ]] SLAMing on 75.721346184 meters Centerline goodness [0,1] 0.6572125350567004 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.09, Z:-0.47 [[ 0.995899 -0.08314701 -0.03566177 2.0131537 ] [ 0.083584 0.99644068 0.01094052 -0.09215256] [ 0.03462517 -0.01387641 0.99930403 -0.47324627] [ 0. 0. 0. 1. ]] SLAMing on 75.751346184 meters Centerline goodness [0,1] 0.660586446994214 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.09, Z:-0.47 [[ 0.99589723 -0.08304737 -0.03594207 2.01382637] [ 0.08346057 0.99645939 0.01015024 -0.08846269] [ 0.03497186 -0.01310834 0.99930233 -0.47309239] [ 0. 0. 0. 1. ]] SLAMing on 75.781346184 meters Centerline goodness [0,1] 0.6555164319248826 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.09, Z:-0.47 [[ 0.99587628 -0.08324817 -0.03605787 2.01365879] [ 0.08362223 0.99645697 0.0089902 -0.08523931] [ 0.0351817 -0.01196836 0.99930926 -0.47201562] [ 0. 0. 0. 1. ]] SLAMing on 75.811346184 meters Centerline goodness [0,1] 0.6591228113379466 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.08, Z:-0.47 [[ 0.99584803 -0.08366976 -0.03586178 2.01252927] [ 0.08400775 0.99643282 0.00802134 -0.08320732] [ 0.03506271 -0.01100071 0.99932457 -0.47081085] [ 0. 0. 0. 1. ]] SLAMing on 75.841346184 meters Centerline goodness [0,1] 0.6696125252326326 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.08, Z:-0.47 [[ 0.99578067 -0.08477217 -0.03513608 2.00950161] [ 0.08503305 0.99636009 0.00599563 -0.0792078 ] [ 0.03449993 -0.00895806 0.99936455 -0.46827008] [ 0. 0. 0. 1. ]] SLAMing on 75.87134618399999 meters Centerline goodness [0,1] 0.6818505338078291 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.08, Z:-0.47 [[ 0.99575274 -0.08502438 -0.03531765 2.00937824] [ 0.08524797 0.99634786 0.0048711 -0.07609492] [ 0.03477451 -0.00786117 0.99936427 -0.46710772] [ 0. 0. 0. 1. ]] SLAMing on 75.90134618399999 meters Centerline goodness [0,1] 0.6902078327429464 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.47 [[ 0.99599642 -0.08235109 -0.0347769 2.00604393] [ 0.08265183 0.99655176 0.00729793 -0.07230095] [ 0.03405599 -0.01014308 0.99936845 -0.46562548] [ 0. 0. 0. 1. ]] SLAMing on 75.93134618399999 meters Centerline goodness [0,1] 0.6948530323700856 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.47 [[ 0.99598645 -0.08246754 -0.03478632 2.00616349] [ 0.08275039 0.99654732 0.00676893 -0.07052174] [ 0.034108 -0.00962034 0.99937185 -0.46562259] [ 0. 0. 0. 1. ]] SLAMing on 75.96134618399999 meters Centerline goodness [0,1] 0.648880383726421 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.47 [[ 0.99600212 -0.08222084 -0.03492141 2.00721041] [ 0.08250754 0.99656692 0.00684709 -0.06998522] [ 0.03423855 -0.009701 0.99936661 -0.46657826] [ 0. 0. 0. 1. ]] SLAMing on 75.991346184 meters Centerline goodness [0,1] 0.6686857653542525 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.47 [[ 0.99601516 -0.0819925 -0.03508602 2.00847681] [ 0.08228286 0.99658506 0.00691079 -0.06931475] [ 0.03439957 -0.00977023 0.9993604 -0.46775642] [ 0. 0. 0. 1. ]] SLAMing on 76.021346184 meters Centerline goodness [0,1] 0.6676969092721834 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.07, Z:-0.47 [[ 0.99603667 -0.08168545 -0.03519161 2.00976408] [ 0.08196759 0.99661282 0.0066482 -0.06591892] [ 0.03452935 -0.00950642 0.99935847 -0.46912784] [ 0. 0. 0. 1. ]] SLAMing on 76.051346184 meters Centerline goodness [0,1] 0.6754712270627887 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.99602942 -0.08165403 -0.03546848 2.01064145] [ 0.08192404 0.99661914 0.00622493 -0.0634902 ] [ 0.03484028 -0.00910594 0.99935141 -0.46939183] [ 0. 0. 0. 1. ]] SLAMing on 76.081346184 meters Centerline goodness [0,1] 0.69658783445235 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.99601776 -0.08176922 -0.0355304 2.01116512] [ 0.08202668 0.99661298 0.00584745 -0.06108591] [ 0.03493191 -0.00873861 0.99935149 -0.46997409] [ 0. 0. 0. 1. ]] SLAMing on 76.111346184 meters Centerline goodness [0,1] 0.6897036664992466 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.9960051 -0.08187916 -0.03563213 2.01153055] [ 0.0821262 0.99660663 0.00552306 -0.05970408] [ 0.03505899 -0.00842732 0.99934971 -0.47013145] [ 0. 0. 0. 1. ]] SLAMing on 76.141346184 meters Centerline goodness [0,1] 0.6820708912983321 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.9959396 -0.08290086 -0.03509652 2.00973955] [ 0.08311505 0.99652894 0.00468618 -0.05817112] [ 0.03458621 -0.00758421 0.99937294 -0.4696147 ] [ 0. 0. 0. 1. ]] SLAMing on 76.171346184 meters Centerline goodness [0,1] 0.6527875616383214 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.99589679 -0.0835245 -0.03483175 2.0085944 ] [ 0.08371588 0.99648135 0.00407029 -0.05715344] [ 0.03436922 -0.00696956 0.9993849 -0.4689335 ] [ 0. 0. 0. 1. ]] SLAMing on 76.201346184 meters Centerline goodness [0,1] 0.6709794346414277 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.06, Z:-0.47 [[ 0.99583737 -0.08443394 -0.03433434 2.00667438] [ 0.08459022 0.99641093 0.00312221 -0.05541367] [ 0.0339475 -0.00601357 0.99940553 -0.4679134 ] [ 0. 0. 0. 1. ]] SLAMing on 76.231346184 meters Centerline goodness [0,1] 0.6728222205403769 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:-0.46 [[ 9.95706879e-01 -8.62416777e-02 -3.36182259e-02 2.00297061e+00] [ 8.63089504e-02 9.96268267e-01 5.52341626e-04 -5.08225575e-02] [ 3.34451368e-02 -3.45152414e-03 9.99434595e-01 -4.64608401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26134618399999 meters Centerline goodness [0,1] 0.6569093761068664 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:-0.46 [[ 9.95673297e-01 -8.66721755e-02 -3.35055285e-02 2.00239957e+00] [ 8.67120967e-02 9.96233378e-01 -2.62493912e-04 -4.83694226e-02] [ 3.34020768e-02 -2.64397645e-03 9.99438498e-01 -4.64107995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29134618399999 meters Centerline goodness [0,1] 0.6695782444201813 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.05, Z:-0.46 [[ 9.95664531e-01 -8.67407973e-02 -3.35883157e-02 2.00303297e+00] [ 8.67671496e-02 9.96228391e-01 -6.74982684e-04 -4.61196840e-02] [ 3.35201822e-02 -2.24230610e-03 9.99435525e-01 -4.64684208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32134618399999 meters Centerline goodness [0,1] 0.6770278195680445 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:-0.47 [[ 9.95692388e-01 -8.62802899e-02 -3.39467204e-02 2.00540742e+00] [ 8.63065563e-02 9.96268386e-01 -6.93558564e-04 -4.34662269e-02] [ 3.38798848e-02 -2.23925355e-03 9.99423403e-01 -4.66779615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.351346184 meters Centerline goodness [0,1] 0.6714834507848475 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:-0.47 [[ 9.95684030e-01 -8.64321909e-02 -3.38051530e-02 2.00547003e+00] [ 8.64519906e-02 9.96255631e-01 -8.78282521e-04 -4.21523125e-02] [ 3.37544859e-02 -2.04803089e-03 9.99428057e-01 -4.67397460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.381346184 meters Centerline goodness [0,1] 0.6751774498289332 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:-0.47 [[ 9.95650373e-01 -8.68977874e-02 -3.36022147e-02 2.00469506e+00] [ 8.68958870e-02 9.96216239e-01 -1.51967996e-03 -4.04187073e-02] [ 3.36071288e-02 -1.40682434e-03 9.99434131e-01 -4.66948842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.411346184 meters Centerline goodness [0,1] 0.6670843348846724 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.04, Z:-0.47 [[ 9.95624359e-01 -8.72357046e-02 -3.34972754e-02 2.00472238e+00] [ 8.72160596e-02 9.96187310e-01 -2.04997390e-03 -3.67253459e-02] [ 3.35483916e-02 -8.80496417e-04 9.99436706e-01 -4.67603092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.441346184 meters Centerline goodness [0,1] 0.6748772272645462 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.04, Z:-0.47 [[ 9.95620464e-01 -8.72526112e-02 -3.35689388e-02 2.00518693e+00] [ 8.72261262e-02 9.96185985e-01 -2.25542436e-03 -3.51200596e-02] [ 3.36376980e-02 -6.82541844e-04 9.99433859e-01 -4.68047228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.471346184 meters Centerline goodness [0,1] 0.6783840773503395 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.47 [[ 9.95621078e-01 -8.72144429e-02 -3.36498241e-02 2.00576820e+00] [ 8.71841883e-02 9.96189394e-01 -2.36814144e-03 -3.40655620e-02] [ 3.37281340e-02 -5.75961069e-04 9.99430879e-01 -4.68569652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.501346184 meters Centerline goodness [0,1] 0.6712035676539582 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.47 [[ 9.95589827e-01 -8.76894386e-02 -3.33385560e-02 2.00502340e+00] [ 8.76400876e-02 9.96147862e-01 -2.94155148e-03 -3.23247900e-02] [ 3.34680742e-02 6.78475773e-06 9.99439787e-01 -4.68553729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.531346184 meters Centerline goodness [0,1] 0.653998865570051 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 9.95561408e-01 -8.80893101e-02 -3.31323947e-02 2.00430416e+00] [ 8.80302918e-02 9.96112533e-01 -3.23866195e-03 -3.15085137e-02] [ 3.32888851e-02 3.07632485e-04 9.99445724e-01 -4.68367921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.561346184 meters Centerline goodness [0,1] 0.6661329063250601 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 9.95526910e-01 -8.85396389e-02 -3.29682309e-02 2.00370520e+00] [ 8.84682663e-02 9.96072417e-01 -3.62022127e-03 -3.05742127e-02] [ 3.31592785e-02 6.87385461e-04 9.99449844e-01 -4.68175748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.591346184 meters Centerline goodness [0,1] 0.6602889395194698 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 9.95453019e-01 -8.94372938e-02 -3.27758687e-02 2.00279670e+00] [ 8.93419971e-02 9.95991449e-01 -4.36354944e-03 -2.80217266e-02] [ 3.30347491e-02 1.41544689e-03 9.99453201e-01 -4.68007510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62134618399999 meters Centerline goodness [0,1] 0.6583538561244329 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 9.95430384e-01 -8.96806582e-02 -3.27983280e-02 2.00292980e+00] [ 8.95740868e-02 9.95969038e-01 -4.70729107e-03 -2.63440117e-02] [ 3.30882721e-02 1.74790028e-03 9.99450905e-01 -4.68234183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65134618399999 meters Centerline goodness [0,1] 0.6590141796083727 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 0.99541484 -0.08983783 -0.03283982 2.0030135 ] [ 0.08971927 0.99595419 -0.00506888 -0.02505143] [ 0.03316234 0.00209927 0.99944777 -0.46818802] [ 0. 0. 0. 1. ]] SLAMing on 76.68134618399999 meters Centerline goodness [0,1] 0.6484194093924809 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99542478 -0.08972567 -0.03284541 2.00338267] [ 0.08960371 0.99596408 -0.00516956 -0.02459055] [ 0.03317669 0.00220284 0.99944707 -0.46851605] [ 0. 0. 0. 1. ]] SLAMing on 76.71134618399999 meters Centerline goodness [0,1] 0.660974083537571 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.9954921 -0.08895713 -0.0328955 2.00479267] [ 0.08883275 0.99603285 -0.00522627 -0.02277167] [ 0.03322991 0.00228051 0.99944513 -0.46954618] [ 0. 0. 0. 1. ]] SLAMing on 76.741346184 meters Centerline goodness [0,1] 0.6629257573379375 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 9.95825002e-01 -8.52027183e-02 -3.27576222e-02 2.00393543e+00] [ 8.52135394e-02 9.96362139e-01 -1.06813577e-03 -2.25897029e-02] [ 3.27294626e-02 -1.72771662e-03 9.99462754e-01 -4.70441245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.771346184 meters Centerline goodness [0,1] 0.6781003330448693 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.9961289 -0.08161346 -0.03265681 2.00271059] [ 0.08174672 0.9966493 0.00276419 -0.02170985] [ 0.0323218 -0.00542308 0.9994628 -0.47058398] [ 0. 0. 0. 1. ]] SLAMing on 76.801346184 meters Centerline goodness [0,1] 0.6773683794674603 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.9964016 -0.07827452 -0.03251076 2.00123961] [ 0.07852544 0.99689084 0.00651244 -0.02086114] [ 0.03189992 -0.00904193 0.99945017 -0.4707386 ] [ 0. 0. 0. 1. ]] SLAMing on 76.831346184 meters Centerline goodness [0,1] 0.6625134715979286 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99641161 -0.07814042 -0.03252659 2.00176528] [ 0.07840504 0.99689744 0.00693897 -0.02256372] [ 0.03188346 -0.00946432 0.99944678 -0.47146592] [ 0. 0. 0. 1. ]] SLAMing on 76.861346184 meters Centerline goodness [0,1] 0.6605400857195446 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99641719 -0.07810132 -0.03244935 2.00206138] [ 0.07838058 0.99689587 0.00742315 -0.02499077] [ 0.03176887 -0.00993995 0.99944581 -0.47216417] [ 0. 0. 0. 1. ]] SLAMing on 76.891346184 meters Centerline goodness [0,1] 0.6551678977421551 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 0.99640783 -0.07821733 -0.03245746 2.00214472] [ 0.07849783 0.99688639 0.00745769 -0.02593905] [ 0.03177308 -0.00997874 0.99944529 -0.47222737] [ 0. 0. 0. 1. ]] SLAMing on 76.921346184 meters Centerline goodness [0,1] 0.6505607378681479 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99636322 -0.07876843 -0.03249411 2.00140181] [ 0.0790027 0.99685642 0.00598784 -0.02219236] [ 0.03192031 -0.00853318 0.99945399 -0.47050018] [ 0. 0. 0. 1. ]] SLAMing on 76.951346184 meters Centerline goodness [0,1] 0.6505607378681479 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99636322 -0.07876843 -0.03249411 2.00140181] [ 0.0790027 0.99685642 0.00598784 -0.02219236] [ 0.03192031 -0.00853318 0.99945399 -0.47050018] [ 0. 0. 0. 1. ]] SLAMing on 76.981346184 meters Centerline goodness [0,1] 0.6814208080648972 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99636117 -0.07867463 -0.03278287 2.00202715] [ 0.07889926 0.99686679 0.00561351 -0.02082159] [ 0.03223852 -0.00817963 0.99944673 -0.47017709] [ 0. 0. 0. 1. ]] SLAMing on 77.01134618399999 meters Centerline goodness [0,1] 0.6819210526315789 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99637885 -0.0783309 -0.03306741 2.00324362] [ 0.07856121 0.99689287 0.00572212 -0.02069729] [ 0.03251644 -0.00829922 0.99943674 -0.47075735] [ 0. 0. 0. 1. ]] SLAMing on 77.04134618399999 meters Centerline goodness [0,1] 0.658220171390903 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99639378 -0.07803555 -0.03331485 2.00427267] [ 0.07827383 0.9969144 0.00590715 -0.0210748 ] [ 0.03275108 -0.00849352 0.99942745 -0.47128778] [ 0. 0. 0. 1. ]] SLAMing on 77.07134618399999 meters Centerline goodness [0,1] 0.6551235636707067 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99638175 -0.07815069 -0.03340479 2.00421892] [ 0.07836895 0.99691048 0.00527324 -0.02018915] [ 0.03288948 -0.00787206 0.99942799 -0.47040999] [ 0. 0. 0. 1. ]] SLAMing on 77.101346184 meters Centerline goodness [0,1] 0.6531567050412659 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99637476 -0.07830528 -0.03325087 2.00382157] [ 0.07851631 0.99689985 0.00508691 -0.01989648] [ 0.03274945 -0.0076792 0.99943409 -0.47030103] [ 0. 0. 0. 1. ]] SLAMing on 77.131346184 meters Centerline goodness [0,1] 0.6818814507445439 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99637438 -0.07830533 -0.03326214 2.0040829 ] [ 0.07851958 0.9968991 0.00518256 -0.0203933 ] [ 0.03275318 -0.0077755 0.99943322 -0.4706109 ] [ 0. 0. 0. 1. ]] SLAMing on 77.161346184 meters Centerline goodness [0,1] 0.6689040377556371 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 0.99640964 -0.07784494 -0.03328656 2.00532803] [ 0.07808816 0.99692799 0.00606851 -0.02209647] [ 0.0327119 -0.00864601 0.99942743 -0.47237595] [ 0. 0. 0. 1. ]] SLAMing on 77.191346184 meters Centerline goodness [0,1] 0.6898935471152583 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 0.99640389 -0.07794456 -0.03322552 2.00503298] [ 0.07818134 0.99692178 0.00588595 -0.02156318] [ 0.03266447 -0.00846239 0.99943055 -0.47208351] [ 0. 0. 0. 1. ]] SLAMing on 77.221346184 meters Centerline goodness [0,1] 0.6834811820901789 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99636981 -0.07840761 -0.03315778 2.00415673] [ 0.07862202 0.99689088 0.0052106 -0.0198541 ] [ 0.03264613 -0.00779861 0.99943655 -0.47104749] [ 0. 0. 0. 1. ]] SLAMing on 77.251346184 meters Centerline goodness [0,1] 0.6911923087026189 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99631019 -0.07926869 -0.032901 2.00207732] [ 0.07944918 0.99683001 0.00421332 -0.01843801] [ 0.03246272 -0.00681173 0.99944973 -0.46889937] [ 0. 0. 0. 1. ]] SLAMing on 77.281346184 meters Centerline goodness [0,1] 0.6886723252645919 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99628565 -0.07967235 -0.0326684 2.00116668] [ 0.07984949 0.99679828 0.00415194 -0.02037296] [ 0.03223301 -0.00674507 0.99945762 -0.46839006] [ 0. 0. 0. 1. ]] SLAMing on 77.311346184 meters Centerline goodness [0,1] 0.6830671093566181 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.02, Z:-0.47 [[ 0.99626018 -0.08012691 -0.0323317 2.00016994] [ 0.08030419 0.99676147 0.00422044 -0.02314646] [ 0.03188883 -0.00680103 0.99946828 -0.46812672] [ 0. 0. 0. 1. ]] SLAMing on 77.341346184 meters Centerline goodness [0,1] 0.6781119246861924 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 0.99624885 -0.08035214 -0.03212095 1.99979477] [ 0.08053701 0.99674145 0.00450152 -0.02536799] [ 0.03165458 -0.00707156 0.99947385 -0.46838216] [ 0. 0. 0. 1. ]] SLAMing on 77.37134618399999 meters Centerline goodness [0,1] 0.6772237547493885 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.03, Z:-0.47 [[ 0.99624133 -0.0804031 -0.03222672 2.00040756] [ 0.08059338 0.99673623 0.00464744 -0.02586204] [ 0.03174787 -0.00722723 0.99946978 -0.4689496 ] [ 0. 0. 0. 1. ]] SLAMing on 77.40134618399999 meters Centerline goodness [0,1] 0.6612113435806122 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 0.99634398 -0.07861901 -0.03343243 2.00520805] [ 0.07885914 0.99686817 0.00592353 -0.02349264] [ 0.03286202 -0.00853832 0.99942343 -0.47183615] [ 0. 0. 0. 1. ]] SLAMing on 77.43134618399999 meters Centerline goodness [0,1] 0.660220632549852 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 0.99637169 -0.07807011 -0.03388979 2.00709821] [ 0.07831693 0.99691036 0.00601564 -0.02220862] [ 0.03331544 -0.00864796 0.99940747 -0.47277865] [ 0. 0. 0. 1. ]] SLAMing on 77.46134618399999 meters Centerline goodness [0,1] 0.6810020767067112 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 0.99639895 -0.07763315 -0.03409154 2.0082667 ] [ 0.07788998 0.99694225 0.00626909 -0.0227699 ] [ 0.03350061 -0.0089019 0.99939905 -0.47346955] [ 0. 0. 0. 1. ]] SLAMing on 77.491346184 meters Centerline goodness [0,1] 0.6627779803135254 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.47 [[ 0.99615744 -0.0806327 -0.03418667 2.00992608] [ 0.08076249 0.99673041 0.00243042 -0.02501026] [ 0.03387892 -0.00518208 0.99941251 -0.47282387] [ 0. 0. 0. 1. ]] SLAMing on 77.521346184 meters Centerline goodness [0,1] 0.6697831450460979 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.03, Z:-0.47 [[ 9.96112438e-01 -8.13176652e-02 -3.38740078e-02 2.00813061e+00] [ 8.14278080e-02 9.96677465e-01 1.88250357e-03 -2.51153588e-02] [ 3.36083795e-02 -4.63347142e-03 9.99424338e-01 -4.71399024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.551346184 meters Centerline goodness [0,1] 0.666083733556066 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.02, Z:-0.47 [[ 9.96045865e-01 -8.22138064e-02 -3.36678584e-02 2.00610376e+00] [ 8.22850994e-02 9.96608560e-01 7.35116363e-04 -2.25689376e-02] [ 3.34932392e-02 -3.50257269e-03 9.99432807e-01 -4.69281606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.581346184 meters Centerline goodness [0,1] 0.6668674067867617 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99620197 -0.08222947 -0.02863463 2.01721844] [ 0.0825681 0.99652637 0.01084942 -0.02174438] [ 0.02764302 -0.01317252 0.99953106 -0.46979097] [ 0. 0. 0. 1. ]] SLAMing on 77.611346184 meters Centerline goodness [0,1] 0.6619452807959156 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99619215 -0.08234824 -0.02863515 2.01678459] [ 0.0826765 0.99652141 0.01047288 -0.02198872] [ 0.02767312 -0.01280045 0.99953507 -0.46884858] [ 0. 0. 0. 1. ]] SLAMing on 77.641346184 meters Centerline goodness [0,1] 0.6627776472737713 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99622628 -0.08193798 -0.02862474 2.01752224] [ 0.08227981 0.99654885 0.01097332 -0.02498824] [ 0.02762682 -0.01328715 0.99952999 -0.46947676] [ 0. 0. 0. 1. ]] SLAMing on 77.671346184 meters Centerline goodness [0,1] 0.670768190213574 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99598508 -0.08464327 -0.02914157 2.02099411] [ 0.08489386 0.996362 0.00746977 -0.02578528] [ 0.02840328 -0.00991372 0.99954738 -0.47049683] [ 0. 0. 0. 1. ]] SLAMing on 77.701346184 meters Centerline goodness [0,1] 0.6620153028141615 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99578857 -0.08670167 -0.02979839 2.02630185] [ 0.08688454 0.99620636 0.00489548 -0.02583637] [ 0.0292609 -0.00746389 0.99954394 -0.4739323 ] [ 0. 0. 0. 1. ]] SLAMing on 77.731346184 meters Centerline goodness [0,1] 0.659592176446109 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99578648 -0.08664687 -0.03002676 2.0272024 ] [ 0.08683788 0.99620933 0.00511443 -0.02574012] [ 0.02946979 -0.00770034 0.99953601 -0.47465031] [ 0. 0. 0. 1. ]] SLAMing on 77.76134618399999 meters Centerline goodness [0,1] 0.6606139438085328 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.48 [[ 0.99579154 -0.08649743 -0.03028868 2.0280681 ] [ 0.08669965 0.99621972 0.00542562 -0.02610764] [ 0.02970488 -0.00802881 0.99952647 -0.4751398 ] [ 0. 0. 0. 1. ]] SLAMing on 77.79134618399999 meters Centerline goodness [0,1] 0.6706840899625156 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99582676 -0.08591095 -0.0307956 2.02914927] [ 0.08612194 0.99626893 0.00558922 -0.02625272] [ 0.03020052 -0.00821807 0.99951008 -0.47458851] [ 0. 0. 0. 1. ]] SLAMing on 77.82134618399999 meters Centerline goodness [0,1] 0.668720870015536 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99583453 -0.0856417 -0.03129046 2.02981984] [ 0.08584222 0.99629559 0.00511967 -0.02524682] [ 0.03073609 -0.00778438 0.99949722 -0.47332672] [ 0. 0. 0. 1. ]] SLAMing on 77.851346184 meters Centerline goodness [0,1] 0.6714077695147953 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99582632 -0.08571841 -0.03134145 2.0294033 ] [ 0.08589803 0.99629409 0.00442776 -0.0234307 ] [ 0.03084576 -0.00710145 0.99949893 -0.47213411] [ 0. 0. 0. 1. ]] SLAMing on 77.881346184 meters Centerline goodness [0,1] 0.6972288120128263 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99580526 -0.08599451 -0.03125434 2.02849956] [ 0.08615371 0.99627468 0.00378079 -0.02217827] [ 0.03081278 -0.00645761 0.99950431 -0.47090349] [ 0. 0. 0. 1. ]] SLAMing on 77.911346184 meters Centerline goodness [0,1] 0.6531374889707791 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99582787 -0.08578113 -0.0311198 2.02889171] [ 0.08595053 0.99629078 0.00414485 -0.02420491] [ 0.03064882 -0.00680232 0.99950707 -0.47166709] [ 0. 0. 0. 1. ]] SLAMing on 77.941346184 meters Centerline goodness [0,1] 0.693572186699112 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99585513 -0.08539685 -0.03130412 2.03030033] [ 0.0855881 0.99631895 0.00481895 -0.02627634] [ 0.03077736 -0.00747824 0.99949829 -0.473022 ] [ 0. 0. 0. 1. ]] SLAMing on 77.971346184 meters Centerline goodness [0,1] 0.6783480642993746 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99585331 -0.08537731 -0.031415 2.0308539 ] [ 0.08557354 0.99631954 0.00495336 -0.02684912] [ 0.03087647 -0.00762111 0.99949415 -0.47348025] [ 0. 0. 0. 1. ]] SLAMing on 78.001346184 meters Centerline goodness [0,1] 0.6976846576193929 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99576829 -0.08644489 -0.03118969 2.02872478] [ 0.08660261 0.99623592 0.00373934 -0.02454582] [ 0.03074904 -0.00642462 0.99950649 -0.47137524] [ 0. 0. 0. 1. ]] SLAMing on 78.031346184 meters Centerline goodness [0,1] 0.6828602620087336 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99571054 -0.08720136 -0.03092649 2.02718158] [ 0.08733908 0.99617373 0.00312809 -0.02394916] [ 0.03053538 -0.00581577 0.99951677 -0.47022613] [ 0. 0. 0. 1. ]] SLAMing on 78.061346184 meters Centerline goodness [0,1] 0.6896354909845634 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.9956924 -0.08744216 -0.0308304 2.02696939] [ 0.08758208 0.99615212 0.00321507 -0.02507582] [ 0.03043063 -0.00590141 0.99951946 -0.47037969] [ 0. 0. 0. 1. ]] SLAMing on 78.091346184 meters Centerline goodness [0,1] 0.6703679793415107 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 9.95392313e-01 -9.08395364e-02 -3.06972603e-02 2.02852805e+00] [ 9.08708181e-02 9.95862617e-01 -3.77383518e-04 -2.62565247e-02] [ 3.06045354e-02 -2.41384051e-03 9.99528657e-01 -4.71180273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12134618399999 meters Centerline goodness [0,1] 0.6845879985552861 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 9.95365352e-01 -9.12317553e-02 -3.04069552e-02 2.02761890e+00] [ 9.12532751e-02 9.95827482e-01 -6.82110521e-04 -2.61179965e-02] [ 3.03423118e-02 -2.09578507e-03 9.99537369e-01 -4.70854505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15134618399999 meters Centerline goodness [0,1] 0.6830627887171281 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 9.95333210e-01 -9.15923573e-02 -3.03749998e-02 2.02687181e+00] [ 9.15885842e-02 9.95795775e-01 -1.51845104e-03 -2.38119571e-02] [ 3.03863750e-02 -1.27063847e-03 9.99537420e-01 -4.69665486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18134618399999 meters Centerline goodness [0,1] 0.6891144629922895 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 9.95603485e-01 -8.87201922e-02 -3.00404272e-02 2.02406182e+00] [ 8.88112460e-02 9.96047010e-01 1.70782773e-03 -2.21779155e-02] [ 2.97701589e-02 -4.36824701e-03 9.99547226e-01 -4.68643168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21134618399999 meters Centerline goodness [0,1] 0.6841341419167574 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 9.95607755e-01 -8.85996922e-02 -3.02538091e-02 2.02462674e+00] [ 8.86917380e-02 9.96057652e-01 1.71154746e-03 -2.24783200e-02] [ 2.99828954e-02 -4.38729283e-03 9.99540783e-01 -4.68622725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.241346184 meters Centerline goodness [0,1] 0.6826236104304764 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99561751 -0.08852364 -0.03015526 2.02483982] [ 0.08862496 0.99606298 0.00203746 -0.02409449] [ 0.02985617 -0.00470104 0.99954315 -0.46912091] [ 0. 0. 0. 1. ]] SLAMing on 78.271346184 meters Centerline goodness [0,1] 0.6783296001647743 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 9.95520842e-01 -8.97477805e-02 -2.97252421e-02 2.02270564e+00] [ 8.98346557e-02 9.95955412e-01 1.59744131e-03 -2.57770735e-02] [ 2.94616490e-02 -4.26064301e-03 9.99556831e-01 -4.68052176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.301346184 meters Centerline goodness [0,1] 0.6612258580232588 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 9.95484746e-01 -9.01681764e-02 -2.96617819e-02 2.02216054e+00] [ 9.02473410e-02 9.95918484e-01 1.33834541e-03 -2.57860023e-02] [ 2.94200407e-02 -4.00919939e-03 9.99559097e-01 -4.67608449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.331346184 meters Centerline goodness [0,1] 0.6588119783996073 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 9.95488307e-01 -9.00816117e-02 -2.98049237e-02 2.02296833e+00] [ 9.01714167e-02 9.95924843e-01 1.68012349e-03 -2.63941543e-02] [ 2.95321157e-02 -4.36009549e-03 9.99554323e-01 -4.68473335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.361346184 meters Centerline goodness [0,1] 0.6556881587104774 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99552873 -0.08951029 -0.03017368 2.02515367] [ 0.08962724 0.99597213 0.00254317 -0.0278495 ] [ 0.0298245 -0.00523618 0.99954144 -0.4704682 ] [ 0. 0. 0. 1. ]] SLAMing on 78.391346184 meters Centerline goodness [0,1] 0.6528902254093094 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99557705 -0.08887411 -0.03045854 2.02771044] [ 0.08902578 0.99602261 0.00365755 -0.03017344] [ 0.03001233 -0.00635297 0.99952934 -0.47325237] [ 0. 0. 0. 1. ]] SLAMing on 78.421346184 meters Centerline goodness [0,1] 0.643099373137396 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99556912 -0.08896038 -0.03046602 2.02757099] [ 0.08911023 0.99601529 0.0035941 -0.03061629] [ 0.03002489 -0.00629301 0.99952934 -0.47293241] [ 0. 0. 0. 1. ]] SLAMing on 78.451346184 meters Centerline goodness [0,1] 0.6445424702503078 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.9955388 -0.08945834 -0.0299952 2.0256333 ] [ 0.08959736 0.99597253 0.00332052 -0.03204146] [ 0.02957735 -0.00599319 0.99954453 -0.47153231] [ 0. 0. 0. 1. ]] SLAMing on 78.481346184 meters Centerline goodness [0,1] 0.6435380408392752 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99553552 -0.08952947 -0.02989136 2.02506227] [ 0.08966588 0.99596659 0.00325205 -0.03309325] [ 0.02947964 -0.00591776 0.99954786 -0.47078581] [ 0. 0. 0. 1. ]] SLAMing on 78.51134618399999 meters Centerline goodness [0,1] 0.6471730410566925 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99553662 -0.08949886 -0.02994663 2.02478705] [ 0.08963193 0.99597005 0.00312826 -0.03369207] [ 0.02954597 -0.00579847 0.9995466 -0.46993044] [ 0. 0. 0. 1. ]] SLAMing on 78.54134618399999 meters Centerline goodness [0,1] 0.6668620355741297 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99553363 -0.08946369 -0.03015036 2.02469464] [ 0.08958693 0.99597518 0.00275925 -0.03326934] [ 0.02978216 -0.00544801 0.99954157 -0.46876638] [ 0. 0. 0. 1. ]] SLAMing on 78.57134618399999 meters Centerline goodness [0,1] 0.6683717837229526 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99584997 -0.08584541 -0.03022254 2.02361671] [ 0.08609034 0.99626347 0.00689623 -0.03484364] [ 0.02951761 -0.00946948 0.9995194 -0.46854264] [ 0. 0. 0. 1. ]] SLAMing on 78.601346184 meters Centerline goodness [0,1] 0.6877341544778035 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.04, Z:-0.47 [[ 0.99619292 -0.081564 -0.03077317 2.02433219] [ 0.08194378 0.99657304 0.01128677 -0.03531332] [ 0.02974712 -0.01376547 0.99946267 -0.46914643] [ 0. 0. 0. 1. ]] SLAMing on 78.631346184 meters Centerline goodness [0,1] 0.6472671285604311 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99622237 -0.0810349 -0.03121447 2.02602305] [ 0.08143049 0.99661133 0.01161583 -0.03622483] [ 0.03016741 -0.01411376 0.99944521 -0.46980799] [ 0. 0. 0. 1. ]] SLAMing on 78.661346184 meters Centerline goodness [0,1] 0.6764893807345311 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99626371 -0.08044719 -0.03141435 2.02756685] [ 0.08086596 0.99664917 0.01229365 -0.03912417] [ 0.03032009 -0.01478807 0.99943084 -0.4709012 ] [ 0. 0. 0. 1. ]] SLAMing on 78.691346184 meters Centerline goodness [0,1] 0.6688728235413909 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99629121 -0.08015537 -0.03128792 2.02810979] [ 0.08058762 0.99666526 0.01280593 -0.04204396] [ 0.03015712 -0.01527985 0.99942837 -0.47171684] [ 0. 0. 0. 1. ]] SLAMing on 78.721346184 meters Centerline goodness [0,1] 0.7072939609691133 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99627354 -0.08034306 -0.03136915 2.02762072] [ 0.08074718 0.99666436 0.01183394 -0.03908938] [ 0.03031373 -0.01432282 0.99943781 -0.470354 ] [ 0. 0. 0. 1. ]] SLAMing on 78.751346184 meters Centerline goodness [0,1] 0.7089943015555213 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99624092 -0.08055875 -0.03184826 2.02757951] [ 0.08091673 0.99666955 0.01011376 -0.0344044 ] [ 0.03092744 -0.01265279 0.99944154 -0.46782928] [ 0. 0. 0. 1. ]] SLAMing on 78.781346184 meters Centerline goodness [0,1] 0.713120448755886 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99626786 -0.08014856 -0.03203987 2.02775859] [ 0.08048679 0.99671128 0.00940784 -0.03160481] [ 0.03118047 -0.01195151 0.99944231 -0.46662813] [ 0. 0. 0. 1. ]] SLAMing on 78.811346184 meters Centerline goodness [0,1] 0.694568969959293 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99629387 -0.07980876 -0.0320794 2.02853158] [ 0.08016499 0.9967317 0.00997424 -0.03427808] [ 0.03117852 -0.01250892 0.99943555 -0.46735821] [ 0. 0. 0. 1. ]] SLAMing on 78.841346184 meters Centerline goodness [0,1] 0.7064471528062269 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99604217 -0.08270389 -0.03255855 2.03161612] [ 0.08296124 0.99653071 0.00663213 -0.03578163] [ 0.03189709 -0.00930697 0.99944783 -0.46825672] [ 0. 0. 0. 1. ]] SLAMing on 78.87134618399999 meters Centerline goodness [0,1] 0.7064471528062269 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99604217 -0.08270389 -0.03255855 2.03161612] [ 0.08296124 0.99653071 0.00663213 -0.03578163] [ 0.03189709 -0.00930697 0.99944783 -0.46825672] [ 0. 0. 0. 1. ]] SLAMing on 78.90134618399999 meters Centerline goodness [0,1] 0.6980877103518612 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99605459 -0.08256192 -0.03253906 2.032336 ] [ 0.08284595 0.99653431 0.00747723 -0.03920952] [ 0.03180896 -0.01014346 0.99944249 -0.46945771] [ 0. 0. 0. 1. ]] SLAMing on 78.93134618399999 meters Centerline goodness [0,1] 0.7136150234741784 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.9960239 -0.08297933 -0.03241626 2.0318089 ] [ 0.08326536 0.99649863 0.00757307 -0.04038163] [ 0.03167435 -0.01024211 0.99944576 -0.46932204] [ 0. 0. 0. 1. ]] SLAMing on 78.96134618399999 meters Centerline goodness [0,1] 0.6658244002041858 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.47 [[ 0.99595469 -0.08555244 -0.02747781 2.04211346] [ 0.08601912 0.99616055 0.01627456 -0.04066099] [ 0.02597998 -0.01857234 0.99948992 -0.47007272] [ 0. 0. 0. 1. ]] SLAMing on 78.991346184 meters Centerline goodness [0,1] 0.6903493494519004 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.47 [[ 0.99590252 -0.08624706 -0.02719575 2.04050313] [ 0.0866933 0.99611168 0.01567798 -0.04076736] [ 0.02573782 -0.01797143 0.99950717 -0.46864057] [ 0. 0. 0. 1. ]] SLAMing on 79.021346184 meters Centerline goodness [0,1] 0.651808178098554 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.47 [[ 0.9955895 -0.08965307 -0.0276383 2.04240748] [ 0.08999361 0.99587788 0.01133121 -0.04112981] [ 0.0265085 -0.0137685 0.99955376 -0.46758082] [ 0. 0. 0. 1. ]] SLAMing on 79.051346184 meters Centerline goodness [0,1] 0.6910441726473264 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99593874 -0.08780676 -0.0198999 2.03596351] [ 0.08792298 0.99611452 0.00504114 -0.04763352] [ 0.01937993 -0.00677032 0.99978927 -0.47486626] [ 0. 0. 0. 1. ]] SLAMing on 79.081346184 meters Centerline goodness [0,1] 0.6846111195120722 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.48 [[ 0.99596196 -0.08747387 -0.02020141 2.03724071] [ 0.08759918 0.99614115 0.00540213 -0.04809108] [ 0.01965091 -0.00714994 0.99978134 -0.47569874] [ 0. 0. 0. 1. ]] SLAMing on 79.111346184 meters Centerline goodness [0,1] 0.6766436816448183 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.48 [[ 0.99595232 -0.08751836 -0.02048203 2.03762785] [ 0.08763756 0.99613991 0.00499437 -0.04614061] [ 0.01996587 -0.00676914 0.99977775 -0.47525464] [ 0. 0. 0. 1. ]] SLAMing on 79.141346184 meters Centerline goodness [0,1] 0.674908796108634 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99621523 -0.08449049 -0.02041034 2.03477792] [ 0.08466504 0.9963786 0.0078434 -0.04378788] [ 0.01967373 -0.00954176 0.99976092 -0.47269456] [ 0. 0. 0. 1. ]] SLAMing on 79.171346184 meters Centerline goodness [0,1] 0.6843516761543327 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.47 [[ 0.99622526 -0.08433478 -0.02056417 2.03502702] [ 0.08451038 0.99639189 0.00782323 -0.04460071] [ 0.01983021 -0.00953159 0.99975793 -0.4722244 ] [ 0. 0. 0. 1. ]] SLAMing on 79.201346184 meters Centerline goodness [0,1] 0.6927316655760809 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99628109 -0.08365428 -0.02063877 2.03654582] [ 0.08385063 0.99643914 0.00883764 -0.04829735] [ 0.01982597 -0.01053535 0.99974794 -0.47375575] [ 0. 0. 0. 1. ]] SLAMing on 79.231346184 meters Centerline goodness [0,1] 0.6910917380630293 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.48 [[ 0.99633085 -0.08300472 -0.02085797 2.03843131] [ 0.08322389 0.99648202 0.00986784 -0.05198247] [ 0.01996551 -0.01156751 0.99973375 -0.47548559] [ 0. 0. 0. 1. ]] SLAMing on 79.26134618399999 meters Centerline goodness [0,1] 0.6850669670797347 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99628916 -0.08351276 -0.02082131 2.03742779] [ 0.0837158 0.99644833 0.00907668 -0.05048687] [ 0.01998934 -0.01078607 0.99974201 -0.47405122] [ 0. 0. 0. 1. ]] SLAMing on 79.29134618399999 meters Centerline goodness [0,1] 0.69597769012386 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99652542 -0.08068193 -0.02067629 2.03493994] [ 0.08094748 0.99664193 0.01234401 -0.05020164] [ 0.01961092 -0.01397481 0.99971002 -0.4725637 ] [ 0. 0. 0. 1. ]] SLAMing on 79.32134618399999 meters Centerline goodness [0,1] 0.7023761578735401 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99650954 -0.08081019 -0.02093904 2.03500326] [ 0.08106551 0.99664075 0.01164445 -0.04829441] [ 0.01992771 -0.01330124 0.99971294 -0.47146995] [ 0. 0. 0. 1. ]] SLAMing on 79.351346184 meters Centerline goodness [0,1] 0.6877404752923425 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99657967 -0.07980853 -0.02143757 2.03776032] [ 0.08009 0.9967079 0.01260752 -0.05105031] [ 0.02036081 -0.01428133 0.99969069 -0.47327117] [ 0. 0. 0. 1. ]] SLAMing on 79.381346184 meters Centerline goodness [0,1] 0.6883107088989442 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99659155 -0.07966295 -0.02142651 2.03828981] [ 0.07994672 0.99671786 0.01272879 -0.05226427] [ 0.02034218 -0.01439838 0.99968939 -0.47373616] [ 0. 0. 0. 1. ]] SLAMing on 79.411346184 meters Centerline goodness [0,1] 0.6773388458920513 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99657305 -0.07997224 -0.02113272 2.03743259] [ 0.08024305 0.99669953 0.01229188 -0.05188911] [ 0.02007996 -0.01394551 0.99970111 -0.4732515 ] [ 0. 0. 0. 1. ]] SLAMing on 79.441346184 meters Centerline goodness [0,1] 0.6762716996366572 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99651668 -0.08074165 -0.02086375 2.03585437] [ 0.08098549 0.99665327 0.01111793 -0.049838 ] [ 0.01989624 -0.01276887 0.99972051 -0.47157703] [ 0. 0. 0. 1. ]] SLAMing on 79.471346184 meters Centerline goodness [0,1] 0.6730331969076853 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99643206 -0.08191353 -0.02033045 2.0330832 ] [ 0.08212092 0.9965763 0.00958328 -0.04723278] [ 0.01947585 -0.01121865 0.99974738 -0.4691597 ] [ 0. 0. 0. 1. ]] SLAMing on 79.501346184 meters Centerline goodness [0,1] 0.6748594620484509 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99642539 -0.08202717 -0.02019853 2.03309473] [ 0.08223353 0.99656679 0.00960608 -0.04790635] [ 0.01934123 -0.01123274 0.99974984 -0.46948788] [ 0. 0. 0. 1. ]] SLAMing on 79.531346184 meters Centerline goodness [0,1] 0.6903438388208366 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99643579 -0.08191794 -0.02012873 2.03369288] [ 0.08213199 0.99657082 0.01004654 -0.0498486 ] [ 0.01923672 -0.01166395 0.99974692 -0.47043491] [ 0. 0. 0. 1. ]] SLAMing on 79.561346184 meters Centerline goodness [0,1] 0.6883071290654229 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99611505 -0.0857056 -0.02023281 2.03533261] [ 0.08585185 0.99628689 0.0064725 -0.05056685] [ 0.01960296 -0.00818438 0.99977434 -0.47129499] [ 0. 0. 0. 1. ]] SLAMing on 79.591346184 meters Centerline goodness [0,1] 0.6775579963304597 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99607942 -0.08616115 -0.02005124 2.03482621] [ 0.08630811 0.99624676 0.00658114 -0.05143389] [ 0.01940894 -0.00828592 0.99977729 -0.47146701] [ 0. 0. 0. 1. ]] SLAMing on 79.62134618399999 meters Centerline goodness [0,1] 0.6606726356180874 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99604576 -0.08660299 -0.01981841 2.03444586] [ 0.08675025 0.9962076 0.0066938 -0.05230641] [ 0.01916355 -0.00838658 0.99978119 -0.47192049] [ 0. 0. 0. 1. ]] SLAMing on 79.65134618399999 meters Centerline goodness [0,1] 0.6423673673673673 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99601128 -0.08703202 -0.01967138 2.03403392] [ 0.08717956 0.99616961 0.00676959 -0.0536155 ] [ 0.01900686 -0.00845753 0.99978358 -0.47198147] [ 0. 0. 0. 1. ]] SLAMing on 79.68134618399999 meters Centerline goodness [0,1] 0.6338904294386569 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99591617 -0.08824621 -0.01906803 2.03198487] [ 0.08838249 0.99606589 0.00642464 -0.05542178] [ 0.01842607 -0.00808368 0.99979755 -0.47143172] [ 0. 0. 0. 1. ]] SLAMing on 79.71134618399999 meters Centerline goodness [0,1] 0.6525537969943582 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99589283 -0.08856797 -0.01879308 2.03120526] [ 0.08870046 0.99603819 0.006336 -0.05670436] [ 0.01815746 -0.00797693 0.99980332 -0.47113322] [ 0. 0. 0. 1. ]] SLAMing on 79.741346184 meters Centerline goodness [0,1] 0.6647155524559132 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99588047 -0.08876309 -0.0185255 2.03086755] [ 0.08889503 0.99602029 0.00642301 -0.05843453] [ 0.01788165 -0.00804337 0.99980776 -0.47135692] [ 0. 0. 0. 1. ]] SLAMing on 79.771346184 meters Centerline goodness [0,1] 0.6199661506296978 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99586159 -0.08899236 -0.01844064 2.03065576] [ 0.08911969 0.99600162 0.00620047 -0.0586003 ] [ 0.01781511 -0.00781823 0.99981073 -0.47119242] [ 0. 0. 0. 1. ]] SLAMing on 79.801346184 meters Centerline goodness [0,1] 0.6211516391397636 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99586266 -0.08890495 -0.01880086 2.03127626] [ 0.08902755 0.99601236 0.00578593 -0.05637118] [ 0.0182115 -0.00743579 0.99980651 -0.47075897] [ 0. 0. 0. 1. ]] SLAMing on 79.831346184 meters Centerline goodness [0,1] 0.6568556352997075 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99616366 -0.08548557 -0.01871315 2.02989892] [ 0.08567628 0.99627642 0.00963697 -0.05670099] [ 0.01781964 -0.01120327 0.99977845 -0.47060893] [ 0. 0. 0. 1. ]] SLAMing on 79.861346184 meters Centerline goodness [0,1] 0.6190045930276334 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99621036 -0.08486542 -0.01904674 2.03119245] [ 0.0850608 0.99632862 0.00969227 -0.05585827] [ 0.01815427 -0.01127567 0.99977161 -0.4709095 ] [ 0. 0. 0. 1. ]] SLAMing on 79.891346184 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.06, Z:-0.47 [[ 0.99621152 -0.08486349 -0.01899438 2.03113487] [ 0.08505479 0.99633099 0.00949953 -0.05595513] [ 0.01811853 -0.01107911 0.99977446 -0.47069265] [ 0. 0. 0. 1. ]] SLAMing on 79.921346184 meters Centerline goodness [0,1] 0.6154077414505825 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99619041 -0.08513726 -0.01887611 2.03035461] [ 0.0853149 0.99631506 0.00881313 -0.05481418] [ 0.01805623 -0.01038997 0.99978299 -0.46960843] [ 0. 0. 0. 1. ]] SLAMing on 79.951346184 meters Centerline goodness [0,1] 0.6512106385647973 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99613913 -0.08577205 -0.0187081 2.02848431] [ 0.08590786 0.99628136 0.00657896 -0.04954011] [ 0.01807424 -0.00816074 0.99980334 -0.4662209 ] [ 0. 0. 0. 1. ]] SLAMing on 79.981346184 meters Centerline goodness [0,1] 0.6645606262743222 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99613329 -0.08581214 -0.01883455 2.02872174] [ 0.08594053 0.99628151 0.00611461 -0.04809946] [ 0.01823981 -0.00770962 0.99980392 -0.46591376] [ 0. 0. 0. 1. ]] SLAMing on 80.01134618399999 meters Centerline goodness [0,1] 0.6552296206922554 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99615058 -0.08558241 -0.01896492 2.02968501] [ 0.08571503 0.99629982 0.00629246 -0.04831295] [ 0.01835623 -0.00789381 0.99980035 -0.46677634] [ 0. 0. 0. 1. ]] SLAMing on 80.04134618399999 meters Centerline goodness [0,1] 0.6557199929646473 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99625035 -0.08424998 -0.01967673 2.03404317] [ 0.08441397 0.99640136 0.00765633 -0.04995739] [ 0.01896088 -0.00928861 0.99977708 -0.47054964] [ 0. 0. 0. 1. ]] SLAMing on 80.07134618399999 meters Centerline goodness [0,1] 0.6539631463837703 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99627539 -0.08385602 -0.02008793 2.03584349] [ 0.08402611 0.9964332 0.00777701 -0.04896458] [ 0.01936413 -0.00943596 0.99976797 -0.47164446] [ 0. 0. 0. 1. ]] SLAMing on 80.101346184 meters Centerline goodness [0,1] 0.6606725182968235 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.05, Z:-0.47 [[ 0.99626538 -0.08390447 -0.02037957 2.03657933] [ 0.08406875 0.99643292 0.007341 -0.04690798] [ 0.01969093 -0.00902687 0.99976536 -0.47166911] [ 0. 0. 0. 1. ]] SLAMing on 80.131346184 meters Centerline goodness [0,1] 0.6665826168082907 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.04, Z:-0.47 [[ 0.99621273 -0.08456496 -0.02022283 2.03527135] [ 0.08471081 0.9963846 0.00646618 -0.04495433] [ 0.01960291 -0.00815479 0.99977459 -0.4703281 ] [ 0. 0. 0. 1. ]] SLAMing on 80.161346184 meters Centerline goodness [0,1] 0.6492285195643405 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99619291 -0.08488176 -0.01986897 2.03433838] [ 0.08502199 0.99635902 0.00632132 -0.04597173] [ 0.01926006 -0.00798656 0.99978261 -0.46999465] [ 0. 0. 0. 1. ]] SLAMing on 80.191346184 meters Centerline goodness [0,1] 0.6433504960442045 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99616656 -0.08526953 -0.01952681 2.03326383] [ 0.08540316 0.99632772 0.00611323 -0.04709347] [ 0.01893383 -0.00775744 0.99979064 -0.46943234] [ 0. 0. 0. 1. ]] SLAMing on 80.221346184 meters Centerline goodness [0,1] 0.6453675730110775 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99613891 -0.08563991 -0.01931543 2.0322813 ] [ 0.08576447 0.99629905 0.00571412 -0.04736126] [ 0.01875459 -0.00734863 0.99979711 -0.46849691] [ 0. 0. 0. 1. ]] SLAMing on 80.251346184 meters Centerline goodness [0,1] 0.6476332256762212 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99610446 -0.0860328 -0.0193457 2.03163547] [ 0.08614555 0.99626966 0.00507074 -0.04552955] [ 0.01883728 -0.00671754 0.9998 -0.46740153] [ 0. 0. 0. 1. ]] SLAMing on 80.281346184 meters Centerline goodness [0,1] 0.6372207936267836 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99610296 -0.08600856 -0.01952983 2.03224068] [ 0.08612138 0.99627206 0.00500922 -0.04485472] [ 0.01902619 -0.00667164 0.99979673 -0.46766678] [ 0. 0. 0. 1. ]] SLAMing on 80.311346184 meters Centerline goodness [0,1] 0.6408546749507501 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99610808 -0.0859263 -0.01963074 2.03290827] [ 0.08604414 0.99627756 0.00523758 -0.04511573] [ 0.01910762 -0.00690631 0.99979358 -0.46832145] [ 0. 0. 0. 1. ]] SLAMing on 80.341346184 meters Centerline goodness [0,1] 0.6501416430594901 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99606209 -0.08652612 -0.01932706 2.03256112] [ 0.0866452 0.99622454 0.00540991 -0.04585292] [ 0.018786 -0.0070632 0.99979858 -0.46945512] [ 0. 0. 0. 1. ]] SLAMing on 80.37134618399999 meters Centerline goodness [0,1] 0.6160309787147883 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99602766 -0.08700333 -0.01895563 2.03180361] [ 0.08711769 0.99618397 0.0052918 -0.04668348] [ 0.0184229 -0.00692215 0.99980632 -0.46962228] [ 0. 0. 0. 1. ]] SLAMing on 80.40134618399999 meters Centerline goodness [0,1] 0.6350140126745272 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99598985 -0.0875357 -0.01848558 2.03086226] [ 0.08764579 0.99613797 0.00522986 -0.04833763] [ 0.01795639 -0.00682907 0.99981545 -0.4698316 ] [ 0. 0. 0. 1. ]] SLAMing on 80.43134618399999 meters Centerline goodness [0,1] 0.6379950964284812 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.9959628 -0.08791466 -0.0181412 2.03023347] [ 0.0880234 0.9961044 0.00528344 -0.05010084] [ 0.01760603 -0.00685896 0.99982148 -0.47007138] [ 0. 0. 0. 1. ]] SLAMing on 80.46134618399999 meters Centerline goodness [0,1] 0.6380114452819724 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99592687 -0.08836318 -0.01793348 2.02968607] [ 0.08846822 0.99606569 0.0051494 -0.05053911] [ 0.01740791 -0.00671497 0.99982592 -0.47008724] [ 0. 0. 0. 1. ]] SLAMing on 80.491346184 meters Centerline goodness [0,1] 0.6232150966244513 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99592466 -0.08830405 -0.01834282 2.03040212] [ 0.08840426 0.99607347 0.00472446 -0.04846733] [ 0.01785361 -0.00632679 0.99982059 -0.46961385] [ 0. 0. 0. 1. ]] SLAMing on 80.521346184 meters Centerline goodness [0,1] 0.6262771512903957 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99622597 -0.08481949 -0.01842498 2.02954685] [ 0.0849899 0.99634409 0.00867027 -0.04883357] [ 0.01762222 -0.01020348 0.99979265 -0.46973009] [ 0. 0. 0. 1. ]] SLAMing on 80.551346184 meters Centerline goodness [0,1] 0.6372117853420444 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.9965294 -0.08119075 -0.01836364 2.02869171] [ 0.08143233 0.99659651 0.01281324 -0.04968511] [ 0.01726082 -0.01426416 0.99974927 -0.47020921] [ 0. 0. 0. 1. ]] SLAMing on 80.581346184 meters Centerline goodness [0,1] 0.6574074074074074 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99657122 -0.08056507 -0.0188433 2.03027203] [ 0.08080776 0.99665141 0.01249284 -0.04799253] [ 0.01777371 -0.01397269 0.9997444 -0.47013669] [ 0. 0. 0. 1. ]] SLAMing on 80.611346184 meters Centerline goodness [0,1] 0.6538792231438397 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99657494 -0.0805031 -0.01891113 2.0303699 ] [ 0.08074384 0.99665862 0.01233006 -0.0483498 ] [ 0.01785533 -0.01381478 0.99974514 -0.4697186 ] [ 0. 0. 0. 1. ]] SLAMing on 80.641346184 meters Centerline goodness [0,1] 0.655415833818283 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99656937 -0.08060703 -0.01876175 2.02989222] [ 0.08084229 0.996653 0.01213741 -0.04901701] [ 0.01772059 -0.01361251 0.99975031 -0.4692173 ] [ 0. 0. 0. 1. ]] SLAMing on 80.671346184 meters Centerline goodness [0,1] 0.6610511959184704 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99657307 -0.08053489 -0.01887428 2.03021447] [ 0.08076402 0.99666448 0.01170839 -0.04795412] [ 0.01786839 -0.01319263 0.99975331 -0.46885863] [ 0. 0. 0. 1. ]] SLAMing on 80.701346184 meters Centerline goodness [0,1] 0.6305742134235645 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.05, Z:-0.47 [[ 0.99656897 -0.08051694 -0.01916555 2.03081016] [ 0.08073845 0.99667376 0.01107775 -0.04538626] [ 0.01820985 -0.01258714 0.99975495 -0.46849302] [ 0. 0. 0. 1. ]] SLAMing on 80.731346184 meters Centerline goodness [0,1] 0.660538344337227 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99657667 -0.08033944 -0.0195066 2.03160036] [ 0.08055503 0.99669455 0.01052923 -0.0427502 ] [ 0.01859621 -0.01206454 0.99975428 -0.46815064] [ 0. 0. 0. 1. ]] SLAMing on 80.76134618399999 meters Centerline goodness [0,1] 0.660538344337227 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99657667 -0.08033944 -0.0195066 2.03160036] [ 0.08055503 0.99669455 0.01052923 -0.0427502 ] [ 0.01859621 -0.01206454 0.99975428 -0.46815064] [ 0. 0. 0. 1. ]] SLAMing on 80.79134618399999 meters Centerline goodness [0,1] 0.666649743615779 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99656525 -0.08045755 -0.01960338 2.03143167] [ 0.08065706 0.99669561 0.00960728 -0.04067874] [ 0.01876563 -0.01115544 0.99976168 -0.46695347] [ 0. 0. 0. 1. ]] SLAMing on 80.82134618399999 meters Centerline goodness [0,1] 0.6646840526663617 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99656057 -0.08055408 -0.01944406 2.03124957] [ 0.0807505 0.99668872 0.00953646 -0.04122557] [ 0.01861148 -0.01107378 0.99976546 -0.46707418] [ 0. 0. 0. 1. ]] SLAMing on 80.851346184 meters Centerline goodness [0,1] 0.6666666666666667 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99656316 -0.08053104 -0.0194065 2.03143098] [ 0.08072615 0.99669115 0.00948843 -0.04174578] [ 0.01857818 -0.01102243 0.99976665 -0.4672165 ] [ 0. 0. 0. 1. ]] SLAMing on 80.881346184 meters Centerline goodness [0,1] 0.6672165681074085 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99657013 -0.08042738 -0.01947839 2.03201016] [ 0.08062124 0.99670068 0.00937918 -0.04134875] [ 0.01865978 -0.01091739 0.99976628 -0.46756694] [ 0. 0. 0. 1. ]] SLAMing on 80.911346184 meters Centerline goodness [0,1] 0.6646602734135891 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99684002 -0.07705577 -0.01929704 2.03088811] [ 0.07731792 0.99691873 0.01322802 -0.0407906 ] [ 0.01821828 -0.01467822 0.99972628 -0.46821503] [ 0. 0. 0. 1. ]] SLAMing on 80.941346184 meters Centerline goodness [0,1] 0.6685212597621357 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99683119 -0.0771215 -0.01948981 2.03127038] [ 0.077377 0.99692085 0.01271315 -0.03923917] [ 0.01844934 -0.01418093 0.99972922 -0.46786639] [ 0. 0. 0. 1. ]] SLAMing on 80.971346184 meters Centerline goodness [0,1] 0.6370357151961659 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99683214 -0.07706639 -0.01965872 2.03195846] [ 0.0773231 0.99692583 0.01264988 -0.03900933] [ 0.0186234 -0.01412988 0.99972672 -0.46817681] [ 0. 0. 0. 1. ]] SLAMing on 81.001346184 meters Centerline goodness [0,1] 0.661629183366094 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99684534 -0.07685678 -0.01980902 2.03282709] [ 0.07712152 0.9969374 0.01296502 -0.03995983] [ 0.01875191 -0.01445182 0.99971972 -0.46886494] [ 0. 0. 0. 1. ]] SLAMing on 81.031346184 meters Centerline goodness [0,1] 0.6612635609444799 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99681509 -0.07728411 -0.01966815 2.03209543] [ 0.07753605 0.99691261 0.01238584 -0.03915967] [ 0.0186502 -0.01387138 0.99972984 -0.46810971] [ 0. 0. 0. 1. ]] SLAMing on 81.061346184 meters Centerline goodness [0,1] 0.6560644831115661 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99677692 -0.07780455 -0.01955068 2.03134592] [ 0.07804209 0.99688147 0.01169459 -0.03728213] [ 0.01857982 -0.01318267 0.99974047 -0.46749279] [ 0. 0. 0. 1. ]] SLAMing on 81.091346184 meters Centerline goodness [0,1] 0.6495592907656043 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99673698 -0.07832695 -0.01950073 2.03087332] [ 0.07855376 0.99684754 0.0111485 -0.03600699] [ 0.01856602 -0.01264398 0.99974768 -0.46712865] [ 0. 0. 0. 1. ]] SLAMing on 81.12134618399999 meters Centerline goodness [0,1] 0.6534980900863947 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.9966624 -0.07941106 -0.01891917 2.02902107] [ 0.07961932 0.99676983 0.01052016 -0.03556622] [ 0.01802264 -0.01199138 0.99976567 -0.46677122] [ 0. 0. 0. 1. ]] SLAMing on 81.15134618399999 meters Centerline goodness [0,1] 0.630005120327701 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99661988 -0.08001789 -0.01859967 2.02811633] [ 0.08021724 0.99672491 0.01023011 -0.03610109] [ 0.01772017 -0.01168754 0.99977467 -0.46667265] [ 0. 0. 0. 1. ]] SLAMing on 81.18134618399999 meters Centerline goodness [0,1] 0.6236763159918977 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.9965893 -0.08044997 -0.01837306 2.02764768] [ 0.08064321 0.99669257 0.01002928 -0.03668768] [ 0.01750544 -0.01147674 0.9997809 -0.46680096] [ 0. 0. 0. 1. ]] SLAMing on 81.21134618399999 meters Centerline goodness [0,1] 0.6210894603774548 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99657123 -0.08069117 -0.01829531 2.0277509 ] [ 0.08088023 0.99667526 0.00983966 -0.03656331] [ 0.01744051 -0.01128565 0.99978421 -0.46718911] [ 0. 0. 0. 1. ]] SLAMing on 81.241346184 meters Centerline goodness [0,1] 0.6307917286674534 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99652676 -0.08127943 -0.0181129 2.02685308] [ 0.08144573 0.99664033 0.0086397 -0.03306343] [ 0.01734982 -0.01008491 0.99979862 -0.46626638] [ 0. 0. 0. 1. ]] SLAMing on 81.271346184 meters Centerline goodness [0,1] 0.6310323606338787 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99649711 -0.08165402 -0.01805908 2.02631439] [ 0.08180822 0.99661622 0.00797012 -0.03144764] [ 0.01734718 -0.00941959 0.99980515 -0.46553033] [ 0. 0. 0. 1. ]] SLAMing on 81.301346184 meters Centerline goodness [0,1] 0.629175660396752 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99648361 -0.08181661 -0.01806815 2.02639959] [ 0.08196643 0.99660525 0.007712 -0.03079123] [ 0.01737584 -0.00916586 0.99980701 -0.46556822] [ 0. 0. 0. 1. ]] SLAMing on 81.331346184 meters Centerline goodness [0,1] 0.655502761011943 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99648472 -0.08180515 -0.01805896 2.02679213] [ 0.08195529 0.99660598 0.00773577 -0.03064597] [ 0.01736484 -0.0091886 0.999807 -0.4661195 ] [ 0. 0. 0. 1. ]] SLAMing on 81.361346184 meters Centerline goodness [0,1] 0.6216654650324441 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99647873 -0.08182565 -0.01829506 2.02707971] [ 0.08196356 0.99661131 0.0069187 -0.02713308] [ 0.01766694 -0.00839387 0.99980869 -0.46538149] [ 0. 0. 0. 1. ]] SLAMing on 81.391346184 meters Centerline goodness [0,1] 0.6197713725389002 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99644655 -0.08220649 -0.01834016 2.02661466] [ 0.08232899 0.99658699 0.00602615 -0.02447358] [ 0.01778218 -0.00751466 0.99981364 -0.46438644] [ 0. 0. 0. 1. ]] SLAMing on 81.421346184 meters Centerline goodness [0,1] 0.6114830804229248 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.9964415 -0.08229402 -0.01822166 2.02690457] [ 0.08241282 0.99658101 0.00586634 -0.02395554] [ 0.01767659 -0.00734716 0.99981676 -0.46511479] [ 0. 0. 0. 1. ]] SLAMing on 81.451346184 meters Centerline goodness [0,1] 0.6132890022938735 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99645391 -0.08216445 -0.01812747 2.02734182] [ 0.08228671 0.99659001 0.00610392 -0.0249294 ] [ 0.01756413 -0.00757393 0.99981705 -0.46593984] [ 0. 0. 0. 1. ]] SLAMing on 81.481346184 meters Centerline goodness [0,1] 0.6112001654687419 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99645294 -0.08218639 -0.01808155 2.02743897] [ 0.08230471 0.99658975 0.00589882 -0.02445068] [ 0.01753508 -0.0073661 0.99981911 -0.46604117] [ 0. 0. 0. 1. ]] SLAMing on 81.51134618399999 meters Centerline goodness [0,1] 0.6402336145360156 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99670682 -0.07909335 -0.01788168 2.02552965] [ 0.07926215 0.99681376 0.00893548 -0.02205264] [ 0.01711797 -0.0103234 0.99980018 -0.46530729] [ 0. 0. 0. 1. ]] SLAMing on 81.54134618399999 meters Centerline goodness [0,1] 0.6470098370894707 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99670127 -0.07910481 -0.01813838 2.02596093] [ 0.07926662 0.99681822 0.00838125 -0.01971709] [ 0.01741767 -0.00979137 0.99980036 -0.46487099] [ 0. 0. 0. 1. ]] SLAMing on 81.57134618399999 meters Centerline goodness [0,1] 0.6569100627951632 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99670354 -0.07904974 -0.01825332 2.02655078] [ 0.07921015 0.9968239 0.00823767 -0.01898475] [ 0.01754416 -0.00965636 0.99979946 -0.46520105] [ 0. 0. 0. 1. ]] SLAMing on 81.601346184 meters Centerline goodness [0,1] 0.6447717691146619 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99672329 -0.07883612 -0.0180984 2.02721772] [ 0.07900554 0.99683495 0.00884385 -0.02108818] [ 0.0173439 -0.01024475 0.9997971 -0.46666851] [ 0. 0. 0. 1. ]] SLAMing on 81.631346184 meters Centerline goodness [0,1] 0.6451562702632603 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99670709 -0.07907639 -0.0179416 2.02688706] [ 0.07924182 0.99681742 0.00870403 -0.02145168] [ 0.01719621 -0.0100971 0.99980115 -0.46665118] [ 0. 0. 0. 1. ]] SLAMing on 81.661346184 meters Centerline goodness [0,1] 0.6608156674826814 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99667913 -0.0794615 -0.0177927 2.02615443] [ 0.07961727 0.99679158 0.00822355 -0.02073814] [ 0.01708216 -0.00961285 0.99980788 -0.46599772] [ 0. 0. 0. 1. ]] SLAMing on 81.691346184 meters Centerline goodness [0,1] 0.6621139059038186 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.46 [[ 0.99660629 -0.08043733 -0.01748567 2.02391053] [ 0.08056473 0.99672681 0.00670693 -0.01753786] [ 0.01688895 -0.00809289 0.99982462 -0.4634864 ] [ 0. 0. 0. 1. ]] SLAMing on 81.721346184 meters Centerline goodness [0,1] 0.6636401586307661 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.46 [[ 0.9965914 -0.08062506 -0.01746948 2.02352737] [ 0.08074658 0.99671434 0.00636542 -0.01692459] [ 0.01689887 -0.00775432 0.99982713 -0.46287901] [ 0. 0. 0. 1. ]] SLAMing on 81.751346184 meters Centerline goodness [0,1] 0.6434392193501506 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.46 [[ 0.99659202 -0.08059889 -0.01755473 2.02378059] [ 0.08072167 0.99671613 0.00640025 -0.01751499] [ 0.01698123 -0.00779548 0.99982542 -0.46285422] [ 0. 0. 0. 1. ]] SLAMing on 81.781346184 meters Centerline goodness [0,1] 0.6536858185961005 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.46 [[ 0.9965984 -0.08053445 -0.01748778 2.02409816] [ 0.0806617 0.99671904 0.00669605 -0.0187406 ] [ 0.01689114 -0.00808387 0.99982465 -0.46347708] [ 0. 0. 0. 1. ]] SLAMing on 81.811346184 meters Centerline goodness [0,1] 0.6480935382068395 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99658884 -0.08067971 -0.0173626 2.02458673] [ 0.080815 0.99670286 0.00723563 -0.02054016] [ 0.01672158 -0.0086141 0.99982308 -0.46500047] [ 0. 0. 0. 1. ]] SLAMing on 81.841346184 meters Centerline goodness [0,1] 0.6357152086832925 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99658304 -0.08074071 -0.01741213 2.02500348] [ 0.08087741 0.99669737 0.0072941 -0.0203158 ] [ 0.0167657 -0.00867742 0.99982179 -0.46555635] [ 0. 0. 0. 1. ]] SLAMing on 81.87134618399999 meters Centerline goodness [0,1] 0.6522223085087107 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99658514 -0.08066015 -0.01766352 2.02587415] [ 0.08080091 0.99670275 0.00740508 -0.02033495] [ 0.01700799 -0.00880702 0.99981657 -0.4659834 ] [ 0. 0. 0. 1. ]] SLAMing on 81.90134618399999 meters Centerline goodness [0,1] 0.6494613655738976 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99659275 -0.08055694 -0.01770493 2.02687413] [ 0.08070916 0.99670513 0.00805725 -0.02316917] [ 0.01699753 -0.00945874 0.99981079 -0.4673774 ] [ 0. 0. 0. 1. ]] SLAMing on 81.93134618399999 meters Centerline goodness [0,1] 0.6011490699232236 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.99659858 -0.08049827 -0.01764353 2.02719657] [ 0.08065568 0.99670664 0.00839854 -0.02495604] [ 0.01690935 -0.00979302 0.99980907 -0.46799867] [ 0. 0. 0. 1. ]] SLAMing on 81.96134618399999 meters Centerline goodness [0,1] 0.6449833767170949 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99658909 -0.08064418 -0.01751303 2.02700189] [ 0.08079874 0.99669584 0.00830398 -0.02518744] [ 0.0167855 -0.00969069 0.99981215 -0.4680325 ] [ 0. 0. 0. 1. ]] SLAMing on 81.991346184 meters Centerline goodness [0,1] 0.6453843970166973 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.47 [[ 0.9965802 -0.08071089 -0.01771059 2.0272172 ] [ 0.08085974 0.99669454 0.00785502 -0.02387978] [ 0.01701806 -0.00926023 0.9998123 -0.46746383] [ 0. 0. 0. 1. ]] SLAMing on 82.021346184 meters Centerline goodness [0,1] 0.6452856551438626 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.47 [[ 0.99681042 -0.07790681 -0.01730637 2.0239641 ] [ 0.07810048 0.99688688 0.01081048 -0.02248128] [ 0.01641028 -0.01212764 0.99979179 -0.4654767 ] [ 0. 0. 0. 1. ]] SLAMing on 82.051346184 meters Centerline goodness [0,1] 0.6465392561983472 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.02, Z:-0.46 [[ 0.99679817 -0.07808006 -0.01723122 2.02325946] [ 0.07826668 0.99687785 0.0104344 -0.02261448] [ 0.0163627 -0.01174962 0.99979708 -0.46441486] [ 0. 0. 0. 1. ]] SLAMing on 82.081346184 meters Centerline goodness [0,1] 0.6318851024400288 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.46 [[ 0.99680368 -0.07806241 -0.01699054 2.02282216] [ 0.07825041 0.99687636 0.0106958 -0.02542135] [ 0.01610252 -0.01199113 0.99979844 -0.46423208] [ 0. 0. 0. 1. ]] SLAMing on 82.111346184 meters Centerline goodness [0,1] 0.6386262584964482 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99656697 -0.08103404 -0.01696342 2.02500278] [ 0.08117787 0.99666778 0.00796817 -0.03031736] [ 0.0162612 -0.00931787 0.99982436 -0.46564501] [ 0. 0. 0. 1. ]] SLAMing on 82.141346184 meters Centerline goodness [0,1] 0.6357237919737919 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99657142 -0.08094094 -0.01714529 2.02547169] [ 0.08108748 0.99667464 0.0080302 -0.02992427] [ 0.01643831 -0.00939294 0.99982076 -0.46571662] [ 0. 0. 0. 1. ]] SLAMing on 82.171346184 meters Centerline goodness [0,1] 0.642583989939173 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99684175 -0.07757032 -0.01701103 2.02381727] [ 0.07777661 0.99690075 0.01181935 -0.02971971] [ 0.01604148 -0.01310508 0.99978544 -0.46526187] [ 0. 0. 0. 1. ]] SLAMing on 82.201346184 meters Centerline goodness [0,1] 0.6440712834623397 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.03, Z:-0.47 [[ 0.99711569 -0.07394597 -0.01709646 2.02286481] [ 0.07421658 0.99711736 0.01577583 -0.02989595] [ 0.01588062 -0.01699917 0.99972938 -0.46501149] [ 0. 0. 0. 1. ]] SLAMing on 82.231346184 meters Centerline goodness [0,1] 0.6451164586282332 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99721406 -0.07245491 -0.0177313 2.0259715 ] [ 0.07275822 0.99720295 0.01710328 -0.03286086] [ 0.01644249 -0.01834573 0.99969649 -0.46674189] [ 0. 0. 0. 1. ]] SLAMing on 82.26134618399999 meters Centerline goodness [0,1] 0.6621094751962242 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99728121 -0.07146612 -0.01796622 2.02797547] [ 0.07179336 0.99725198 0.01828098 -0.03704524] [ 0.01661038 -0.01952113 0.99967146 -0.468295 ] [ 0. 0. 0. 1. ]] SLAMing on 82.29134618399999 meters Centerline goodness [0,1] 0.6659016142605769 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99733985 -0.07056181 -0.01828243 2.02938477] [ 0.07089715 0.99731403 0.01839319 -0.03687998] [ 0.01693547 -0.01964043 0.99966367 -0.46832777] [ 0. 0. 0. 1. ]] SLAMing on 82.32134618399999 meters Centerline goodness [0,1] 0.682719183526938 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.04, Z:-0.47 [[ 0.99760324 -0.066697 -0.0184198 2.0288424 ] [ 0.06710014 0.99749899 0.02221129 -0.03579516] [ 0.01689231 -0.02339403 0.9995836 -0.46816776] [ 0. 0. 0. 1. ]] SLAMing on 82.351346184 meters Centerline goodness [0,1] 0.6848396051819865 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99764586 -0.06580306 -0.01930542 2.03117208] [ 0.06621693 0.99757046 0.0216449 -0.0320085 ] [ 0.01783422 -0.02287229 0.99957931 -0.46763834] [ 0. 0. 0. 1. ]] SLAMing on 82.381346184 meters Centerline goodness [0,1] 0.6976696226025985 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99771739 -0.06443792 -0.02019329 2.03463579] [ 0.06488012 0.99764906 0.02206641 -0.03074246] [ 0.01872391 -0.02332618 0.99955255 -0.46891854] [ 0. 0. 0. 1. ]] SLAMing on 82.411346184 meters Centerline goodness [0,1] 0.7055956678700361 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99787707 -0.05957205 -0.02631593 2.03139384] [ 0.05989392 0.99813716 0.01161615 -0.0307815 ] [ 0.02557491 -0.01316765 0.99958618 -0.4663719 ] [ 0. 0. 0. 1. ]] SLAMing on 82.441346184 meters Centerline goodness [0,1] 0.7072178747940692 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99789272 -0.05923231 -0.02648869 2.03248493] [ 0.05956462 0.99815308 0.01193668 -0.03158494] [ 0.02573273 -0.01348931 0.99957784 -0.46716167] [ 0. 0. 0. 1. ]] SLAMing on 82.471346184 meters Centerline goodness [0,1] 0.7166803996292099 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.47 [[ 0.99787291 -0.05956752 -0.02648344 2.03186762] [ 0.05988276 0.99814176 0.01127308 -0.03033025] [ 0.02576271 -0.01283501 0.99958569 -0.46603096] [ 0. 0. 0. 1. ]] SLAMing on 82.501346184 meters Centerline goodness [0,1] 0.7147687383852983 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99782605 -0.06038137 -0.02640568 2.03020165] [ 0.06066181 0.99810877 0.009951 -0.0277862 ] [ 0.02575489 -0.01153118 0.99960178 -0.46366254] [ 0. 0. 0. 1. ]] SLAMing on 82.531346184 meters Centerline goodness [0,1] 0.7133082007849618 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99779116 -0.06097294 -0.02636481 2.02882125] [ 0.06122082 0.99808634 0.00869844 -0.02586391] [ 0.02578398 -0.0102933 0.99961454 -0.46118238] [ 0. 0. 0. 1. ]] SLAMing on 82.561346184 meters Centerline goodness [0,1] 0.7129440904048092 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99779683 -0.06085737 -0.02641711 2.02924677] [ 0.06110828 0.99809238 0.00879648 -0.02689467] [ 0.02583139 -0.0103914 0.9996123 -0.46134654] [ 0. 0. 0. 1. ]] SLAMing on 82.591346184 meters Centerline goodness [0,1] 0.7096191091026469 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99780202 -0.06079233 -0.02637072 2.029491 ] [ 0.06104308 0.99809626 0.00880932 -0.0277845 ] [ 0.02578498 -0.0103997 0.99961342 -0.46154294] [ 0. 0. 0. 1. ]] SLAMing on 82.62134618399999 meters Centerline goodness [0,1] 0.7067696360771754 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99778133 -0.06116931 -0.02628181 2.02916541] [ 0.06139788 0.99808148 0.00797899 -0.02617401] [ 0.02574332 -0.00957494 0.99962273 -0.46089015] [ 0. 0. 0. 1. ]] SLAMing on 82.65134618399999 meters Centerline goodness [0,1] 0.7007935071984285 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99776925 -0.06135451 -0.02630885 2.02929833] [ 0.06157561 0.9980729 0.00767692 -0.02483689] [ 0.02578714 -0.00927978 0.99962438 -0.46090514] [ 0. 0. 0. 1. ]] SLAMing on 82.68134618399999 meters Centerline goodness [0,1] 0.7007935071984285 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99776925 -0.06135451 -0.02630885 2.02929833] [ 0.06157561 0.9980729 0.00767692 -0.02483689] [ 0.02578714 -0.00927978 0.99962438 -0.46090514] [ 0. 0. 0. 1. ]] SLAMing on 82.71134618399999 meters Centerline goodness [0,1] 0.6991638406378627 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99775905 -0.06147841 -0.026406 2.0297753 ] [ 0.0616981 0.99806603 0.00758633 -0.02405009] [ 0.02588853 -0.00919853 0.99962251 -0.46130665] [ 0. 0. 0. 1. ]] SLAMing on 82.741346184 meters Centerline goodness [0,1] 0.6923514211886305 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99774507 -0.06180795 -0.02616394 2.02966129] [ 0.06203453 0.99804244 0.00793782 -0.02592296] [ 0.0256221 -0.00954299 0.99962615 -0.46228644] [ 0. 0. 0. 1. ]] SLAMing on 82.771346184 meters Centerline goodness [0,1] 0.6825911347791412 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99773093 -0.06216466 -0.02585635 2.02897238] [ 0.06238963 0.99801992 0.00798612 -0.02745069] [ 0.0253087 -0.00958117 0.99963377 -0.4623538 ] [ 0. 0. 0. 1. ]] SLAMing on 82.801346184 meters Centerline goodness [0,1] 0.6831456040415496 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99770758 -0.06270199 -0.02545662 2.02768146] [ 0.06291841 0.99798827 0.00779045 -0.02818603] [ 0.02491693 -0.00937428 0.99964557 -0.46188733] [ 0. 0. 0. 1. ]] SLAMing on 82.831346184 meters Centerline goodness [0,1] 0.6749948325754445 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99763694 -0.06395486 -0.02510591 2.02508129] [ 0.06413633 0.99792004 0.00648966 -0.02588201] [ 0.02463864 -0.00808453 0.99966373 -0.45946311] [ 0. 0. 0. 1. ]] SLAMing on 82.861346184 meters Centerline goodness [0,1] 0.6786119418376817 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99762537 -0.06409725 -0.02520253 2.02528375] [ 0.06427644 0.99791184 0.00636463 -0.02541118] [ 0.02474195 -0.00796945 0.9996621 -0.45942566] [ 0. 0. 0. 1. ]] SLAMing on 82.891346184 meters Centerline goodness [0,1] 0.6763625071166088 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99763974 -0.06385507 -0.02524841 2.02633814] [ 0.06404948 0.99792241 0.00696675 -0.02680143] [ 0.0247511 -0.00856746 0.99965693 -0.46080559] [ 0. 0. 0. 1. ]] SLAMing on 82.921346184 meters Centerline goodness [0,1] 0.6533037716878496 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99765773 -0.06353142 -0.02535358 2.02769553] [ 0.06374351 0.99793702 0.00764588 -0.02896501] [ 0.02481552 -0.0092441 0.99964931 -0.46224733] [ 0. 0. 0. 1. ]] SLAMing on 82.951346184 meters Centerline goodness [0,1] 0.6500490019084955 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.03, Z:-0.46 [[ 0.99764412 -0.06375939 -0.02531692 2.02777577] [ 0.06396194 0.99792584 0.00727227 -0.0279629 ] [ 0.02480074 -0.00887446 0.99965302 -0.46227084] [ 0. 0. 0. 1. ]] SLAMing on 82.981346184 meters Centerline goodness [0,1] 0.6525673509488599 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99762561 -0.06398176 -0.02548471 2.02762031] [ 0.06415879 0.99792051 0.00618955 -0.02494244] [ 0.02503569 -0.00780992 0.99965605 -0.4608594 ] [ 0. 0. 0. 1. ]] SLAMing on 83.01134618399999 meters Centerline goodness [0,1] 0.67066054617599 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99762821 -0.06385255 -0.02570607 2.0281766 ] [ 0.0640163 0.99793315 0.00559754 -0.02250742] [ 0.02529552 -0.00722987 0.99965387 -0.46039966] [ 0. 0. 0. 1. ]] SLAMing on 83.04134618399999 meters Centerline goodness [0,1] 0.665972728219007 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99766611 -0.06316499 -0.0259329 2.02979318] [ 0.0633287 0.99797735 0.00554001 -0.02100037] [ 0.02553051 -0.00716938 0.99964833 -0.46116907] [ 0. 0. 0. 1. ]] SLAMing on 83.07134618399999 meters Centerline goodness [0,1] 0.6788478520596333 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99767188 -0.06312003 -0.02582 2.02996858] [ 0.06327921 0.99798128 0.00539425 -0.02111722] [ 0.02542739 -0.00701556 0.99965205 -0.46133618] [ 0. 0. 0. 1. ]] SLAMing on 83.101346184 meters Centerline goodness [0,1] 0.6737951260024395 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99767208 -0.0631815 -0.0256616 2.02981058] [ 0.06333686 0.9979782 0.00528638 -0.02140926] [ 0.02527571 -0.0068994 0.99965671 -0.46132934] [ 0. 0. 0. 1. ]] SLAMing on 83.131346184 meters Centerline goodness [0,1] 0.6734370946822308 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99766653 -0.06325354 -0.0256999 2.03021911] [ 0.0634044 0.9979749 0.00509754 -0.01975413] [ 0.02532542 -0.00671513 0.99965671 -0.46166216] [ 0. 0. 0. 1. ]] SLAMing on 83.161346184 meters Centerline goodness [0,1] 0.6386759853464626 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.9976512 -0.06344237 -0.02582939 2.03036378] [ 0.06358514 0.99796514 0.00474359 -0.01785085] [ 0.02547588 -0.00637481 0.99965511 -0.46141172] [ 0. 0. 0. 1. ]] SLAMing on 83.191346184 meters Centerline goodness [0,1] 0.6721512385919166 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99762937 -0.06383322 -0.02570895 2.02980985] [ 0.06396478 0.99794278 0.00432679 -0.01652833] [ 0.02537987 -0.005961 0.99966011 -0.46105686] [ 0. 0. 0. 1. ]] SLAMing on 83.221346184 meters Centerline goodness [0,1] 0.6304715777413223 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97396536e-01 -6.73128404e-02 -2.58675632e-02 2.03151546e+00] [ 6.73469091e-02 9.97729519e-01 4.47123542e-04 -1.72406064e-02] [ 2.57787343e-02 -2.18805990e-03 9.99665279e-01 -4.61207075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.251346184 meters Centerline goodness [0,1] 0.6247240044678806 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97404264e-01 -6.72925795e-02 -2.56211599e-02 2.03170695e+00] [ 6.73415411e-02 9.97729427e-01 1.05199865e-03 -1.99439026e-02] [ 2.54921935e-02 -2.77463633e-03 9.99671171e-01 -4.62374372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.281346184 meters Centerline goodness [0,1] 0.660079358904536 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97392412e-01 -6.75114990e-02 -2.55063693e-02 2.03168233e+00] [ 6.75611217e-02 9.97714544e-01 1.08779633e-03 -2.03444484e-02] [ 2.53746369e-02 -2.80819873e-03 9.99674068e-01 -4.62763293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.311346184 meters Centerline goodness [0,1] 0.6607636534348755 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99759069 -0.06450576 -0.0255308 2.03069187] [ 0.06464804 0.99789665 0.00478639 -0.01866062] [ 0.02516835 -0.00642538 0.99966258 -0.46328242] [ 0. 0. 0. 1. ]] SLAMing on 83.341346184 meters Centerline goodness [0,1] 0.6603472621724805 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99758937 -0.06444539 -0.02573406 2.03134421] [ 0.06458055 0.99790255 0.00445493 -0.01719572] [ 0.02539299 -0.00610611 0.9996589 -0.46321389] [ 0. 0. 0. 1. ]] SLAMing on 83.37134618399999 meters Centerline goodness [0,1] 0.6665272075935466 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 0.99759856 -0.06434104 -0.02563854 2.03154658] [ 0.06447722 0.99790894 0.0045198 -0.01776918] [ 0.02529412 -0.00616205 0.99966106 -0.46355721] [ 0. 0. 0. 1. ]] SLAMing on 83.40134618399999 meters Centerline goodness [0,1] 0.6470465836086041 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97407602e-01 -6.72246877e-02 -2.56693698e-02 2.03384372e+00] [ 6.72719905e-02 9.97734190e-01 9.82707923e-04 -1.85583400e-02] [ 2.55451456e-02 -2.70698995e-03 9.99670004e-01 -4.64424037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43134618399999 meters Centerline goodness [0,1] 0.6549579788202846 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97395309e-01 -6.75398142e-02 -2.53174163e-02 2.03316833e+00] [ 6.75856847e-02 9.97713012e-01 9.59553682e-04 -1.87398031e-02] [ 2.51947076e-02 -2.66814926e-03 9.99679002e-01 -4.64733585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46134618399999 meters Centerline goodness [0,1] 0.6533420195439739 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97370378e-01 -6.79623229e-02 -2.51684620e-02 2.03243977e+00] [ 6.79964043e-02 9.97685441e-01 4.99809921e-04 -1.74652562e-02] [ 2.50762399e-02 -2.20986053e-03 9.99683099e-01 -4.64134831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.491346184 meters Centerline goodness [0,1] 0.6551383142061571 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.02, Z:-0.46 [[ 9.97342649e-01 -6.84370138e-02 -2.49802918e-02 2.03133472e+00] [ 6.84545438e-02 9.97654225e-01 -1.53715833e-04 -1.57442937e-02] [ 2.49322135e-02 -1.55670712e-03 9.99687932e-01 -4.63009747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.521346184 meters Centerline goodness [0,1] 0.6405160753303507 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.47 [[ 0.99733038 -0.07041455 -0.01933653 2.04523535] [ 0.07057031 0.99747866 0.00749346 -0.01948504] [ 0.01876013 -0.00883804 0.99978495 -0.46557967] [ 0. 0. 0. 1. ]] SLAMing on 83.551346184 meters Centerline goodness [0,1] 0.635061267842802 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.47 [[ 0.99733762 -0.07034768 -0.01920621 2.04555447] [ 0.07051185 0.9974788 0.00800774 -0.02213172] [ 0.01859446 -0.00934069 0.99978348 -0.46636348] [ 0. 0. 0. 1. ]] SLAMing on 83.581346184 meters Centerline goodness [0,1] 0.6216585818969966 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.02, Z:-0.47 [[ 0.99735928 -0.07005309 -0.01915814 2.04669977] [ 0.07023386 0.99749058 0.00893056 -0.02472792] [ 0.01848445 -0.01025253 0.99977658 -0.46827525] [ 0. 0. 0. 1. ]] SLAMing on 83.611346184 meters Centerline goodness [0,1] 0.636401240951396 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.9973501 -0.07019158 -0.01912927 2.04778455] [ 0.0703889 0.99747106 0.00984359 -0.02705482] [ 0.01838996 -0.01116399 0.99976856 -0.47069616] [ 0. 0. 0. 1. ]] SLAMing on 83.641346184 meters Centerline goodness [0,1] 0.6286616292309285 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99734926 -0.07021241 -0.01909653 2.04822763] [ 0.07041716 0.99746477 0.01026893 -0.02845058] [ 0.01832711 -0.01158644 0.99976491 -0.47160795] [ 0. 0. 0. 1. ]] SLAMing on 83.671346184 meters Centerline goodness [0,1] 0.6401128043258907 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.9973492 -0.07023217 -0.01902688 2.04831576] [ 0.07044023 0.9974608 0.01049413 -0.02979041] [ 0.01824154 -0.01180657 0.9997639 -0.47190412] [ 0. 0. 0. 1. ]] SLAMing on 83.701346184 meters Centerline goodness [0,1] 0.6325081064388285 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99734962 -0.07023196 -0.01900538 2.04831901] [ 0.0704393 0.99746113 0.01046892 -0.030743 ] [ 0.01822188 -0.0117799 0.99976457 -0.47164617] [ 0. 0. 0. 1. ]] SLAMing on 83.731346184 meters Centerline goodness [0,1] 0.6323086816720257 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99731516 -0.07079761 -0.01871286 2.04615615] [ 0.07097519 0.99743746 0.0090016 -0.02923627] [ 0.01802761 -0.01030558 0.99978438 -0.46834027] [ 0. 0. 0. 1. ]] SLAMing on 83.76134618399999 meters Centerline goodness [0,1] 0.6422919297883857 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99731421 -0.0707683 -0.01887388 2.04616773] [ 0.07093794 0.99744473 0.00847448 -0.0280466 ] [ 0.01822593 -0.0097906 0.99978596 -0.46730465] [ 0. 0. 0. 1. ]] SLAMing on 83.79134618399999 meters Centerline goodness [0,1] 0.6404019582581808 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99733922 -0.07037496 -0.01902247 2.04719552] [ 0.07055132 0.99746965 0.00876368 -0.02846392] [ 0.01835759 -0.01008243 0.99978065 -0.46800701] [ 0. 0. 0. 1. ]] SLAMing on 83.82134618399999 meters Centerline goodness [0,1] 0.6453170343357559 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99738686 -0.06957375 -0.01946628 2.04965878] [ 0.06977175 0.99751599 0.00968307 -0.030572 ] [ 0.01874423 -0.01101596 0.99976362 -0.46979216] [ 0. 0. 0. 1. ]] SLAMing on 83.851346184 meters Centerline goodness [0,1] 0.6549578276074881 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99743797 -0.06868996 -0.01997968 2.05254267] [ 0.06891574 0.99756359 0.01083994 -0.03196359] [ 0.01918641 -0.01218908 0.99974162 -0.4722696 ] [ 0. 0. 0. 1. ]] SLAMing on 83.881346184 meters Centerline goodness [0,1] 0.6518360309822187 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99742308 -0.06887623 -0.02008151 2.05244507] [ 0.0690948 0.99755588 0.01040082 -0.03048812] [ 0.01931606 -0.01176154 0.99974425 -0.47165687] [ 0. 0. 0. 1. ]] SLAMing on 83.911346184 meters Centerline goodness [0,1] 0.6392192115063567 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.9973991 -0.06930895 -0.01978159 2.05110093] [ 0.06951693 0.99753038 0.0100264 -0.03169397] [ 0.01903782 -0.01137548 0.99975405 -0.47041467] [ 0. 0. 0. 1. ]] SLAMing on 83.941346184 meters Centerline goodness [0,1] 0.6426837060702875 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99740937 -0.0692303 -0.01953775 2.05090306] [ 0.06944424 0.99753066 0.01049199 -0.03494461] [ 0.01876314 -0.0118216 0.99975407 -0.47069452] [ 0. 0. 0. 1. ]] SLAMing on 83.971346184 meters Centerline goodness [0,1] 0.63874278711127 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99741346 -0.06922079 -0.01936169 2.05074108] [ 0.06943769 0.99752823 0.01076293 -0.03706707] [ 0.01856881 -0.01207953 0.99975461 -0.47087361] [ 0. 0. 0. 1. ]] SLAMing on 84.001346184 meters Centerline goodness [0,1] 0.6436204126393104 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99741371 -0.06920454 -0.01940675 2.05084566] [ 0.06942051 0.99753027 0.01068422 -0.03729945] [ 0.01861942 -0.01200382 0.99975458 -0.47060778] [ 0. 0. 0. 1. ]] SLAMing on 84.031346184 meters Centerline goodness [0,1] 0.6503269643404517 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99743694 -0.06874761 -0.01983234 2.05185104] [ 0.06895992 0.99756701 0.01022696 -0.03404866] [ 0.01908101 -0.01156838 0.99975101 -0.4699346 ] [ 0. 0. 0. 1. ]] SLAMing on 84.061346184 meters Centerline goodness [0,1] 0.6551467951017063 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.03, Z:-0.47 [[ 0.99746589 -0.06822441 -0.02018006 2.05318776] [ 0.06844141 0.99760233 0.01026486 -0.03314645] [ 0.01943136 -0.01162 0.99974367 -0.47029066] [ 0. 0. 0. 1. ]] SLAMing on 84.091346184 meters Centerline goodness [0,1] 0.6568619901953235 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99751051 -0.06744411 -0.02059282 2.05509759] [ 0.06767432 0.99765016 0.01069364 -0.03351095] [ 0.0198232 -0.01206062 0.99973075 -0.47119746] [ 0. 0. 0. 1. ]] SLAMing on 84.12134618399999 meters Centerline goodness [0,1] 0.6591107460081121 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99755569 -0.06664452 -0.02100354 2.05715589] [ 0.06688928 0.99769784 0.01117365 -0.03414584] [ 0.02021052 -0.01255125 0.99971696 -0.47231541] [ 0. 0. 0. 1. ]] SLAMing on 84.15134618399999 meters Centerline goodness [0,1] 0.662260324957006 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99763481 -0.06526044 -0.02158381 2.06015517] [ 0.06552503 0.99778131 0.0117869 -0.033817 ] [ 0.0207667 -0.0131733 0.99969756 -0.47381998] [ 0. 0. 0. 1. ]] SLAMing on 84.18134618399999 meters Centerline goodness [0,1] 0.6649065696050034 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99763118 -0.06527906 -0.0216948 2.06040021] [ 0.06553862 0.99778404 0.01147575 -0.03288116] [ 0.0208976 -0.01287042 0.99969878 -0.47357899] [ 0. 0. 0. 1. ]] SLAMing on 84.21134618399999 meters Centerline goodness [0,1] 0.6637904547316673 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99761296 -0.06557449 -0.02164186 2.05987607] [ 0.06582335 0.99777073 0.01099377 -0.03226828] [ 0.0208727 -0.01239207 0.99970534 -0.47279298] [ 0. 0. 0. 1. ]] SLAMing on 84.241346184 meters Centerline goodness [0,1] 0.6513735630712512 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.03, Z:-0.47 [[ 0.99755075 -0.066618 -0.02132016 2.05784525] [ 0.06685544 0.99770611 0.01062396 -0.03389547] [ 0.0205635 -0.01202331 0.99971625 -0.47143791] [ 0. 0. 0. 1. ]] SLAMing on 84.271346184 meters Centerline goodness [0,1] 0.6422816216907533 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99751757 -0.06720007 -0.02104405 2.05691734] [ 0.06743509 0.99766666 0.0106646 -0.03622014] [ 0.02027829 -0.01205723 0.99972167 -0.47122811] [ 0. 0. 0. 1. ]] SLAMing on 84.301346184 meters Centerline goodness [0,1] 0.6404988244914648 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99748983 -0.06771719 -0.02069854 2.05611896] [ 0.06795122 0.99762997 0.0108201 -0.03840978] [ 0.01991677 -0.01219943 0.99972721 -0.47149208] [ 0. 0. 0. 1. ]] SLAMing on 84.331346184 meters Centerline goodness [0,1] 0.6407586558044807 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99747437 -0.06798794 -0.02055526 2.0559554 ] [ 0.06822603 0.99760801 0.01111157 -0.04017599] [ 0.01975064 -0.01248591 0.99972697 -0.47194337] [ 0. 0. 0. 1. ]] SLAMing on 84.361346184 meters Centerline goodness [0,1] 0.6330691403960346 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.9974269 -0.06881214 -0.02011161 2.05474892] [ 0.06904301 0.99755283 0.01101903 -0.04142466] [ 0.01930415 -0.01237924 0.99973702 -0.47216872] [ 0. 0. 0. 1. ]] SLAMing on 84.391346184 meters Centerline goodness [0,1] 0.6395162724524275 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99741554 -0.06899059 -0.02006353 2.05477991] [ 0.06922027 0.9975409 0.01098678 -0.04203525] [ 0.0192562 -0.01234719 0.99973834 -0.47230946] [ 0. 0. 0. 1. ]] SLAMing on 84.421346184 meters Centerline goodness [0,1] 0.6274937260767066 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99742332 -0.06888026 -0.02005571 2.05537869] [ 0.06911619 0.99754442 0.01131734 -0.04299243] [ 0.01922692 -0.01267435 0.99973481 -0.47317758] [ 0. 0. 0. 1. ]] SLAMing on 84.451346184 meters Centerline goodness [0,1] 0.6191769004364154 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99743245 -0.06873651 -0.02009503 2.05582207] [ 0.06897977 0.99754976 0.01167324 -0.04483345] [ 0.01924341 -0.01302942 0.99972993 -0.47358729] [ 0. 0. 0. 1. ]] SLAMing on 84.48134618399999 meters Centerline goodness [0,1] 0.6428135799959341 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99741192 -0.06905292 -0.02002868 2.05508642] [ 0.06928667 0.99753368 0.01122076 -0.04444093] [ 0.01920445 -0.01257944 0.99973644 -0.4726176 ] [ 0. 0. 0. 1. ]] SLAMing on 84.51134618399999 meters Centerline goodness [0,1] 0.6180193027579006 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99737296 -0.06961718 -0.0200155 2.05399554] [ 0.06983292 0.99750564 0.01028879 -0.04250215] [ 0.0192493 -0.0116595 0.99974673 -0.47092119] [ 0. 0. 0. 1. ]] SLAMing on 84.54134618399999 meters Centerline goodness [0,1] 0.6462677044787546 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99733031 -0.07018624 -0.02015302 2.05315279] [ 0.07038191 0.99747798 0.00916927 -0.0397086 ] [ 0.01945864 -0.0105632 0.99975486 -0.46903787] [ 0. 0. 0. 1. ]] SLAMing on 84.57134618399999 meters Centerline goodness [0,1] 0.6462677044787546 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99733031 -0.07018624 -0.02015302 2.05315279] [ 0.07038191 0.99747798 0.00916927 -0.0397086 ] [ 0.01945864 -0.0105632 0.99975486 -0.46903787] [ 0. 0. 0. 1. ]] SLAMing on 84.601346184 meters Centerline goodness [0,1] 0.6410950508197559 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.04, Z:-0.47 [[ 0.99732477 -0.07023249 -0.02026552 2.05322259] [ 0.07042581 0.99747653 0.00898791 -0.04014964] [ 0.01958314 -0.01039108 0.99975423 -0.46856395] [ 0. 0. 0. 1. ]] SLAMing on 84.631346184 meters Centerline goodness [0,1] 0.6391982747684892 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99709818 -0.07326623 -0.02067053 2.05613565] [ 0.07339412 0.99728787 0.00549669 -0.0410949 ] [ 0.02021175 -0.00699783 0.99977123 -0.46970267] [ 0. 0. 0. 1. ]] SLAMing on 84.661346184 meters Centerline goodness [0,1] 0.6365062496837204 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99687298 -0.0761361 -0.0211556 2.05960805] [ 0.07620153 0.99708978 0.00230286 -0.04217974] [ 0.02091871 -0.00390775 0.99977354 -0.47147054] [ 0. 0. 0. 1. ]] SLAMing on 84.691346184 meters Centerline goodness [0,1] 0.6315324635998889 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99688408 -0.07597792 -0.02120097 2.06092662] [ 0.07606224 0.99709794 0.00319826 -0.0434837 ] [ 0.02089645 -0.00480089 0.99977012 -0.47385449] [ 0. 0. 0. 1. ]] SLAMing on 84.721346184 meters Centerline goodness [0,1] 0.6282694647201946 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99713069 -0.07270454 -0.02108158 2.0593592 ] [ 0.07286651 0.99731701 0.00701841 -0.04387665] [ 0.02051475 -0.00853441 0.99975312 -0.47357531] [ 0. 0. 0. 1. ]] SLAMing on 84.751346184 meters Centerline goodness [0,1] 0.6334507845572765 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.9971219 -0.07267371 -0.0215973 2.05996812] [ 0.0728213 0.99732619 0.00612667 -0.04101202] [ 0.0210943 -0.00768178 0.99974798 -0.47216059] [ 0. 0. 0. 1. ]] SLAMing on 84.781346184 meters Centerline goodness [0,1] 0.6323342646685293 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99710756 -0.07277766 -0.02190723 2.05991301] [ 0.07291121 0.99732403 0.00535955 -0.0389106 ] [ 0.02145855 -0.00694133 0.99974564 -0.47067796] [ 0. 0. 0. 1. ]] SLAMing on 84.811346184 meters Centerline goodness [0,1] 0.6297479588214412 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99710371 -0.07285588 -0.02182208 2.05892615] [ 0.0729651 0.99732544 0.00424993 -0.0371958 ] [ 0.02145409 -0.00582987 0.99975284 -0.46835157] [ 0. 0. 0. 1. ]] SLAMing on 84.841346184 meters Centerline goodness [0,1] 0.6300460922858735 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99710325 -0.07288042 -0.02176142 2.05885474] [ 0.07298592 0.99732457 0.00409258 -0.03728407] [ 0.02140493 -0.005669 0.99975482 -0.46821788] [ 0. 0. 0. 1. ]] SLAMing on 84.87134618399999 meters Centerline goodness [0,1] 0.6225669099756691 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99709717 -0.07299753 -0.02164699 2.0589064 ] [ 0.07310159 0.99731626 0.00405459 -0.03754983] [ 0.02129293 -0.00562525 0.99975745 -0.46865835] [ 0. 0. 0. 1. ]] SLAMing on 84.90134618399999 meters Centerline goodness [0,1] 0.6216305062458909 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99710414 -0.07289619 -0.0216675 2.05967511] [ 0.07300463 0.99732252 0.00425578 -0.03816109] [ 0.02129926 -0.00582528 0.99975617 -0.46963306] [ 0. 0. 0. 1. ]] SLAMing on 84.93134618399999 meters Centerline goodness [0,1] 0.6480096989290766 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99714167 -0.07225625 -0.02207981 2.06218227] [ 0.07238478 0.99736386 0.00507728 -0.03941024] [ 0.02165474 -0.00666101 0.99974332 -0.47195912] [ 0. 0. 0. 1. ]] SLAMing on 84.96134618399999 meters Centerline goodness [0,1] 0.653247015982197 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99714977 -0.07207822 -0.02229482 2.06322357] [ 0.0722119 0.9973755 0.00524941 -0.03927802] [ 0.02185794 -0.00684439 0.99973766 -0.47273314] [ 0. 0. 0. 1. ]] SLAMing on 84.991346184 meters Centerline goodness [0,1] 0.6518155153231516 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99713848 -0.07216124 -0.02252999 2.06367179] [ 0.07229302 0.99737045 0.00508972 -0.03846627] [ 0.02210346 -0.00670392 0.99973321 -0.47263141] [ 0. 0. 0. 1. ]] SLAMing on 85.021346184 meters Centerline goodness [0,1] 0.6090370295324452 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99707991 -0.07300944 -0.02238914 2.0618111 ] [ 0.07312342 0.99731357 0.00431423 -0.03758269] [ 0.02201401 -0.0059388 0.99974002 -0.47061681] [ 0. 0. 0. 1. ]] SLAMing on 85.051346184 meters Centerline goodness [0,1] 0.6386177521993763 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.9970458 -0.07355282 -0.02212829 2.06037296] [ 0.07365909 0.99727536 0.00402496 -0.03827567] [ 0.02177195 -0.00564302 0.99974704 -0.46951807] [ 0. 0. 0. 1. ]] SLAMing on 85.081346184 meters Centerline goodness [0,1] 0.6468592551333012 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99700954 -0.07411357 -0.02188949 2.05892868] [ 0.0742089 0.99723631 0.00357422 -0.03868563] [ 0.0215641 -0.00518793 0.99975401 -0.46822856] [ 0. 0. 0. 1. ]] SLAMing on 85.111346184 meters Centerline goodness [0,1] 0.6424870466321244 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99699883 -0.07427569 -0.02182794 2.05878954] [ 0.0743722 0.9972239 0.00364244 -0.0391896 ] [ 0.0214968 -0.0052549 0.99975511 -0.46834899] [ 0. 0. 0. 1. ]] SLAMing on 85.141346184 meters Centerline goodness [0,1] 0.6306249367984629 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99700627 -0.07413883 -0.02195302 2.05974906] [ 0.07424407 0.99723201 0.00401706 -0.04005397] [ 0.02159443 -0.00563492 0.99975093 -0.46938064] [ 0. 0. 0. 1. ]] SLAMing on 85.171346184 meters Centerline goodness [0,1] 0.6253697757325984 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99701899 -0.07393236 -0.02207143 2.06069378] [ 0.07404821 0.99724461 0.00447769 -0.04170099] [ 0.02167957 -0.00609869 0.99974637 -0.47036021] [ 0. 0. 0. 1. ]] SLAMing on 85.201346184 meters Centerline goodness [0,1] 0.6368569841991014 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99704848 -0.07351446 -0.02213503 2.06175555] [ 0.07364693 0.99727067 0.00522926 -0.04413342] [ 0.02169019 -0.00684401 0.99974131 -0.47164394] [ 0. 0. 0. 1. ]] SLAMing on 85.23134618399999 meters Centerline goodness [0,1] 0.6364552116648619 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.99707686 -0.07303266 -0.02244904 2.06260334] [ 0.07317574 0.99730324 0.00561852 -0.04571885] [ 0.02197817 -0.00724482 0.9997322 -0.47154348] [ 0. 0. 0. 1. ]] SLAMing on 85.26134618399999 meters Centerline goodness [0,1] 0.6482518540941427 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.99731101 -0.06979601 -0.0223441 2.06065508] [ 0.07001358 0.99750447 0.00910652 -0.04526977] [ 0.02165274 -0.01064642 0.99970886 -0.4704263 ] [ 0. 0. 0. 1. ]] SLAMing on 85.29134618399999 meters Centerline goodness [0,1] 0.6474514563106797 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.99752919 -0.06663234 -0.02226289 2.05858115] [ 0.06691717 0.99768268 0.012303 -0.0434546 ] [ 0.02139152 -0.01376238 0.99967645 -0.46901822] [ 0. 0. 0. 1. ]] SLAMing on 85.32134618399999 meters Centerline goodness [0,1] 0.6644909937259664 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.997553 -0.06607778 -0.02284166 2.0595361 ] [ 0.06635486 0.99772874 0.0115925 -0.04105489] [ 0.02202377 -0.01307979 0.99967188 -0.46742006] [ 0. 0. 0. 1. ]] SLAMing on 85.351346184 meters Centerline goodness [0,1] 0.6673892768016939 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.04, Z:-0.47 [[ 0.9975853 -0.0655569 -0.02293174 2.06054591] [ 0.06585285 0.99775233 0.01239696 -0.04453571] [ 0.02206749 -0.01387715 0.99966017 -0.46836317] [ 0. 0. 0. 1. ]] SLAMing on 85.381346184 meters Centerline goodness [0,1] 0.6669592696629214 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.9973868 -0.06835256 -0.02339868 2.06354491] [ 0.06857669 0.99760603 0.00891325 -0.04573936] [ 0.02273342 -0.01049456 0.99968648 -0.46913779] [ 0. 0. 0. 1. ]] SLAMing on 85.411346184 meters Centerline goodness [0,1] 0.6685204669572624 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.99741444 -0.0678516 -0.02367706 2.06499898] [ 0.06809327 0.99763322 0.00955376 -0.04697895] [ 0.02297278 -0.0111413 0.99967401 -0.47028356] [ 0. 0. 0. 1. ]] SLAMing on 85.441346184 meters Centerline goodness [0,1] 0.666432196151334 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.47 [[ 0.99741104 -0.0677807 -0.02402081 2.06580678] [ 0.06802108 0.99764021 0.00933465 -0.04487882] [ 0.02333142 -0.01094441 0.99966788 -0.47032095] [ 0. 0. 0. 1. ]] SLAMing on 85.471346184 meters Centerline goodness [0,1] 0.6465989643557388 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.04, Z:-0.47 [[ 0.99740488 -0.06776729 -0.02431245 2.06634669] [ 0.06800971 0.99764145 0.00928569 -0.04397363] [ 0.02362584 -0.01091508 0.99966128 -0.47020081] [ 0. 0. 0. 1. ]] SLAMing on 85.501346184 meters Centerline goodness [0,1] 0.6575260057651335 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.9973951 -0.06796482 -0.02416185 2.06600376] [ 0.06822266 0.99761989 0.01001152 -0.04836361] [ 0.02342391 -0.01163382 0.99965793 -0.47052831] [ 0. 0. 0. 1. ]] SLAMing on 85.531346184 meters Centerline goodness [0,1] 0.6581892675127411 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99738952 -0.06808824 -0.0240446 2.0657429 ] [ 0.06835252 0.9976076 0.01034496 -0.05153683] [ 0.0232827 -0.01196146 0.99965736 -0.47055562] [ 0. 0. 0. 1. ]] SLAMing on 85.561346184 meters Centerline goodness [0,1] 0.6578848701477241 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99738614 -0.06813759 -0.02404489 2.06558084] [ 0.06840454 0.99760284 0.01045911 -0.05313697] [ 0.02327459 -0.01207655 0.99965617 -0.47023016] [ 0. 0. 0. 1. ]] SLAMing on 85.591346184 meters Centerline goodness [0,1] 0.6600759886017098 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.9973236 -0.06911016 -0.02386267 2.06312258] [ 0.06932961 0.99755765 0.00849393 -0.04955671] [ 0.02321738 -0.01012559 0.99967916 -0.46657528] [ 0. 0. 0. 1. ]] SLAMing on 85.62134618399999 meters Centerline goodness [0,1] 0.6549846972053586 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.9973153 -0.06915714 -0.02407247 2.06309225] [ 0.06936755 0.99755896 0.00801706 -0.04835402] [ 0.02345927 -0.00966538 0.99967807 -0.46560722] [ 0. 0. 0. 1. ]] SLAMing on 85.65134618399999 meters Centerline goodness [0,1] 0.6604747938131408 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.05, Z:-0.47 [[ 0.99734229 -0.06866208 -0.02436946 2.06451452] [ 0.06888646 0.99758838 0.00848942 -0.04935669] [ 0.02372779 -0.01014559 0.99966697 -0.46648898] [ 0. 0. 0. 1. ]] SLAMing on 85.68134618399999 meters Centerline goodness [0,1] 0.6588787379561679 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99726485 -0.06940928 -0.02540017 2.07147278] [ 0.06961171 0.99754837 0.00717321 -0.05259701] [ 0.02484001 -0.00892174 0.99965163 -0.47068996] [ 0. 0. 0. 1. ]] SLAMing on 85.71134618399999 meters Centerline goodness [0,1] 0.6611706512778236 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99726034 -0.06945335 -0.02545675 2.07175968] [ 0.06966055 0.99754372 0.0073441 -0.05287993] [ 0.02488415 -0.00909731 0.99964895 -0.47105788] [ 0. 0. 0. 1. ]] SLAMing on 85.741346184 meters Centerline goodness [0,1] 0.6586359433184215 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99722372 -0.06998364 -0.02543895 2.07095203] [ 0.07017612 0.99751176 0.00675258 -0.05106981] [ 0.02490308 -0.00851904 0.99965357 -0.47008594] [ 0. 0. 0. 1. ]] SLAMing on 85.771346184 meters Centerline goodness [0,1] 0.6553044522862077 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.99718789 -0.07050308 -0.02540907 2.06994288] [ 0.07067953 0.99748034 0.00611319 -0.04938683] [ 0.02491405 -0.0078919 0.99965845 -0.46875707] [ 0. 0. 0. 1. ]] SLAMing on 85.801346184 meters Centerline goodness [0,1] 0.6375802062267495 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 0.9970606 -0.07241866 -0.02501405 2.06786181] [ 0.07255049 0.99735502 0.00440246 -0.05267302] [ 0.02462907 -0.0062043 0.99967741 -0.46661213] [ 0. 0. 0. 1. ]] SLAMing on 85.831346184 meters Centerline goodness [0,1] 0.6429386378292574 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.05, Z:-0.47 [[ 9.96814944e-01 -7.56975716e-02 -2.50967075e-02 2.06931367e+00] [ 7.57414905e-02 9.97127165e-01 8.02681497e-04 -5.45502435e-02] [ 2.49638478e-02 -2.70098694e-03 9.99684706e-01 -4.66672862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.861346184 meters Centerline goodness [0,1] 0.6336100405178378 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 9.96811874e-01 -7.58388849e-02 -2.47901331e-02 2.06866788e+00] [ 7.58908912e-02 9.97115450e-01 1.16246309e-03 -5.80258520e-02] [ 2.46304649e-02 -3.04010231e-03 9.99692002e-01 -4.66684007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.891346184 meters Centerline goodness [0,1] 0.6309120995826027 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 9.96804331e-01 -7.59973876e-02 -2.46073558e-02 2.06808248e+00] [ 7.60521319e-02 9.97103002e-01 1.29518992e-03 -5.90648414e-02] [ 2.44376373e-02 -3.16249280e-03 9.99696354e-01 -4.66516438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.921346184 meters Centerline goodness [0,1] 0.6524609694953958 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.46 [[ 0.9970239 -0.07310982 -0.0244601 2.06529914] [ 0.07324372 0.99730336 0.00462288 -0.05741982] [ 0.02405616 -0.00640067 0.99969012 -0.46476834] [ 0. 0. 0. 1. ]] SLAMing on 85.951346184 meters Centerline goodness [0,1] 0.6568405890679713 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.06, Z:-0.46 [[ 0.99728035 -0.06949889 -0.02453176 2.06435208] [ 0.06973142 0.9975274 0.00875306 -0.058689 ] [ 0.02386278 -0.01043988 0.99966073 -0.4645457 ] [ 0. 0. 0. 1. ]] SLAMing on 85.98134618399999 meters Centerline goodness [0,1] 0.6632741715278639 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99731863 -0.06875375 -0.02506914 2.06616657] [ 0.06900562 0.99757271 0.00932291 -0.05959385] [ 0.0243673 -0.01102782 0.99964225 -0.46512688] [ 0. 0. 0. 1. ]] SLAMing on 86.01134618399999 meters Centerline goodness [0,1] 0.6668481354086759 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99741962 -0.06705012 -0.02565881 2.06936578] [ 0.06734655 0.99767046 0.01086738 -0.06342591] [ 0.02487038 -0.01256737 0.99961169 -0.46703278] [ 0. 0. 0. 1. ]] SLAMing on 86.04134618399999 meters Centerline goodness [0,1] 0.6738125262715426 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99742638 -0.06686576 -0.02587633 2.06977643] [ 0.06715795 0.99768614 0.01059157 -0.06229521] [ 0.02510824 -0.01230211 0.99960904 -0.46660519] [ 0. 0. 0. 1. ]] SLAMing on 86.07134618399999 meters Centerline goodness [0,1] 0.6756489003368338 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99742016 -0.06688882 -0.02605575 2.06977435] [ 0.06716792 0.9976917 0.00998677 -0.06019718] [ 0.0253276 -0.01171112 0.99961061 -0.46570122] [ 0. 0. 0. 1. ]] SLAMing on 86.101346184 meters Centerline goodness [0,1] 0.67639250713311 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99742609 -0.06667275 -0.02638075 2.07046983] [ 0.06694899 0.99770896 0.00972924 -0.05891413] [ 0.02567164 -0.01147036 0.99960462 -0.4653721 ] [ 0. 0. 0. 1. ]] SLAMing on 86.131346184 meters Centerline goodness [0,1] 0.6841506259587313 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99751721 -0.06507323 -0.02692373 2.0741478 ] [ 0.06540104 0.99779304 0.01147875 -0.06312863] [ 0.02611735 -0.01321109 0.99957158 -0.46830613] [ 0. 0. 0. 1. ]] SLAMing on 86.161346184 meters Centerline goodness [0,1] 0.6920510983173136 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.07, Z:-0.47 [[ 0.99755647 -0.0643627 -0.02717581 2.0759425 ] [ 0.06471489 0.99782818 0.01228417 -0.06502744] [ 0.02632615 -0.01401284 0.99955519 -0.46979684] [ 0. 0. 0. 1. ]] SLAMing on 86.191346184 meters Centerline goodness [0,1] 0.6907086847166741 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:-0.47 [[ 0.99756709 -0.06406136 -0.02749618 2.07710598] [ 0.06441858 0.99784706 0.01230785 -0.06420648] [ 0.02664853 -0.01404917 0.99954614 -0.47020712] [ 0. 0. 0. 1. ]] SLAMing on 86.221346184 meters Centerline goodness [0,1] 0.6755562140405462 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:-0.47 [[ 0.99755791 -0.06406931 -0.02780884 2.07751737] [ 0.06441581 0.997854 0.01174758 -0.06154069] [ 0.0269965 -0.01351022 0.99954423 -0.46958159] [ 0. 0. 0. 1. ]] SLAMing on 86.251346184 meters Centerline goodness [0,1] 0.702768648540982 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99774084 -0.06120997 -0.02768681 2.07475484] [ 0.06162253 0.99799707 0.01430069 -0.0578842 ] [ 0.02675601 -0.01597451 0.99951435 -0.46721006] [ 0. 0. 0. 1. ]] SLAMing on 86.281346184 meters Centerline goodness [0,1] 0.706645419913851 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99772435 -0.06143388 -0.02778496 2.07440165] [ 0.06183076 0.99799321 0.01365688 -0.05698632] [ 0.02689021 -0.01534376 0.99952063 -0.46610697] [ 0. 0. 0. 1. ]] SLAMing on 86.311346184 meters Centerline goodness [0,1] 0.6941780224707905 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99772835 -0.06148389 -0.02752934 2.07393688] [ 0.06188031 0.99798836 0.01378647 -0.05902327] [ 0.02662631 -0.01545868 0.99952592 -0.46612654] [ 0. 0. 0. 1. ]] SLAMing on 86.341346184 meters Centerline goodness [0,1] 0.6851306906698978 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99748528 -0.06552111 -0.02702043 2.07364803] [ 0.06580529 0.9977847 0.00976478 -0.06189101] [ 0.02632077 -0.01151831 0.99958719 -0.46591036] [ 0. 0. 0. 1. ]] SLAMing on 86.37134618399999 meters Centerline goodness [0,1] 0.682441955344559 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.99745883 -0.06608347 -0.0266245 2.07238932] [ 0.0663531 0.99775218 0.00937313 -0.06187586] [ 0.02594524 -0.01111592 0.99960156 -0.46541457] [ 0. 0. 0. 1. ]] SLAMing on 86.40134618399999 meters Centerline goodness [0,1] 0.6807725640708184 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.46 [[ 0.99742511 -0.06663587 -0.0265107 2.07171534] [ 0.06688956 0.99772158 0.00879935 -0.06021743] [ 0.02586395 -0.01054998 0.9996098 -0.46491407] [ 0. 0. 0. 1. ]] SLAMing on 86.43134618399999 meters Centerline goodness [0,1] 0.6801986343885785 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.46 [[ 0.99739086 -0.06717089 -0.02644888 2.07133475] [ 0.06741584 0.99768893 0.00847982 -0.05901662] [ 0.02581815 -0.01024076 0.9996142 -0.46485916] [ 0. 0. 0. 1. ]] SLAMing on 86.46134618399999 meters Centerline goodness [0,1] 0.674629161085479 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.9971033 -0.07121338 -0.02671454 2.0730076 ] [ 0.07136635 0.99743855 0.00481569 -0.05921657] [ 0.02630317 -0.00670826 0.9996315 -0.46564307] [ 0. 0. 0. 1. ]] SLAMing on 86.491346184 meters Centerline goodness [0,1] 0.674629161085479 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 0.9971033 -0.07121338 -0.02671454 2.0730076 ] [ 0.07136635 0.99743855 0.00481569 -0.05921657] [ 0.02630317 -0.00670826 0.9996315 -0.46564307] [ 0. 0. 0. 1. ]] SLAMing on 86.521346184 meters Centerline goodness [0,1] 0.6533458628023147 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 9.96833879e-01 -7.48193304e-02 -2.69125408e-02 2.07460457e+00] [ 7.48784266e-02 9.97191956e-01 1.19342315e-03 -6.03710199e-02] [ 2.67476781e-02 -3.20481334e-03 9.99637080e-01 -4.65969503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.551346184 meters Centerline goodness [0,1] 0.6585281726576167 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.06, Z:-0.47 [[ 9.96787081e-01 -7.55943762e-02 -2.64765008e-02 2.07333254e+00] [ 7.56541194e-02 9.97133324e-01 1.26063896e-03 -6.36887313e-02] [ 2.63053040e-02 -3.25964499e-03 9.99648641e-01 -4.65889316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.581346184 meters Centerline goodness [0,1] 0.6370162066158513 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.07, Z:-0.47 [[ 0.99663207 -0.07945755 -0.02027355 2.08449856] [ 0.07964225 0.99678752 0.00847059 -0.06635244] [ 0.01953536 -0.0100567 0.99975859 -0.46910642] [ 0. 0. 0. 1. ]] SLAMing on 86.611346184 meters Centerline goodness [0,1] 0.6545130729462982 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:-0.47 [[ 0.99660124 -0.07987408 -0.02015196 2.08381641] [ 0.0800462 0.99675998 0.007883 -0.06463727] [ 0.01945702 -0.00946929 0.99976585 -0.46844335] [ 0. 0. 0. 1. ]] SLAMing on 86.641346184 meters Centerline goodness [0,1] 0.6272644369408227 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.06, Z:-0.47 [[ 0.99660798 -0.07976848 -0.0202369 2.08446448] [ 0.07994018 0.99676898 0.00782108 -0.06387633] [ 0.01954764 -0.00941229 0.99976462 -0.46889387] [ 0. 0. 0. 1. ]] SLAMing on 86.671346184 meters Centerline goodness [0,1] 0.6319853487105875 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99663064 -0.07945205 -0.02036538 2.08550357] [ 0.07962963 0.99679193 0.0080608 -0.0640952 ] [ 0.0196596 -0.00965533 0.99976011 -0.46975514] [ 0. 0. 0. 1. ]] SLAMing on 86.701346184 meters Centerline goodness [0,1] 0.6294910550572377 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99667358 -0.07884701 -0.02061347 2.08683953] [ 0.07902503 0.99684079 0.00796812 -0.06306965] [ 0.01992009 -0.00957059 0.99975577 -0.47020395] [ 0. 0. 0. 1. ]] SLAMing on 86.73134618399999 meters Centerline goodness [0,1] 0.6322058714048192 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.9966663 -0.07888193 -0.0208308 2.0868611 ] [ 0.07904495 0.99684562 0.00712096 -0.06089527] [ 0.02020338 -0.00874379 0.99975766 -0.46899348] [ 0. 0. 0. 1. ]] SLAMing on 86.76134618399999 meters Centerline goodness [0,1] 0.6573019740440555 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99665794 -0.07898049 -0.02085747 2.08619314] [ 0.07911061 0.99685074 0.00548765 -0.05663309] [ 0.02035837 -0.00711936 0.9997674 -0.46662875] [ 0. 0. 0. 1. ]] SLAMing on 86.79134618399999 meters Centerline goodness [0,1] 0.6478512663733751 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99666474 -0.0788943 -0.02085877 2.0862976 ] [ 0.07901737 0.99685998 0.00514177 -0.0553473 ] [ 0.02038762 -0.00677283 0.99976921 -0.46640716] [ 0. 0. 0. 1. ]] SLAMing on 86.82134618399999 meters Centerline goodness [0,1] 0.6606348338346051 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99668274 -0.07861019 -0.02107028 2.08718521] [ 0.07873216 0.99688316 0.00502181 -0.05423074] [ 0.02060984 -0.00666406 0.99976538 -0.46667522] [ 0. 0. 0. 1. ]] SLAMing on 86.851346184 meters Centerline goodness [0,1] 0.6628165149058252 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.9967347 -0.07787384 -0.02134474 2.08942693] [ 0.07800282 0.99693917 0.00527689 -0.05198412] [ 0.02086848 -0.00692461 0.99975825 -0.46866031] [ 0. 0. 0. 1. ]] SLAMing on 86.881346184 meters Centerline goodness [0,1] 0.6328702778333 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99674804 -0.07762752 -0.02161756 2.09065926] [ 0.07775703 0.9969587 0.00521473 -0.05077195] [ 0.02114701 -0.00687869 0.99975271 -0.46934146] [ 0. 0. 0. 1. ]] SLAMing on 86.911346184 meters Centerline goodness [0,1] 0.6549988732817547 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99675971 -0.07743733 -0.02176083 2.0913533 ] [ 0.07756338 0.99697484 0.00500813 -0.04969438] [ 0.02130718 -0.00667974 0.99975066 -0.46951846] [ 0. 0. 0. 1. ]] SLAMing on 86.941346184 meters Centerline goodness [0,1] 0.6608684770366662 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99677915 -0.07719221 -0.02174119 2.09138286] [ 0.07730486 0.99699785 0.00438791 -0.0482372 ] [ 0.02133721 -0.00605448 0.999754 -0.46869708] [ 0. 0. 0. 1. ]] SLAMing on 86.971346184 meters Centerline goodness [0,1] 0.6630892678034102 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99678909 -0.07701878 -0.0219004 2.0918245 ] [ 0.07712631 0.99701287 0.00410744 -0.04716 ] [ 0.02151863 -0.00578335 0.99975172 -0.46843063] [ 0. 0. 0. 1. ]] SLAMing on 87.001346184 meters Centerline goodness [0,1] 0.6639329828180422 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99679815 -0.07681598 -0.02219793 2.09269938] [ 0.07691859 0.99703012 0.00380471 -0.04528283] [ 0.02183975 -0.00549996 0.99974636 -0.4684367 ] [ 0. 0. 0. 1. ]] SLAMing on 87.031346184 meters Centerline goodness [0,1] 0.690672933565815 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 0.99700379 -0.07411826 -0.02213409 2.09367674] [ 0.07428312 0.99721455 0.00672028 -0.04310293] [ 0.02157434 -0.00834433 0.99973242 -0.47067117] [ 0. 0. 0. 1. ]] SLAMing on 87.061346184 meters Centerline goodness [0,1] 0.6928397689267254 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 0.99700447 -0.07407028 -0.02226399 2.09463497] [ 0.07423925 0.99721686 0.00686013 -0.04267418] [ 0.0216939 -0.00849244 0.99972859 -0.47170395] [ 0. 0. 0. 1. ]] SLAMing on 87.091346184 meters Centerline goodness [0,1] 0.6743062406718778 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99700512 -0.07408781 -0.02217648 2.09532247] [ 0.07426575 0.99721169 0.00730997 -0.04394257] [ 0.02157306 -0.00893503 0.99972735 -0.47313725] [ 0. 0. 0. 1. ]] SLAMing on 87.12134618399999 meters Centerline goodness [0,1] 0.6930470760381452 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99700337 -0.07416067 -0.02201093 2.09573239] [ 0.07434946 0.99720107 0.00788545 -0.04626477] [ 0.02136453 -0.00949832 0.99972663 -0.474491 ] [ 0. 0. 0. 1. ]] SLAMing on 87.15134618399999 meters Centerline goodness [0,1] 0.6798325262308313 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99696816 -0.07474535 -0.0216246 2.09471552] [ 0.07492607 0.99715959 0.00766992 -0.04737489] [ 0.02098988 -0.00926692 0.99973674 -0.47432735] [ 0. 0. 0. 1. ]] SLAMing on 87.18134618399999 meters Centerline goodness [0,1] 0.6689811892437824 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.48 [[ 0.99682229 -0.07816345 -0.01535559 2.10537374] [ 0.07838145 0.99682306 0.01414727 -0.04586009] [ 0.01420101 -0.0153059 0.99978201 -0.47587838] [ 0. 0. 0. 1. ]] SLAMing on 87.21134618399999 meters Centerline goodness [0,1] 0.6687001645361347 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99674143 -0.07923696 -0.01510026 2.10332229] [ 0.07942675 0.99676343 0.01241192 -0.04221799] [ 0.01406791 -0.01357084 0.99980894 -0.47338026] [ 0. 0. 0. 1. ]] SLAMing on 87.241346184 meters Centerline goodness [0,1] 0.6453108375132999 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99669276 -0.07995217 -0.01453227 2.10172186] [ 0.08012506 0.99671578 0.01173113 -0.04210611] [ 0.01354661 -0.01285673 0.99982558 -0.47282067] [ 0. 0. 0. 1. ]] SLAMing on 87.271346184 meters Centerline goodness [0,1] 0.6280676010727116 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99643465 -0.08305292 -0.0148393 2.10457614] [ 0.08317821 0.9965023 0.0080341 -0.04195449] [ 0.01412014 -0.00923977 0.99985761 -0.47412456] [ 0. 0. 0. 1. ]] SLAMing on 87.301346184 meters Centerline goodness [0,1] 0.654550499445061 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.48 [[ 0.99644822 -0.08289033 -0.0148367 2.10566847] [ 0.08302446 0.99650985 0.008664 -0.04431182] [ 0.01406675 -0.00986504 0.99985239 -0.47573423] [ 0. 0. 0. 1. ]] SLAMing on 87.331346184 meters Centerline goodness [0,1] 0.6487541883959389 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.48 [[ 0.99644659 -0.08291656 -0.01480007 2.10627472] [ 0.08305301 0.99650578 0.00885547 -0.04462025] [ 0.01401409 -0.01005319 0.99985126 -0.47679669] [ 0. 0. 0. 1. ]] SLAMing on 87.361346184 meters Centerline goodness [0,1] 0.6502912129653077 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99664927 -0.08045817 -0.01472104 2.10401462] [ 0.08063786 0.99667063 0.0120491 -0.04288465] [ 0.01370258 -0.0131958 0.99981904 -0.47606262] [ 0. 0. 0. 1. ]] SLAMing on 87.391346184 meters Centerline goodness [0,1] 0.6578046119891423 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99662929 -0.08066339 -0.01494921 2.10408295] [ 0.08083327 0.99666549 0.01113031 -0.03982571] [ 0.01400155 -0.01230118 0.9998263 -0.47500511] [ 0. 0. 0. 1. ]] SLAMing on 87.421346184 meters Centerline goodness [0,1] 0.6570694610473841 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99662721 -0.08064846 -0.01516643 2.10424994] [ 0.0808093 0.99667628 0.0103081 -0.03717934] [ 0.01428469 -0.01149892 0.99983185 -0.47395825] [ 0. 0. 0. 1. ]] SLAMing on 87.451346184 meters Centerline goodness [0,1] 0.6581852484511639 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99663938 -0.08044909 -0.01542346 2.10465027] [ 0.08060216 0.99670038 0.00957342 -0.0352887 ] [ 0.01460239 -0.01078442 0.99983522 -0.47290263] [ 0. 0. 0. 1. ]] SLAMing on 87.48134618399999 meters Centerline goodness [0,1] 0.6642915517417509 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.03, Z:-0.48 [[ 0.99713614 -0.07529865 -0.00704534 2.09490618] [ 0.07533309 0.99714707 0.00475838 -0.03359556] [ 0.00666694 -0.0052755 0.99996386 -0.47605283] [ 0. 0. 0. 1. ]] SLAMing on 87.51134618399999 meters Centerline goodness [0,1] 0.6570982679663315 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99717549 -0.07475658 -0.00724605 2.09633404] [ 0.0747918 0.99718801 0.00471802 -0.0325275 ] [ 0.00687297 -0.00524663 0.99996262 -0.47694248] [ 0. 0. 0. 1. ]] SLAMing on 87.54134618399999 meters Centerline goodness [0,1] 0.6641749014387384 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99721707 -0.07415826 -0.00765991 2.09841513] [ 0.07419654 0.9972319 0.00483938 -0.03093867] [ 0.00727983 -0.00539425 0.99995895 -0.47833634] [ 0. 0. 0. 1. ]] SLAMing on 87.57134618399999 meters Centerline goodness [0,1] 0.6936250452032856 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.9975095 -0.07009355 -0.00785383 2.09913397] [ 0.07016237 0.99749624 0.00885948 -0.0286343 ] [ 0.00721317 -0.00938846 0.99992991 -0.48000881] [ 0. 0. 0. 1. ]] SLAMing on 87.601346184 meters Centerline goodness [0,1] 0.6910998834045861 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99751822 -0.06992619 -0.00823026 2.10008557] [ 0.06999431 0.99751284 0.00830242 -0.02581215] [ 0.00762924 -0.00885788 0.99993166 -0.47975904] [ 0. 0. 0. 1. ]] SLAMing on 87.631346184 meters Centerline goodness [0,1] 0.6795181348495469 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99750479 -0.07011778 -0.00822722 2.0998651 ] [ 0.07018031 0.99750556 0.00757478 -0.02361448] [ 0.00767557 -0.00813327 0.99993747 -0.47901797] [ 0. 0. 0. 1. ]] SLAMing on 87.661346184 meters Centerline goodness [0,1] 0.687454583203571 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99747808 -0.07051732 -0.00804884 2.09905738] [ 0.07057394 0.99748212 0.00698159 -0.0226066 ] [ 0.00753625 -0.00753202 0.99994324 -0.47825109] [ 0. 0. 0. 1. ]] SLAMing on 87.691346184 meters Centerline goodness [0,1] 0.6784836966358958 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99739374 -0.07176633 -0.00743761 2.09701419] [ 0.0718131 0.99739869 0.00622394 -0.02306419] [ 0.00697159 -0.00674183 0.99995297 -0.47769941] [ 0. 0. 0. 1. ]] SLAMing on 87.721346184 meters Centerline goodness [0,1] 0.6792667476794995 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99738237 -0.07194565 -0.00722728 2.0971561 ] [ 0.07199275 0.99738408 0.00648313 -0.02440289] [ 0.00674194 -0.00698647 0.99995287 -0.47873365] [ 0. 0. 0. 1. ]] SLAMing on 87.751346184 meters Centerline goodness [0,1] 0.6850212281246764 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99737818 -0.07201106 -0.00715409 2.09795645] [ 0.0720601 0.99737676 0.00685069 -0.02492259] [ 0.006642 -0.00734825 0.99995094 -0.48046926] [ 0. 0. 0. 1. ]] SLAMing on 87.781346184 meters Centerline goodness [0,1] 0.6833874529159631 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99738346 -0.07191472 -0.00738232 2.09999199] [ 0.07196942 0.99737914 0.00743266 -0.02434511] [ 0.00682845 -0.00794451 0.99994513 -0.48337038] [ 0. 0. 0. 1. ]] SLAMing on 87.811346184 meters Centerline goodness [0,1] 0.6811549047099756 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99738614 -0.0718747 -0.0074106 2.10072832] [ 0.07193051 0.99738098 0.00756203 -0.02410249] [ 0.00684767 -0.00807531 0.99994395 -0.48438021] [ 0. 0. 0. 1. ]] SLAMing on 87.841346184 meters Centerline goodness [0,1] 0.682617162144619 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.49 [[ 0.99738039 -0.07195931 -0.00736375 2.10103338] [ 0.07201469 0.99737496 0.00755462 -0.02376891] [ 0.0068008 -0.00806512 0.99994435 -0.48504901] [ 0. 0. 0. 1. ]] SLAMing on 87.87134618399999 meters Centerline goodness [0,1] 0.6766874202203872 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99731628 -0.07287031 -0.00708195 2.09907117] [ 0.07291278 0.99732066 0.00593546 -0.02002889] [ 0.00663045 -0.00643589 0.99995731 -0.48265953] [ 0. 0. 0. 1. ]] SLAMing on 87.90134618399999 meters Centerline goodness [0,1] 0.666614505907206 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99726647 -0.07356824 -0.00687756 2.09751634] [ 0.07359942 0.9972782 0.00439502 -0.01712071] [ 0.00653551 -0.0048892 0.99996669 -0.48026803] [ 0. 0. 0. 1. ]] SLAMing on 87.93134618399999 meters Centerline goodness [0,1] 0.6442775655450311 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99723988 -0.07394181 -0.00672474 2.09668163] [ 0.07396702 0.99725426 0.00358182 -0.01527806] [ 0.00644143 -0.00406934 0.99997097 -0.47919176] [ 0. 0. 0. 1. ]] SLAMing on 87.96134618399999 meters Centerline goodness [0,1] 0.6608602543678671 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99723338 -0.07403875 -0.00662248 2.09649684] [ 0.07406086 0.99724872 0.00315784 -0.01459559] [ 0.00637046 -0.00363957 0.99997309 -0.47881245] [ 0. 0. 0. 1. ]] SLAMing on 87.991346184 meters Centerline goodness [0,1] 0.6599270015492478 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99725082 -0.07380282 -0.0066284 2.0972129 ] [ 0.07382443 0.99726651 0.00307686 -0.01452991] [ 0.0063832 -0.00355774 0.9999733 -0.47936169] [ 0. 0. 0. 1. ]] SLAMing on 88.021346184 meters Centerline goodness [0,1] 0.665921346836775 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.9972767 -0.07342077 -0.00696984 2.09876282] [ 0.07344439 0.9972942 0.00319511 -0.01395285] [ 0.00671639 -0.00369831 0.99997061 -0.48029358] [ 0. 0. 0. 1. ]] SLAMing on 88.051346184 meters Centerline goodness [0,1] 0.6709010572826258 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99731138 -0.07289869 -0.00746922 2.10068969] [ 0.0729247 0.99733208 0.00327121 -0.01255372] [ 0.00721083 -0.00380711 0.99996675 -0.48117292] [ 0. 0. 0. 1. ]] SLAMing on 88.081346184 meters Centerline goodness [0,1] 0.6673444060098757 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99760176 -0.06878504 -0.00770316 2.10112144] [ 0.06884029 0.99760205 0.00715309 -0.01064992] [ 0.00719266 -0.00766622 0.99994475 -0.48204542] [ 0. 0. 0. 1. ]] SLAMing on 88.111346184 meters Centerline goodness [0,1] 0.6785903550609433 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99784282 -0.06521562 -0.00752555 2.09980533] [ 0.06529376 0.99780923 0.0106517 -0.00986174] [ 0.0068144 -0.01112009 0.99991495 -0.48153677] [ 0. 0. 0. 1. ]] SLAMing on 88.141346184 meters Centerline goodness [0,1] 0.6785685672319401 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99806569 -0.06174098 -0.00727504 2.09809374] [ 0.06183831 0.99798779 0.01401432 -0.00833179] [ 0.00639514 -0.01443709 0.99987533 -0.48078542] [ 0. 0. 0. 1. ]] SLAMing on 88.171346184 meters Centerline goodness [0,1] 0.6851717171717171 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99829304 -0.0579462 -0.00729625 2.09708969] [ 0.05806109 0.99817392 0.01666547 -0.00491945] [ 0.00631722 -0.01706065 0.9998345 -0.47912361] [ 0. 0. 0. 1. ]] SLAMing on 88.201346184 meters Centerline goodness [0,1] 0.6942042219476823 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99830028 -0.05782199 -0.00729221 2.09747219] [ 0.05793396 0.99818878 0.01621172 -0.00436417] [ 0.00634161 -0.01660663 0.99984199 -0.47902543] [ 0. 0. 0. 1. ]] SLAMing on 88.23134618399999 meters Centerline goodness [0,1] 0.6890812607204116 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99831353 -0.05758181 -0.00737781 2.09831682] [ 0.05769525 0.99820254 0.01621555 -0.00467971] [ 0.00643083 -0.01661387 0.9998413 -0.47959822] [ 0. 0. 0. 1. ]] SLAMing on 88.26134618399999 meters Centerline goodness [0,1] 0.704554008280015 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.9983306 -0.05722975 -0.00779536 2.10073022] [ 0.05735175 0.99821855 0.0164468 -0.00333906] [ 0.00684023 -0.01686643 0.99983435 -0.48186483] [ 0. 0. 0. 1. ]] SLAMing on 88.29134618399999 meters Centerline goodness [0,1] 0.7094665483011864 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99832931 -0.05721248 -0.00808157 2.10198121] [ 0.05734072 0.99821591 0.01664469 -0.00294046] [ 0.00711487 -0.01708029 0.99982881 -0.48305536] [ 0. 0. 0. 1. ]] SLAMing on 88.32134618399999 meters Centerline goodness [0,1] 0.681536721947017 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99831712 -0.05743064 -0.00804085 2.10219179] [ 0.05755843 0.99820274 0.01668281 -0.0029882 ] [ 0.0070683 -0.01711755 0.9998285 -0.48369828] [ 0. 0. 0. 1. ]] SLAMing on 88.351346184 meters Centerline goodness [0,1] 0.701134321954359 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.98060879e-01 -6.17237255e-02 -8.04136978e-03 2.10216595e+00] [ 6.18165741e-02 9.98017056e-01 1.18603563e-02 -1.45345748e-03] [ 7.29335881e-03 -1.23344476e-02 9.99897329e-01 -4.82217952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.381346184 meters Centerline goodness [0,1] 0.701134321954359 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.98060879e-01 -6.17237255e-02 -8.04136978e-03 2.10216595e+00] [ 6.18165741e-02 9.98017056e-01 1.18603563e-02 -1.45345748e-03] [ 7.29335881e-03 -1.23344476e-02 9.99897329e-01 -4.82217952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.411346184 meters Centerline goodness [0,1] 0.6874297038187563 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.98023782e-01 -6.23525589e-02 -7.79032148e-03 2.10087938e+00] [ 6.24381653e-02 9.97985128e-01 1.12764764e-02 -1.38548254e-03] [ 7.07150783e-03 -1.17406050e-02 9.99906072e-01 -4.81111886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.441346184 meters Centerline goodness [0,1] 0.6967116538131962 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.97988753e-01 -6.29339279e-02 -7.60056801e-03 2.09969600e+00] [ 6.30113378e-02 9.97958465e-01 1.04150638e-02 -3.58107574e-05] [ 6.92959031e-03 -1.08730385e-02 9.99916875e-01 -4.79758891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.471346184 meters Centerline goodness [0,1] 0.6949688907959666 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 9.97964351e-01 -6.33276351e-02 -7.53428567e-03 2.09899019e+00] [ 6.33982819e-02 9.97942712e-01 9.53950040e-03 1.75446099e-03] [ 6.91467147e-03 -9.99774209e-03 9.99926114e-01 -4.78579935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.501346184 meters Centerline goodness [0,1] 0.6977504893154945 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99800569 -0.06265283 -0.0076988 2.10009148] [ 0.06272232 0.99798913 0.0091433 0.00364016] [ 0.00711046 -0.00960795 0.99992856 -0.47848979] [ 0. 0. 0. 1. ]] SLAMing on 88.531346184 meters Centerline goodness [0,1] 0.700537489922064 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99803219 -0.06217952 -0.00809071 2.10143459] [ 0.06225168 0.99801995 0.00899468 0.00448176] [ 0.0075154 -0.00948064 0.99992682 -0.47858494] [ 0. 0. 0. 1. ]] SLAMing on 88.561346184 meters Centerline goodness [0,1] 0.7006773465218794 Centerline is valid? [False, False] Translation: X:2.10, Y:0.01, Z:-0.48 [[ 0.99804989 -0.06185123 -0.00841681 2.10241462] [ 0.06192417 0.99804293 0.00870044 0.00545947] [ 0.00786221 -0.00920467 0.99992673 -0.47833597] [ 0. 0. 0. 1. ]] SLAMing on 88.591346184 meters Centerline goodness [0,1] 0.6963915722627345 Centerline is valid? [False, False] Translation: X:2.10, Y:0.01, Z:-0.48 [[ 0.99806455 -0.06159959 -0.00852337 2.10315067] [ 0.06167498 0.99805674 0.00888461 0.00544883] [ 0.00795952 -0.00939309 0.99992421 -0.4789795 ] [ 0. 0. 0. 1. ]] SLAMing on 88.62134618399999 meters Centerline goodness [0,1] 0.6950314566865623 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.9980569 -0.06174131 -0.00839253 2.10300643] [ 0.06181631 0.99804704 0.00899217 0.00490138] [ 0.00782095 -0.00949349 0.99992435 -0.47931489] [ 0. 0. 0. 1. ]] SLAMing on 88.65134618399999 meters Centerline goodness [0,1] 0.6956917800878791 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99803654 -0.06208974 -0.00824244 2.10236247] [ 0.06216204 0.99802705 0.00882589 0.00470487] [ 0.00767818 -0.00932093 0.99992708 -0.47896438] [ 0. 0. 0. 1. ]] SLAMing on 88.68134618399999 meters Centerline goodness [0,1] 0.6939162989704506 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99798944 -0.06289069 -0.00786348 2.10018253] [ 0.06295435 0.9979833 0.0081288 0.00478285] [ 0.00733639 -0.00860749 0.99993604 -0.47702519] [ 0. 0. 0. 1. ]] SLAMing on 88.71134618399999 meters Centerline goodness [0,1] 0.6969389119101724 Centerline is valid? [False, False] Translation: X:2.10, Y:0.01, Z:-0.48 [[ 0.99796801 -0.06324694 -0.00772522 2.0993835 ] [ 0.06330629 0.99796448 0.00769478 0.00542056] [ 0.00722282 -0.0081682 0.99994055 -0.47628008] [ 0. 0. 0. 1. ]] SLAMing on 88.741346184 meters Centerline goodness [0,1] 0.6938529852343249 Centerline is valid? [False, False] Translation: X:2.10, Y:0.01, Z:-0.48 [[ 0.99793874 -0.06375802 -0.00729358 2.09786269] [ 0.06380915 0.99793752 0.00700679 0.00659639] [ 0.0068318 -0.00745775 0.99994885 -0.47525851] [ 0. 0. 0. 1. ]] SLAMing on 88.771346184 meters Centerline goodness [0,1] 0.6856039419363431 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99793868 -0.06378423 -0.00706864 2.09801321] [ 0.06383639 0.99793282 0.00741637 0.00435615] [ 0.00658098 -0.00785231 0.99994751 -0.47631285] [ 0. 0. 0. 1. ]] SLAMing on 88.801346184 meters Centerline goodness [0,1] 0.6856039419363431 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99793868 -0.06378423 -0.00706864 2.09801321] [ 0.06383639 0.99793282 0.00741637 0.00435615] [ 0.00658098 -0.00785231 0.99994751 -0.47631285] [ 0. 0. 0. 1. ]] SLAMing on 88.831346184 meters Centerline goodness [0,1] 0.6828382132934387 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 0.99792941 -0.06395248 -0.00685314 2.0978668 ] [ 0.06400543 0.99791902 0.00780623 0.00254258] [ 0.00633965 -0.0082287 0.99994605 -0.47710558] [ 0. 0. 0. 1. ]] SLAMing on 88.861346184 meters Centerline goodness [0,1] 0.6808476651935467 Centerline is valid? [False, False] Translation: X:2.10, Y:0.00, Z:-0.48 [[ 9.97911775e-01 -6.42409326e-02 -6.72253559e-03 2.09768490e+00] [ 6.42946511e-02 9.97898041e-01 8.10534991e-03 8.41860870e-04] [ 6.18770986e-03 -8.52064720e-03 9.99944554e-01 -4.77651688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.891346184 meters Centerline goodness [0,1] 0.6789790028331613 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.97894010e-01 -6.45030741e-02 -6.84816684e-03 2.09761732e+00] [ 6.45596557e-02 9.97878577e-01 8.39026492e-03 -8.40505611e-04] [ 6.29244110e-03 -8.81471040e-03 9.99941351e-01 -4.77493421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.921346184 meters Centerline goodness [0,1] 0.6846899482140486 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 9.97884391e-01 -6.46579508e-02 -6.78907397e-03 2.09722291e+00] [ 6.47139110e-02 9.97868717e-01 8.37452481e-03 -1.39036162e-03] [ 6.23312492e-03 -8.79615511e-03 9.99941886e-01 -4.77144942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.951346184 meters Centerline goodness [0,1] 0.669911668744529 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.00, Z:-0.48 [[ 0.99790236 -0.06437004 -0.0068829 2.09806702] [ 0.06443158 0.99788039 0.00912727 -0.00338566] [ 0.00628079 -0.0095516 0.99993466 -0.47829453] [ 0. 0. 0. 1. ]] SLAMing on 88.98134618399999 meters Centerline goodness [0,1] 0.6734267583289265 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99792074 -0.06407273 -0.00699159 2.09914236] [ 0.06413954 0.99789291 0.00979052 -0.00521755] [ 0.00634955 -0.0102186 0.99992763 -0.47961977] [ 0. 0. 0. 1. ]] SLAMing on 89.01134618399999 meters Centerline goodness [0,1] 0.6758421052631579 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99792801 -0.06395576 -0.00702521 2.09969217] [ 0.0640261 0.99789516 0.01029081 -0.00707867] [ 0.00635227 -0.01071929 0.99992237 -0.48042536] [ 0. 0. 0. 1. ]] SLAMing on 89.04134618399999 meters Centerline goodness [0,1] 0.6699105941925785 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99791686 -0.06414906 -0.00684362 2.09917844] [ 0.06421817 0.99788161 0.01040732 -0.00838638] [ 0.00616151 -0.01082513 0.99992242 -0.48033293] [ 0. 0. 0. 1. ]] SLAMing on 89.07134618399999 meters Centerline goodness [0,1] 0.6822061720288903 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99789046 -0.06457516 -0.00668403 2.0977324 ] [ 0.06463862 0.99786102 0.00975866 -0.00895786] [ 0.00603957 -0.01017012 0.99993004 -0.47823631] [ 0. 0. 0. 1. ]] SLAMing on 89.101346184 meters Centerline goodness [0,1] 0.6641522327647383 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99788775 -0.06460427 -0.00680647 2.09758531] [ 0.06466659 0.99786291 0.00937234 -0.0084451 ] [ 0.00618643 -0.0097927 0.99993291 -0.47728258] [ 0. 0. 0. 1. ]] SLAMing on 89.131346184 meters Centerline goodness [0,1] 0.6635843009509799 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99789163 -0.06453258 -0.00691633 2.09781927] [ 0.0645952 0.99786869 0.00924872 -0.00823211] [ 0.00630475 -0.00967598 0.99993331 -0.4770695 ] [ 0. 0. 0. 1. ]] SLAMing on 89.161346184 meters Centerline goodness [0,1] 0.6860785393877391 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99790721 -0.06426147 -0.00718742 2.09878519] [ 0.06432824 0.99788377 0.00947966 -0.00888269] [ 0.00656304 -0.00992218 0.99992924 -0.47743075] [ 0. 0. 0. 1. ]] SLAMing on 89.191346184 meters Centerline goodness [0,1] 0.6663255130425655 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.01, Z:-0.48 [[ 0.99794462 -0.06365434 -0.00739362 2.10049794] [ 0.06373257 0.99790774 0.01087709 -0.01296671] [ 0.00668578 -0.01132595 0.99991351 -0.47957253] [ 0. 0. 0. 1. ]] SLAMing on 89.221346184 meters Centerline goodness [0,1] 0.6825941247316332 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99796203 -0.06337013 -0.00748408 2.10138128] [ 0.06345433 0.99791724 0.01160706 -0.01546709] [ 0.00673295 -0.0120583 0.99990463 -0.48065213] [ 0. 0. 0. 1. ]] SLAMing on 89.251346184 meters Centerline goodness [0,1] 0.6765587920828227 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99792815 -0.06394387 -0.00711281 2.09986969] [ 0.06402245 0.99788299 0.01143104 -0.01675083] [ 0.00636681 -0.01186273 0.99990937 -0.47973784] [ 0. 0. 0. 1. ]] SLAMing on 89.281346184 meters Centerline goodness [0,1] 0.6683954027781398 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.9978877 -0.06459503 -0.00690128 2.09818636] [ 0.06466617 0.99785025 0.01063742 -0.01611292] [ 0.00619932 -0.01106123 0.99991961 -0.47782755] [ 0. 0. 0. 1. ]] SLAMing on 89.311346184 meters Centerline goodness [0,1] 0.6636498400561754 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99784935 -0.06521258 -0.00663216 2.09636279] [ 0.06527573 0.99781915 0.00979868 -0.01557316] [ 0.0059787 -0.01021052 0.99993 -0.47576519] [ 0. 0. 0. 1. ]] SLAMing on 89.341346184 meters Centerline goodness [0,1] 0.6610147452734507 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.99783935 -0.06537897 -0.00649847 2.09555312] [ 0.06543892 0.9978115 0.00948431 -0.01590737] [ 0.00586417 -0.00988907 0.99993391 -0.47474252] [ 0. 0. 0. 1. ]] SLAMing on 89.37134618399999 meters Centerline goodness [0,1] 0.6608325326547041 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.99784475 -0.06528939 -0.00656855 2.09558058] [ 0.06534986 0.99781761 0.0094555 -0.0166031 ] [ 0.00593687 -0.00986438 0.99993372 -0.47429412] [ 0. 0. 0. 1. ]] SLAMing on 89.40134618399999 meters Centerline goodness [0,1] 0.6460532800705558 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.9978692 -0.0648927 -0.00678188 2.09656137] [ 0.06495834 0.99783834 0.00995296 -0.01828102] [ 0.00612134 -0.01037229 0.99992747 -0.47487889] [ 0. 0. 0. 1. ]] SLAMing on 89.43134618399999 meters Centerline goodness [0,1] 0.6601894017801697 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.99787933 -0.06472523 -0.00689162 2.09693848] [ 0.06479351 0.99784662 0.01019412 -0.01956729] [ 0.00621696 -0.01061903 0.99992429 -0.47492473] [ 0. 0. 0. 1. ]] SLAMing on 89.46134618399999 meters Centerline goodness [0,1] 0.6589622275653455 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99789614 -0.06445169 -0.00701972 2.09743815] [ 0.06452344 0.99786069 0.01052485 -0.02089574] [ 0.00632636 -0.01095565 0.99991997 -0.47505317] [ 0. 0. 0. 1. ]] SLAMing on 89.491346184 meters Centerline goodness [0,1] 0.6783554705669543 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99790644 -0.06425842 -0.00732113 2.09835439] [ 0.06433409 0.99787193 0.01061789 -0.02045897] [ 0.00662326 -0.01106666 0.99991683 -0.47538238] [ 0. 0. 0. 1. ]] SLAMing on 89.521346184 meters Centerline goodness [0,1] 0.6694458829621958 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99793115 -0.06382161 -0.00776041 2.09996328] [ 0.06390538 0.99789453 0.01107296 -0.02073642] [ 0.00703737 -0.01154598 0.99990858 -0.47628572] [ 0. 0. 0. 1. ]] SLAMing on 89.551346184 meters Centerline goodness [0,1] 0.6613411922858177 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99790132 -0.06430828 -0.00757588 2.09951479] [ 0.06439429 0.99785576 0.01171552 -0.02434829] [ 0.00680623 -0.01217877 0.99990267 -0.47705686] [ 0. 0. 0. 1. ]] SLAMing on 89.581346184 meters Centerline goodness [0,1] 0.6635547668646966 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.9976534 -0.06803197 -0.00770345 2.1006383 ] [ 0.06809196 0.99764846 0.00781307 -0.02508909] [ 0.0071538 -0.00831928 0.9999398 -0.47700494] [ 0. 0. 0. 1. ]] SLAMing on 89.611346184 meters Centerline goodness [0,1] 0.6509053550789778 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99739304 -0.07172346 -0.00792952 2.10203646] [ 0.07175674 0.99741416 0.00399505 -0.0259314 ] [ 0.00762248 -0.00455363 0.99996058 -0.477082 ] [ 0. 0. 0. 1. ]] SLAMing on 89.641346184 meters Centerline goodness [0,1] 0.6489185117086749 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99737724 -0.07194594 -0.00790129 2.10203084] [ 0.07198369 0.99739519 0.00460211 -0.02930148] [ 0.00754961 -0.00515881 0.99995819 -0.47758924] [ 0. 0. 0. 1. ]] SLAMing on 89.671346184 meters Centerline goodness [0,1] 0.6540157520454719 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99731708 -0.07282074 -0.0074683 2.10039023] [ 0.07285746 0.99733096 0.00476891 -0.03164255] [ 0.00710109 -0.00530024 0.99996074 -0.47740143] [ 0. 0. 0. 1. ]] SLAMing on 89.701346184 meters Centerline goodness [0,1] 0.6426353827361564 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99730572 -0.07296135 -0.00761156 2.10030006] [ 0.07299744 0.99732163 0.00457605 -0.03113061] [ 0.0072573 -0.00511934 0.99996056 -0.47679955] [ 0. 0. 0. 1. ]] SLAMing on 89.73134618399999 meters Centerline goodness [0,1] 0.653193600081398 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99733154 -0.07256832 -0.00797702 2.10116543] [ 0.07260676 0.99734985 0.00463957 -0.03082785] [ 0.00761919 -0.00520637 0.99995742 -0.47652873] [ 0. 0. 0. 1. ]] SLAMing on 89.76134618399999 meters Centerline goodness [0,1] 0.6547718896937349 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.9973764 -0.07191093 -0.00831484 2.10269614] [ 0.07195545 0.99739437 0.0051847 -0.03206226] [ 0.00792034 -0.00576939 0.99995199 -0.47736564] [ 0. 0. 0. 1. ]] SLAMing on 89.79134618399999 meters Centerline goodness [0,1] 0.6574118721924727 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99740946 -0.07141902 -0.00858435 2.10387395] [ 0.07146796 0.99742753 0.00553587 -0.03284464] [ 0.00816691 -0.00613503 0.99994783 -0.47797803] [ 0. 0. 0. 1. ]] SLAMing on 89.82134618399999 meters Centerline goodness [0,1] 0.6384627108311318 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99742444 -0.07117929 -0.00883095 2.10458499] [ 0.07122987 0.99744448 0.0055511 -0.03255724] [ 0.00841326 -0.00616583 0.9999456 -0.47801965] [ 0. 0. 0. 1. ]] SLAMing on 89.851346184 meters Centerline goodness [0,1] 0.6550968957702004 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99763333 -0.06822714 -0.00853229 2.10199299] [ 0.06830419 0.99762313 0.00909044 -0.03290434] [ 0.0078918 -0.00965171 0.99992228 -0.47683563] [ 0. 0. 0. 1. ]] SLAMing on 89.881346184 meters Centerline goodness [0,1] 0.6767045310157302 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99763024 -0.06826017 -0.00862917 2.10206671] [ 0.06833668 0.99762256 0.0089065 -0.03266219] [ 0.0080007 -0.00947509 0.9999231 -0.47648613] [ 0. 0. 0. 1. ]] SLAMing on 89.911346184 meters Centerline goodness [0,1] 0.6632169258220749 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99764015 -0.06808884 -0.00883392 2.10263713] [ 0.0681687 0.9976325 0.00907821 -0.03338594] [ 0.00819488 -0.00965898 0.99991977 -0.47656812] [ 0. 0. 0. 1. ]] SLAMing on 89.941346184 meters Centerline goodness [0,1] 0.6763892062041479 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99765136 -0.06790048 -0.00901659 2.1033031 ] [ 0.06798351 0.99764361 0.00924532 -0.03428647] [ 0.00836758 -0.00983659 0.99991661 -0.47678398] [ 0. 0. 0. 1. ]] SLAMing on 89.971346184 meters Centerline goodness [0,1] 0.6762787155730423 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99764173 -0.06806007 -0.00887709 2.10249139] [ 0.06814143 0.99763317 0.00920868 -0.03558485] [ 0.00822934 -0.00979186 0.9999182 -0.47598391] [ 0. 0. 0. 1. ]] SLAMing on 90.001346184 meters Centerline goodness [0,1] 0.6771863117870722 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99761916 -0.06841289 -0.00870022 2.1016355 ] [ 0.06849129 0.9976106 0.00905699 -0.03613347] [ 0.00805981 -0.00963132 0.99992114 -0.47539984] [ 0. 0. 0. 1. ]] SLAMing on 90.031346184 meters Centerline goodness [0,1] 0.6601358345746964 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99760253 -0.06865349 -0.00871093 2.10139737] [ 0.06873144 0.99759471 0.00898795 -0.03647532] [ 0.00807292 -0.00956512 0.99992167 -0.4751105 ] [ 0. 0. 0. 1. ]] SLAMing on 90.061346184 meters Centerline goodness [0,1] 0.6649806529930957 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99757777 -0.06902466 -0.0086128 2.10097739] [ 0.06910197 0.99756877 0.0090256 -0.03666895] [ 0.00796887 -0.00959889 0.99992218 -0.47520562] [ 0. 0. 0. 1. ]] SLAMing on 90.091346184 meters Centerline goodness [0,1] 0.6674429200627753 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99758041 -0.06898696 -0.00860919 2.10109216] [ 0.06906639 0.99756874 0.00929696 -0.03810311] [ 0.00794689 -0.00986907 0.99991972 -0.47538774] [ 0. 0. 0. 1. ]] SLAMing on 90.12134618399999 meters Centerline goodness [0,1] 0.6638719127228647 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.9975861 -0.06891942 -0.00849035 2.10120223] [ 0.06900099 0.99756923 0.00972126 -0.0402301 ] [ 0.00779972 -0.01028364 0.9999167 -0.47590013] [ 0. 0. 0. 1. ]] SLAMing on 90.15134618399999 meters Centerline goodness [0,1] 0.6538288062543851 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99735343 -0.07217436 -0.00877518 2.10328685] [ 0.0722299 0.99736883 0.00618604 -0.04111281] [ 0.00830562 -0.0068035 0.99994236 -0.47653574] [ 0. 0. 0. 1. ]] SLAMing on 90.18134618399999 meters Centerline goodness [0,1] 0.6628968353478109 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99733212 -0.07248784 -0.0086119 2.10262785] [ 0.07254287 0.99734565 0.00625913 -0.0422387 ] [ 0.00813533 -0.00686716 0.99994333 -0.47630246] [ 0. 0. 0. 1. ]] SLAMing on 90.21134618399999 meters Centerline goodness [0,1] 0.6544884653961885 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99730681 -0.07285819 -0.00841452 2.1020245 ] [ 0.07291295 0.99731781 0.00639454 -0.04317081] [ 0.00792605 -0.00699085 0.99994415 -0.4763821 ] [ 0. 0. 0. 1. ]] SLAMing on 90.241346184 meters Centerline goodness [0,1] 0.6454157409949827 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99726067 -0.07348775 -0.00840858 2.1017899 ] [ 0.07354627 0.99726811 0.00687502 -0.04506063] [ 0.00788038 -0.00747461 0.99994101 -0.47703833] [ 0. 0. 0. 1. ]] SLAMing on 90.271346184 meters Centerline goodness [0,1] 0.6413200858754806 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99723999 -0.07378153 -0.00828736 2.10143861] [ 0.07383944 0.99724618 0.0069134 -0.04548092] [ 0.00775445 -0.00750625 0.99994176 -0.47714669] [ 0. 0. 0. 1. ]] SLAMing on 90.301346184 meters Centerline goodness [0,1] 0.6413200858754806 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99723999 -0.07378153 -0.00828736 2.10143861] [ 0.07383944 0.99724618 0.0069134 -0.04548092] [ 0.00775445 -0.00750625 0.99994176 -0.47714669] [ 0. 0. 0. 1. ]] SLAMing on 90.331346184 meters Centerline goodness [0,1] 0.6379810094952524 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99722641 -0.07396225 -0.0083111 2.10142059] [ 0.07401899 0.99723406 0.00674005 -0.04550379] [ 0.0077896 -0.00733654 0.99994275 -0.47706088] [ 0. 0. 0. 1. ]] SLAMing on 90.361346184 meters Centerline goodness [0,1] 0.6368991164578446 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99724809 -0.07365492 -0.00843828 2.10224231] [ 0.07371427 0.99725517 0.00695164 -0.04623381] [ 0.0079031 -0.00755453 0.99994023 -0.47764612] [ 0. 0. 0. 1. ]] SLAMing on 90.391346184 meters Centerline goodness [0,1] 0.6353017521090201 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99727657 -0.07324656 -0.00862432 2.10351384] [ 0.07330984 0.99728275 0.00726561 -0.04678679] [ 0.00806871 -0.00787807 0.99993641 -0.47877564] [ 0. 0. 0. 1. ]] SLAMing on 90.421346184 meters Centerline goodness [0,1] 0.6398850431088342 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99730171 -0.07287742 -0.00884236 2.10463508] [ 0.07294293 0.99730921 0.00732597 -0.04620753] [ 0.00828466 -0.00795119 0.99993407 -0.47949314] [ 0. 0. 0. 1. ]] SLAMing on 90.451346184 meters Centerline goodness [0,1] 0.6421689165453907 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99754885 -0.06941065 -0.00885687 2.10339589] [ 0.06950222 0.99752668 0.01048624 -0.04313439] [ 0.00810711 -0.01107611 0.99990579 -0.47877795] [ 0. 0. 0. 1. ]] SLAMing on 90.48134618399999 meters Centerline goodness [0,1] 0.6707757597190998 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.9977544 -0.06642306 -0.00861002 2.10105535] [ 0.06653796 0.99768808 0.01382765 -0.04239364] [ 0.00767164 -0.01436949 0.99986732 -0.47763189] [ 0. 0. 0. 1. ]] SLAMing on 90.51134618399999 meters Centerline goodness [0,1] 0.6496783146209159 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99773227 -0.066718 -0.00889017 2.10076012] [ 0.06682831 0.99768303 0.01274931 -0.03985195] [ 0.00801896 -0.01331451 0.9998792 -0.47582402] [ 0. 0. 0. 1. ]] SLAMing on 90.54134618399999 meters Centerline goodness [0,1] 0.6547267449198536 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99770717 -0.06711129 -0.00874508 2.09981262] [ 0.06721403 0.99766597 0.01203696 -0.03870676] [ 0.00791686 -0.01259715 0.99988931 -0.47469329] [ 0. 0. 0. 1. ]] SLAMing on 90.57134618399999 meters Centerline goodness [0,1] 0.6333065649467978 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99767817 -0.06759493 -0.00831802 2.09858333] [ 0.06769172 0.99763456 0.01196335 -0.04092606] [ 0.00748968 -0.01249863 0.99989384 -0.4743814 ] [ 0. 0. 0. 1. ]] SLAMing on 90.601346184 meters Centerline goodness [0,1] 0.6578934099732769 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99765776 -0.0679359 -0.00798172 2.09809378] [ 0.06802966 0.99760956 0.01212991 -0.04196923] [ 0.00713858 -0.01264449 0.99989457 -0.47506484] [ 0. 0. 0. 1. ]] SLAMing on 90.631346184 meters Centerline goodness [0,1] 0.6542404473438956 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99762577 -0.06843668 -0.00769691 2.09739673] [ 0.06852686 0.99757546 0.01213551 -0.04290419] [ 0.00684773 -0.01263414 0.99989674 -0.47531645] [ 0. 0. 0. 1. ]] SLAMing on 90.661346184 meters Centerline goodness [0,1] 0.634995603567391 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99732563 -0.07268283 -0.00766752 2.09827512] [ 0.07274332 0.99731917 0.00793022 -0.04127234] [ 0.00707057 -0.00846677 0.99993916 -0.47595335] [ 0. 0. 0. 1. ]] SLAMing on 90.691346184 meters Centerline goodness [0,1] 0.6448260280162674 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99729484 -0.07312164 -0.00749898 2.09758434] [ 0.07317919 0.997289 0.00771124 -0.04103149] [ 0.00691479 -0.00823915 0.99994215 -0.47571067] [ 0. 0. 0. 1. ]] SLAMing on 90.721346184 meters Centerline goodness [0,1] 0.6347572180129384 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99727408 -0.0734134 -0.00740888 2.09706439] [ 0.0734679 0.99727032 0.00737347 -0.04047788] [ 0.00684734 -0.00789769 0.99994537 -0.47522587] [ 0. 0. 0. 1. ]] SLAMing on 90.751346184 meters Centerline goodness [0,1] 0.6378785209051778 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99726709 -0.07350385 -0.00745253 2.09699265] [ 0.07355661 0.99726598 0.007071 -0.0398993 ] [ 0.0069124 -0.00759986 0.99994723 -0.47481552] [ 0. 0. 0. 1. ]] SLAMing on 90.781346184 meters Centerline goodness [0,1] 0.6332605476495243 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99728876 -0.07319283 -0.00761218 2.09768267] [ 0.07324291 0.9972928 0.00652213 -0.03737551] [ 0.0071142 -0.00706199 0.99994976 -0.4746471 ] [ 0. 0. 0. 1. ]] SLAMing on 90.811346184 meters Centerline goodness [0,1] 0.6415758887016025 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99732732 -0.07262722 -0.00796946 2.09916259] [ 0.07268055 0.9973333 0.00661947 -0.03641129] [ 0.00746745 -0.007181 0.99994633 -0.47529606] [ 0. 0. 0. 1. ]] SLAMing on 90.841346184 meters Centerline goodness [0,1] 0.64313755095878 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.99738093 -0.07182786 -0.00848761 2.10143764] [ 0.07188805 0.99738806 0.00701188 -0.0362902 ] [ 0.00796179 -0.00760368 0.9999394 -0.47651698] [ 0. 0. 0. 1. ]] SLAMing on 90.87134618399999 meters Centerline goodness [0,1] 0.652009670595346 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.48 [[ 0.9974355 -0.07100999 -0.00894444 2.10372613] [ 0.07107855 0.99744181 0.00759474 -0.03633696] [ 0.00838226 -0.00821102 0.99993116 -0.4781171 ] [ 0. 0. 0. 1. ]] SLAMing on 90.90134618399999 meters Centerline goodness [0,1] 0.6789188367615766 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.9977011 -0.06714128 -0.00919545 2.10377644] [ 0.06724621 0.99766873 0.01162133 -0.03487614] [ 0.00839374 -0.01221297 0.99989019 -0.4788216 ] [ 0. 0. 0. 1. ]] SLAMing on 90.93134618399999 meters Centerline goodness [0,1] 0.6726974099810487 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99769054 -0.06722141 -0.00974049 2.10442305] [ 0.06732384 0.99767487 0.01059963 -0.031304 ] [ 0.00900532 -0.01123092 0.99989638 -0.47747448] [ 0. 0. 0. 1. ]] SLAMing on 90.96134618399999 meters Centerline goodness [0,1] 0.6844442176176381 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99787671 -0.064468 -0.00927036 2.10107715] [ 0.0645907 0.99781905 0.01360803 -0.03042956] [ 0.00837285 -0.01417792 0.99986443 -0.47546509] [ 0. 0. 0. 1. ]] SLAMing on 90.991346184 meters Centerline goodness [0,1] 0.6787422407652386 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99787056 -0.06458088 -0.00914659 2.10079636] [ 0.06469918 0.99781632 0.01328958 -0.03071331] [ 0.00826836 -0.01385305 0.99986986 -0.47513451] [ 0. 0. 0. 1. ]] SLAMing on 91.021346184 meters Centerline goodness [0,1] 0.6846638548706743 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99788689 -0.06433592 -0.0090907 2.10138311] [ 0.06445514 0.99782937 0.01349399 -0.03186731] [ 0.00820282 -0.01405142 0.99986763 -0.47587183] [ 0. 0. 0. 1. ]] SLAMing on 91.051346184 meters Centerline goodness [0,1] 0.6728179805024563 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99790144 -0.06411135 -0.00907987 2.10216973] [ 0.06423125 0.99784244 0.01359431 -0.03225704] [ 0.00818873 -0.01414899 0.99986637 -0.4768158 ] [ 0. 0. 0. 1. ]] SLAMing on 91.081346184 meters Centerline goodness [0,1] 0.689426074513211 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99793191 -0.06359948 -0.00932762 2.10389681] [ 0.06372092 0.99787836 0.01335779 -0.02974514] [ 0.00845828 -0.01392453 0.99986727 -0.47803207] [ 0. 0. 0. 1. ]] SLAMing on 91.111346184 meters Centerline goodness [0,1] 0.6883047210300429 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99791496 -0.06383274 -0.00954527 2.10387853] [ 0.0639489 0.99787608 0.01240433 -0.02665595] [ 0.0087332 -0.01298888 0.9998775 -0.47692693] [ 0. 0. 0. 1. ]] SLAMing on 91.141346184 meters Centerline goodness [0,1] 0.689025641025641 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.48 [[ 0.99789323 -0.06414472 -0.00972414 2.10349013] [ 0.06425455 0.99786801 0.0114366 -0.02361668] [ 0.00896981 -0.01203732 0.99988732 -0.47546583] [ 0. 0. 0. 1. ]] SLAMing on 91.171346184 meters Centerline goodness [0,1] 0.6842186297151656 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.99787829 -0.06435792 -0.0098473 2.10323218] [ 0.06446457 0.99786018 0.01092641 -0.02229309] [ 0.00912303 -0.01153803 0.99989182 -0.47454146] [ 0. 0. 0. 1. ]] SLAMing on 91.201346184 meters Centerline goodness [0,1] 0.6800878290397528 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.02, Z:-0.47 [[ 0.99763188 -0.06803833 -0.0100711 2.10432408] [ 0.06811109 0.99765271 0.00706728 -0.02350681] [ 0.00956662 -0.0077365 0.99992431 -0.47405144] [ 0. 0. 0. 1. ]] SLAMing on 91.23134618399999 meters Centerline goodness [0,1] 0.6834890488589371 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99759342 -0.06867787 -0.00952516 2.10263671] [ 0.06874708 0.99760857 0.00713998 -0.02578933] [ 0.00901202 -0.00777763 0.99992914 -0.47370438] [ 0. 0. 0. 1. ]] SLAMing on 91.26134618399999 meters Centerline goodness [0,1] 0.6663772852619753 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99748912 -0.07026468 -0.00885058 2.09974922] [ 0.07032433 0.99750222 0.00661827 -0.0263145 ] [ 0.00836344 -0.00722406 0.99993893 -0.47276582] [ 0. 0. 0. 1. ]] SLAMing on 91.29134618399999 meters Centerline goodness [0,1] 0.6542184634196047 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99747561 -0.07047374 -0.00871012 2.09957574] [ 0.07053431 0.9974858 0.0068542 -0.02729424] [ 0.00820518 -0.00745126 0.99993858 -0.47325471] [ 0. 0. 0. 1. ]] SLAMing on 91.32134618399999 meters Centerline goodness [0,1] 0.6551741711897663 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99749511 -0.07019034 -0.00876507 2.10059335] [ 0.07025686 0.99750054 0.00752612 -0.02953492] [ 0.0082149 -0.00812307 0.99993326 -0.47459367] [ 0. 0. 0. 1. ]] SLAMing on 91.351346184 meters Centerline goodness [0,1] 0.6570776255707762 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.03, Z:-0.48 [[ 0.99739465 -0.0715047 -0.00953847 2.10654146] [ 0.07155961 0.99742091 0.00554508 -0.03319216] [ 0.00911737 -0.0062132 0.99993913 -0.47818563] [ 0. 0. 0. 1. ]] SLAMing on 91.381346184 meters Centerline goodness [0,1] 0.6734522720341567 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.03, Z:-0.48 [[ 0.99743134 -0.07094986 -0.00984084 2.10780641] [ 0.07100964 0.99745839 0.00586434 -0.03356729] [ 0.00939976 -0.00654808 0.99993438 -0.47871617] [ 0. 0. 0. 1. ]] SLAMing on 91.411346184 meters Centerline goodness [0,1] 0.6821052095533942 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.03, Z:-0.48 [[ 0.99767521 -0.06746145 -0.00965059 2.1059606 ] [ 0.06755444 0.99766885 0.00965706 -0.03401061] [ 0.00897662 -0.01028655 0.9999068 -0.47782595] [ 0. 0. 0. 1. ]] SLAMing on 91.441346184 meters Centerline goodness [0,1] 0.6831994679490458 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.48 [[ 0.99789151 -0.06419818 -0.00954638 2.10385077] [ 0.06431761 0.99784765 0.01277929 -0.03183259] [ 0.00870542 -0.01336634 0.99987277 -0.47613988] [ 0. 0. 0. 1. ]] SLAMing on 91.471346184 meters Centerline goodness [0,1] 0.6948943072684672 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.998121 -0.06045822 -0.00996366 2.10277535] [ 0.06060793 0.99804162 0.01547917 -0.0278976 ] [ 0.0090083 -0.01605396 0.99983055 -0.4734943 ] [ 0. 0. 0. 1. ]] SLAMing on 91.501346184 meters Centerline goodness [0,1] 0.6934562117077692 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99813395 -0.06021514 -0.01013679 2.10332607] [ 0.0603677 0.9980561 0.01548407 -0.02845784] [ 0.00918471 -0.01606711 0.99982873 -0.47340787] [ 0. 0. 0. 1. ]] SLAMing on 91.531346184 meters Centerline goodness [0,1] 0.6970561035758323 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99813973 -0.0601406 -0.01000956 2.10313458] [ 0.06029233 0.99805858 0.0156175 -0.03047255] [ 0.00905088 -0.01619195 0.99982794 -0.47325513] [ 0. 0. 0. 1. ]] SLAMing on 91.561346184 meters Centerline goodness [0,1] 0.6934212890474601 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99812035 -0.060545 -0.00949027 2.10144977] [ 0.06068473 0.99804124 0.01520021 -0.03186965] [ 0.00855138 -0.01574756 0.99983943 -0.47216252] [ 0. 0. 0. 1. ]] SLAMing on 91.591346184 meters Centerline goodness [0,1] 0.691388725100623 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99809867 -0.06090342 -0.00947712 2.10096158] [ 0.06103668 0.9980306 0.01447201 -0.0302757 ] [ 0.00857706 -0.01502294 0.99985036 -0.47131499] [ 0. 0. 0. 1. ]] SLAMing on 91.62134618399999 meters Centerline goodness [0,1] 0.6836511490259657 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99808515 -0.06111081 -0.00956619 2.10100959] [ 0.061241 0.9980253 0.01396574 -0.02851596] [ 0.00869384 -0.01452484 0.99985671 -0.47104041] [ 0. 0. 0. 1. ]] SLAMing on 91.65134618399999 meters Centerline goodness [0,1] 0.6816074188562596 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99808772 -0.06108486 -0.00946295 2.10132704] [ 0.06121646 0.99802201 0.01430412 -0.02964396] [ 0.00857047 -0.01485605 0.99985291 -0.47200427] [ 0. 0. 0. 1. ]] SLAMing on 91.68134618399999 meters Centerline goodness [0,1] 0.690086671111339 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.9978767 -0.06438451 -0.00983457 2.10334912] [ 0.0644866 0.99786393 0.0104425 -0.02981347] [ 0.00914122 -0.01105452 0.99989711 -0.47218242] [ 0. 0. 0. 1. ]] SLAMing on 91.71134618399999 meters Centerline goodness [0,1] 0.6795215824580234 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99786549 -0.06459943 -0.00955949 2.1027497 ] [ 0.06470143 0.99784648 0.01077582 -0.0329058 ] [ 0.00884279 -0.01137134 0.99989624 -0.47229519] [ 0. 0. 0. 1. ]] SLAMing on 91.741346184 meters Centerline goodness [0,1] 0.6965666879387364 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99784606 -0.06493597 -0.0093039 2.10179066] [ 0.06503539 0.99782436 0.01081419 -0.03448139] [ 0.00858143 -0.01139598 0.99989824 -0.47180898] [ 0. 0. 0. 1. ]] SLAMing on 91.771346184 meters Centerline goodness [0,1] 0.6595934834788826 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.99776756 -0.06618964 -0.00887818 2.09872696] [ 0.06627441 0.99775506 0.00962016 -0.03231743] [ 0.00822149 -0.01018708 0.99991431 -0.46894985] [ 0. 0. 0. 1. ]] SLAMing on 91.801346184 meters Centerline goodness [0,1] 0.6613487849703901 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.9977392 -0.06662215 -0.00883056 2.0978277 ] [ 0.06670284 0.99773064 0.00918105 -0.03160076] [ 0.00819886 -0.00974931 0.99991886 -0.46784136] [ 0. 0. 0. 1. ]] SLAMing on 91.831346184 meters Centerline goodness [0,1] 0.6591013530763339 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.03, Z:-0.47 [[ 0.9977276 -0.06681367 -0.00869307 2.09732944] [ 0.06689348 0.99771734 0.00923934 -0.03244533] [ 0.00805591 -0.00979985 0.99991953 -0.46764023] [ 0. 0. 0. 1. ]] SLAMing on 91.861346184 meters Centerline goodness [0,1] 0.6499581865639492 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99751807 -0.06982724 -0.00904761 2.09987219] [ 0.06988513 0.99753548 0.00624821 -0.03522881] [ 0.00858901 -0.006865 0.99993955 -0.46880828] [ 0. 0. 0. 1. ]] SLAMing on 91.891346184 meters Centerline goodness [0,1] 0.6465174066279571 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99752771 -0.06968948 -0.00904706 2.10059518] [ 0.06975407 0.99753944 0.00703097 -0.03871299] [ 0.00853482 -0.00764466 0.99993436 -0.47002852] [ 0. 0. 0. 1. ]] SLAMing on 91.921346184 meters Centerline goodness [0,1] 0.6401764335223692 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.9975353 -0.06958015 -0.00905124 2.10140688] [ 0.06965151 0.9975407 0.00782393 -0.04133396] [ 0.00848459 -0.00843508 0.99992843 -0.47153704] [ 0. 0. 0. 1. ]] SLAMing on 91.951346184 meters Centerline goodness [0,1] 0.635485498108449 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99750728 -0.06999984 -0.0089019 2.10096325] [ 0.07007046 0.99751088 0.00788559 -0.04171953] [ 0.00832775 -0.0084897 0.99992928 -0.47176746] [ 0. 0. 0. 1. ]] SLAMing on 91.98134618399999 meters Centerline goodness [0,1] 0.6348917683311863 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99750377 -0.07005253 -0.00888117 2.10088426] [ 0.07012214 0.99750804 0.00778397 -0.04145872] [ 0.00831376 -0.0083873 0.99993026 -0.4716814 ] [ 0. 0. 0. 1. ]] SLAMing on 92.01134618399999 meters Centerline goodness [0,1] 0.6317222600408441 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99751364 -0.06990069 -0.00896857 2.10132757] [ 0.06997293 0.99751673 0.00801003 -0.04239459] [ 0.0083864 -0.00861767 0.9999277 -0.47201522] [ 0. 0. 0. 1. ]] SLAMing on 92.04134618399999 meters Centerline goodness [0,1] 0.6317461117693025 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99753784 -0.0695512 -0.00899331 2.10189399] [ 0.06962865 0.99753586 0.00860591 -0.04476427] [ 0.0083726 -0.00921091 0.99992253 -0.47269595] [ 0. 0. 0. 1. ]] SLAMing on 92.07134618399999 meters Centerline goodness [0,1] 0.6296964684061459 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.9975595 -0.0692313 -0.00905941 2.10227688] [ 0.06931361 0.99755332 0.00911024 -0.04737309] [ 0.00840653 -0.00971594 0.99991746 -0.47286176] [ 0. 0. 0. 1. ]] SLAMing on 92.101346184 meters Centerline goodness [0,1] 0.6527513756878439 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99756152 -0.06921034 -0.00899655 2.101847 ] [ 0.06929406 0.99755243 0.00935304 -0.04879823] [ 0.0083272 -0.00995364 0.99991579 -0.4724118 ] [ 0. 0. 0. 1. ]] SLAMing on 92.131346184 meters Centerline goodness [0,1] 0.6729009451701056 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99753831 -0.06954592 -0.00898244 2.10129992] [ 0.06962735 0.99753161 0.00909483 -0.04820947] [ 0.00832776 -0.00969787 0.9999183 -0.47177554] [ 0. 0. 0. 1. ]] SLAMing on 92.161346184 meters Centerline goodness [0,1] 0.6688137547306949 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99751205 -0.06991683 -0.0090189 2.10082219] [ 0.06999625 0.99750832 0.00881382 -0.04739064] [ 0.0083802 -0.00942318 0.99992048 -0.47112026] [ 0. 0. 0. 1. ]] SLAMing on 92.191346184 meters Centerline goodness [0,1] 0.6688137547306949 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99751205 -0.06991683 -0.0090189 2.10082219] [ 0.06999625 0.99750832 0.00881382 -0.04739064] [ 0.0083802 -0.00942318 0.99992048 -0.47112026] [ 0. 0. 0. 1. ]] SLAMing on 92.221346184 meters Centerline goodness [0,1] 0.6554108216432866 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99746631 -0.07059834 -0.00876544 2.09887882] [ 0.07067183 0.99746444 0.00837808 -0.04798164] [ 0.00815173 -0.00897632 0.99992648 -0.46917741] [ 0. 0. 0. 1. ]] SLAMing on 92.251346184 meters Centerline goodness [0,1] 0.6531177483344561 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99746612 -0.0706124 -0.00867318 2.09859447] [ 0.07068722 0.99746105 0.00864674 -0.05024004] [ 0.0080406 -0.00923792 0.999925 -0.46898332] [ 0. 0. 0. 1. ]] SLAMing on 92.281346184 meters Centerline goodness [0,1] 0.6627840271369068 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99748148 -0.07041482 -0.00851178 2.09865096] [ 0.07049286 0.99746944 0.00924472 -0.05349684] [ 0.00783928 -0.00982146 0.99992104 -0.46949855] [ 0. 0. 0. 1. ]] SLAMing on 92.311346184 meters Centerline goodness [0,1] 0.6265280871071517 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99729309 -0.07301748 -0.00865733 2.10137705] [ 0.07307152 0.99730805 0.00609936 -0.05513697] [ 0.00818867 -0.00671545 0.99994392 -0.47104066] [ 0. 0. 0. 1. ]] SLAMing on 92.341346184 meters Centerline goodness [0,1] 0.6658749010292953 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99729663 -0.07295122 -0.0088059 2.1017237 ] [ 0.07300473 0.99731405 0.00591636 -0.05416727] [ 0.00835064 -0.00654323 0.99994372 -0.47096714] [ 0. 0. 0. 1. ]] SLAMing on 92.37134618399999 meters Centerline goodness [0,1] 0.6608464557150664 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99754262 -0.06952752 -0.0086397 2.1003963 ] [ 0.06961279 0.99752401 0.00999536 -0.05501045] [ 0.00792336 -0.01057223 0.99991272 -0.47111986] [ 0. 0. 0. 1. ]] SLAMing on 92.40134618399999 meters Centerline goodness [0,1] 0.6760013915117782 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99756218 -0.06919161 -0.0090674 2.10166201] [ 0.06928087 0.99754778 0.00992919 -0.0537204 ] [ 0.00835815 -0.01053318 0.99990959 -0.47140304] [ 0. 0. 0. 1. ]] SLAMing on 92.43134618399999 meters Centerline goodness [0,1] 0.6721364301117914 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99762392 -0.06822796 -0.00956305 2.10414017] [ 0.06833132 0.99760277 0.01093394 -0.0554248 ] [ 0.00879413 -0.01156142 0.99989449 -0.4732445 ] [ 0. 0. 0. 1. ]] SLAMing on 92.46134618399999 meters Centerline goodness [0,1] 0.6814244704019006 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99763046 -0.06813962 -0.00951078 2.10430238] [ 0.06824652 0.99760326 0.01140791 -0.05783398] [ 0.00871066 -0.01202996 0.9998897 -0.4736604 ] [ 0. 0. 0. 1. ]] SLAMing on 92.491346184 meters Centerline goodness [0,1] 0.6685760845411224 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99761748 -0.06835937 -0.00929283 2.103615 ] [ 0.06846516 0.99758621 0.01158745 -0.05985423] [ 0.00847829 -0.01219608 0.99988968 -0.47341508] [ 0. 0. 0. 1. ]] SLAMing on 92.521346184 meters Centerline goodness [0,1] 0.6488538328814395 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99752379 -0.06979819 -0.00863146 2.09992696] [ 0.06988783 0.99749896 0.01056048 -0.06060135] [ 0.00787277 -0.01113756 0.99990698 -0.47036931] [ 0. 0. 0. 1. ]] SLAMing on 92.551346184 meters Centerline goodness [0,1] 0.6704492192318129 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99748665 -0.07033726 -0.00854749 2.09868197] [ 0.07042033 0.99746886 0.00984125 -0.0594738 ] [ 0.00783365 -0.01041843 0.99991504 -0.46873123] [ 0. 0. 0. 1. ]] SLAMing on 92.581346184 meters Centerline goodness [0,1] 0.6473584019382432 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99745852 -0.07074334 -0.00847814 2.09781157] [ 0.07082095 0.9974463 0.00923394 -0.05818376] [ 0.00780325 -0.0098109 0.99992142 -0.46762274] [ 0. 0. 0. 1. ]] SLAMing on 92.611346184 meters Centerline goodness [0,1] 0.6719134284308903 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99748223 -0.07040638 -0.00849336 2.0985579 ] [ 0.07048698 0.99746655 0.00959541 -0.05945476] [ 0.00779627 -0.01016992 0.99991789 -0.46849471] [ 0. 0. 0. 1. ]] SLAMing on 92.641346184 meters Centerline goodness [0,1] 0.6731299891593574 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.997503 -0.07010953 -0.00850978 2.09939617] [ 0.07019374 0.99748289 0.0100361 -0.06070742] [ 0.00778474 -0.01060838 0.99991343 -0.46961006] [ 0. 0. 0. 1. ]] SLAMing on 92.671346184 meters Centerline goodness [0,1] 0.6737145248233933 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99753355 -0.06964959 -0.00870326 2.1009814 ] [ 0.06974098 0.99750796 0.01067991 -0.06211778] [ 0.00793772 -0.01126055 0.99990509 -0.47131424] [ 0. 0. 0. 1. ]] SLAMing on 92.701346184 meters Centerline goodness [0,1] 0.6739370445791113 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.48 [[ 0.99753052 -0.06971878 -0.00849436 2.1043873 ] [ 0.06980687 0.99750465 0.01055789 -0.06377564] [ 0.00773708 -0.01112478 0.99990818 -0.47549382] [ 0. 0. 0. 1. ]] SLAMing on 92.73134618399999 meters Centerline goodness [0,1] 0.6792188994921866 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99753438 -0.06962961 -0.00876855 2.10518391] [ 0.06971977 0.99751205 0.01043345 -0.06293987] [ 0.00802026 -0.01101907 0.99990712 -0.47567834] [ 0. 0. 0. 1. ]] SLAMing on 92.76134618399999 meters Centerline goodness [0,1] 0.6819771451088563 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99753871 -0.06952005 -0.00913651 2.10606025] [ 0.06961166 0.99752281 0.01012271 -0.06105281] [ 0.00841015 -0.0107338 0.99990702 -0.47562142] [ 0. 0. 0. 1. ]] SLAMing on 92.79134618399999 meters Centerline goodness [0,1] 0.6864271506102502 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99756618 -0.06908145 -0.00945854 2.10746093] [ 0.06917876 0.99755029 0.01037915 -0.05993896] [ 0.00871837 -0.01100822 0.9999014 -0.47655731] [ 0. 0. 0. 1. ]] SLAMing on 92.82134618399999 meters Centerline goodness [0,1] 0.6868387955907376 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99755597 -0.06923405 -0.0094196 2.10721573] [ 0.06932895 0.9975422 0.01015176 -0.05983874] [ 0.0086936 -0.01078 0.9999041 -0.47619995] [ 0. 0. 0. 1. ]] SLAMing on 92.851346184 meters Centerline goodness [0,1] 0.6713872690743372 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.9975438 -0.06941178 -0.00940038 2.10694714] [ 0.06950317 0.99753387 0.00977127 -0.05932371] [ 0.00869895 -0.01040062 0.99990807 -0.47568985] [ 0. 0. 0. 1. ]] SLAMing on 92.881346184 meters Centerline goodness [0,1] 0.6850676506765068 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.9975401 -0.06946922 -0.00936898 2.10684186] [ 0.06955822 0.99753234 0.00953346 -0.0591128 ] [ 0.00868357 -0.0101617 0.99991066 -0.47546231] [ 0. 0. 0. 1. ]] SLAMing on 92.911346184 meters Centerline goodness [0,1] 0.6878027192486416 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99756215 -0.06914497 -0.00941957 2.10773838] [ 0.06923335 0.99755618 0.00940309 -0.05803899] [ 0.00874638 -0.01003232 0.99991142 -0.47628621] [ 0. 0. 0. 1. ]] SLAMing on 92.941346184 meters Centerline goodness [0,1] 0.6837068562572265 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.9975764 -0.06890945 -0.00963386 2.10862568] [ 0.06899817 0.99757436 0.00920101 -0.05670215] [ 0.00897645 -0.00984343 0.99991126 -0.47662144] [ 0. 0. 0. 1. ]] SLAMing on 92.971346184 meters Centerline goodness [0,1] 0.6976072301651974 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.48 [[ 0.99758587 -0.06874839 -0.00980273 2.10922738] [ 0.06883586 0.99758845 0.0088831 -0.05504618] [ 0.00916839 -0.00953644 0.99991249 -0.4767339 ] [ 0. 0. 0. 1. ]] SLAMing on 93.001346184 meters Centerline goodness [0,1] 0.6829715986605482 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.48 [[ 0.9976092 -0.06837836 -0.01001445 2.11023652] [ 0.06846521 0.99761641 0.00860284 -0.05318921] [ 0.00940233 -0.00926791 0.99991285 -0.47712294] [ 0. 0. 0. 1. ]] SLAMing on 93.031346184 meters Centerline goodness [0,1] 0.6924270410048023 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.48 [[ 0.99761988 -0.06816651 -0.01038747 2.11114675] [ 0.06825326 0.99763401 0.00823893 -0.05175254] [ 0.00980127 -0.0089283 0.99991211 -0.47682803] [ 0. 0. 0. 1. ]] SLAMing on 93.061346184 meters Centerline goodness [0,1] 0.6854768696514945 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.48 [[ 0.99760634 -0.0683478 -0.01049611 2.11106594] [ 0.06842893 0.99762723 0.00757583 -0.04966567] [ 0.00995342 -0.00827593 0.99991622 -0.47612714] [ 0. 0. 0. 1. ]] SLAMing on 93.091346184 meters Centerline goodness [0,1] 0.6935483870967742 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.48 [[ 0.99759428 -0.06852462 -0.01048905 2.1108304 ] [ 0.06860026 0.99761946 0.00702979 -0.04792468] [ 0.00998237 -0.00773243 0.99992028 -0.47558743] [ 0. 0. 0. 1. ]] SLAMing on 93.12134618399999 meters Centerline goodness [0,1] 0.6961764120922832 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.47 [[ 0.99752757 -0.06958312 -0.00984515 2.10810621] [ 0.06964313 0.99755459 0.00588909 -0.04623719] [ 0.00941129 -0.00656018 0.99993419 -0.47373645] [ 0. 0. 0. 1. ]] SLAMing on 93.15134618399999 meters Centerline goodness [0,1] 0.6783918347025143 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.47 [[ 0.99748142 -0.0702927 -0.00947425 2.10651334] [ 0.07034466 0.99750884 0.00526687 -0.04537475] [ 0.00908042 -0.00592007 0.99994125 -0.47276455] [ 0. 0. 0. 1. ]] SLAMing on 93.18134618399999 meters Centerline goodness [0,1] 0.6724240767433769 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:-0.47 [[ 0.99744253 -0.07087155 -0.00925374 2.10553079] [ 0.07091782 0.99747075 0.00477157 -0.04432853] [ 0.00889217 -0.00541563 0.9999458 -0.4721877 ] [ 0. 0. 0. 1. ]] SLAMing on 93.21134618399999 meters Centerline goodness [0,1] 0.6554607211287232 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99735794 -0.07214158 -0.00852865 2.10336295] [ 0.07217959 0.99738266 0.00423504 -0.04371983] [ 0.00820081 -0.00483945 0.99995466 -0.47222216] [ 0. 0. 0. 1. ]] SLAMing on 93.241346184 meters Centerline goodness [0,1] 0.6690688743703557 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99733752 -0.07246814 -0.00813848 2.10300685] [ 0.07250634 0.9973578 0.00449998 -0.04562425] [ 0.00779087 -0.00507809 0.99995676 -0.47329105] [ 0. 0. 0. 1. ]] SLAMing on 93.271346184 meters Centerline goodness [0,1] 0.6445367905043919 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99731134 -0.07287048 -0.00774442 2.10246513] [ 0.07290759 0.99732799 0.004623 -0.04760207] [ 0.00738685 -0.0051752 0.99995933 -0.47400288] [ 0. 0. 0. 1. ]] SLAMing on 93.301346184 meters Centerline goodness [0,1] 0.645798068306283 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.9972631 -0.07358774 -0.00715276 2.10143242] [ 0.07362107 0.99727607 0.004514 -0.04829633] [ 0.0068011 -0.00502824 0.99996423 -0.47491697] [ 0. 0. 0. 1. ]] SLAMing on 93.331346184 meters Centerline goodness [0,1] 0.6393818544366899 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99723662 -0.07394019 -0.00720913 2.10112005] [ 0.07397037 0.99725236 0.00401324 -0.04667618] [ 0.00689259 -0.00453541 0.99996596 -0.4743135 ] [ 0. 0. 0. 1. ]] SLAMing on 93.361346184 meters Centerline goodness [0,1] 0.6373231529306086 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99717248 -0.07481556 -0.00704823 2.09936173] [ 0.0748356 0.99719244 0.00262256 -0.042772 ] [ 0.00683224 -0.0031426 0.99997172 -0.47211903] [ 0. 0. 0. 1. ]] SLAMing on 93.391346184 meters Centerline goodness [0,1] 0.6447082886433364 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99716042 -0.07496357 -0.00717993 2.09927811] [ 0.07498115 0.9971825 0.00221027 -0.04171912] [ 0.00699401 -0.00274236 0.99997178 -0.47139085] [ 0. 0. 0. 1. ]] SLAMing on 93.421346184 meters Centerline goodness [0,1] 0.6401389270632918 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99715758 -0.07499329 -0.00726467 2.09957306] [ 0.07501083 0.99718035 0.0021736 -0.04124412] [ 0.00708118 -0.00271235 0.99997125 -0.4716134 ] [ 0. 0. 0. 1. ]] SLAMing on 93.451346184 meters Centerline goodness [0,1] 0.6484355506761814 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.9971615 -0.07493941 -0.00728235 2.09994777] [ 0.07495874 0.9971837 0.00241927 -0.0419082 ] [ 0.00708054 -0.00295828 0.99997056 -0.4721999 ] [ 0. 0. 0. 1. ]] SLAMing on 93.48134618399999 meters Centerline goodness [0,1] 0.6129657228017884 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 9.96879489e-01 -7.86187802e-02 -7.09728617e-03 2.10111755e+00] [ 7.86128567e-02 9.96904602e-01 -1.11020436e-03 -4.38571354e-02] [ 7.16260016e-03 5.48802019e-04 9.99974198e-01 -4.73313984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51134618399999 meters Centerline goodness [0,1] 0.6421509106678231 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 9.96859889e-01 -7.88878331e-02 -6.86082395e-03 2.10049717e+00] [ 7.88829569e-02 9.96883404e-01 -9.78866832e-04 -4.52724741e-02] [ 6.91666222e-03 4.34591001e-04 9.99975985e-01 -4.73346986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54134618399999 meters Centerline goodness [0,1] 0.6085278032121557 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99705219 -0.07644233 -0.00659597 2.09782955] [ 0.07645851 0.99707026 0.00223626 -0.04601381] [ 0.0064057 -0.00273399 0.99997575 -0.47212472] [ 0. 0. 0. 1. ]] SLAMing on 93.57134618399999 meters Centerline goodness [0,1] 0.6424511368169126 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 0.99749325 -0.07048834 -0.0062145 2.09306399] [ 0.07053979 0.99747284 0.00848977 -0.0426591 ] [ 0.00560036 -0.00890686 0.99994465 -0.46929292] [ 0. 0. 0. 1. ]] SLAMing on 93.601346184 meters Centerline goodness [0,1] 0.6230040730652939 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 0.99753065 -0.06992539 -0.00656051 2.09412963] [ 0.06997826 0.99751475 0.00820767 -0.04089585] [ 0.00597028 -0.0086465 0.9999448 -0.46903304] [ 0. 0. 0. 1. ]] SLAMing on 93.631346184 meters Centerline goodness [0,1] 0.6566041495429524 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99757985 -0.06919197 -0.00684969 2.09573719] [ 0.06925004 0.99756193 0.00863831 -0.04206175] [ 0.00623529 -0.00909174 0.99993923 -0.46995362] [ 0. 0. 0. 1. ]] SLAMing on 93.661346184 meters Centerline goodness [0,1] 0.6677655223695625 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.97919964e-01 -6.44628222e-02 5.37679131e-04 2.08874803e+00] [ 6.44605944e-02 9.97914279e-01 3.45302376e-03 -4.77714876e-02] [-7.59149338e-04 -3.41118223e-03 9.99993894e-01 -4.77406740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.691346184 meters Centerline goodness [0,1] 0.6665430633837635 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.97945263e-01 -6.40708075e-02 4.29269086e-04 2.08972163e+00] [ 6.40685941e-02 9.97937520e-01 3.99008413e-03 -4.87668252e-02] [-6.84031639e-04 -3.95438289e-03 9.99991947e-01 -4.78483762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.721346184 meters Centerline goodness [0,1] 0.6779971756311474 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98142384e-01 -6.09214597e-02 5.96834824e-04 2.08812807e+00] [ 6.09147391e-02 9.98110794e-01 8.01485022e-03 -5.03988815e-02] [-1.08398365e-03 -7.96360567e-03 9.99967702e-01 -4.78252019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.751346184 meters Centerline goodness [0,1] 0.6836982968369829 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98322864e-01 -5.78873177e-02 7.19058069e-04 2.08627332e+00] [ 5.78751515e-02 9.98256774e-01 1.15706533e-02 -4.98244402e-02] [-1.38759867e-03 -1.15096321e-02 9.99932799e-01 -4.77357160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.781346184 meters Centerline goodness [0,1] 0.6813364513881979 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98324181e-01 -5.78687903e-02 1.79876578e-04 2.08690833e+00] [ 5.78635031e-02 9.98266438e-01 1.07672880e-02 -4.60724323e-02] [-8.02654680e-04 -1.07388356e-02 9.99942015e-01 -4.76186318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.811346184 meters Centerline goodness [0,1] 0.6852602521698044 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98353965e-01 -5.73527613e-02 -1.45773866e-04 2.08791918e+00] [ 5.73509467e-02 9.98294704e-01 1.08882148e-02 -4.61390834e-02] [-4.78943907e-04 -1.08786527e-02 9.99940711e-01 -4.76201756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.841346184 meters Centerline goodness [0,1] 0.6880784021833519 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98192243e-01 -6.00986468e-02 -6.31295883e-04 2.09102858e+00] [ 6.01017090e-02 9.98163469e-01 7.58113011e-03 -4.75113361e-02] [ 1.74520828e-04 -7.60536723e-03 9.99971064e-01 -4.77559687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87134618399999 meters Centerline goodness [0,1] 0.6872490825349129 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98215201e-01 -5.97165708e-02 -5.86329966e-04 2.09180842e+00] [ 5.97193957e-02 9.98179335e-01 8.46217309e-03 -5.17091750e-02] [ 7.99304970e-05 -8.48208508e-03 9.99964023e-01 -4.78786940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90134618399999 meters Centerline goodness [0,1] 0.6901068597035505 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98169709e-01 -6.04749178e-02 -1.25693152e-04 2.08992748e+00] [ 6.04740026e-02 9.98138069e-01 7.95557021e-03 -5.20639832e-02] [-3.55653334e-04 -7.94861038e-03 9.99968346e-01 -4.77633400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93134618399999 meters Centerline goodness [0,1] 0.667431418985593 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98321907e-01 -5.79081606e-02 1.20337108e-04 2.08710312e+00] [ 5.79033091e-02 9.98261200e-01 1.10355606e-02 -5.07573318e-02] [-7.59176881e-04 -1.10100740e-02 9.99939099e-01 -4.75827591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96134618399999 meters Centerline goodness [0,1] 0.6853818792609425 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 9.98309863e-01 -5.81126262e-02 -5.83505242e-04 2.08794479e+00] [ 5.81155555e-02 9.98260052e-01 9.97247355e-03 -4.61542009e-02] [ 2.96334582e-06 -9.98952944e-03 9.99950103e-01 -4.74490248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.991346184 meters Centerline goodness [0,1] 0.6874115983026874 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98343899e-01 -5.75168174e-02 -1.12909090e-03 2.09031163e+00] [ 5.75255953e-02 9.98287261e-01 1.06465967e-02 -4.66661427e-02] [ 5.14798707e-04 -1.06939165e-02 9.99942686e-01 -4.76325006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.021346184 meters Centerline goodness [0,1] 0.683815569333727 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98204355e-01 -5.98687172e-02 -1.95005759e-03 2.09495071e+00] [ 5.98820514e-02 9.98175727e-01 7.70444066e-03 -4.78024485e-02] [ 1.48524518e-03 -7.80737967e-03 9.99968419e-01 -4.78793445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.051346184 meters Centerline goodness [0,1] 0.6858083214619051 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 9.98237178e-01 -5.93150498e-02 -2.06437035e-03 2.09656286e+00] [ 5.93309253e-02 9.98200086e-01 8.74241542e-03 -5.10573568e-02] [ 1.54209785e-03 -8.84948510e-03 9.99959653e-01 -4.80829767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.081346184 meters Centerline goodness [0,1] 0.6929694818320762 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 9.98235235e-01 -5.93464378e-02 -2.10124064e-03 2.09707723e+00] [ 5.93627606e-02 9.98197511e-01 8.81997894e-03 -5.11300024e-02] [ 1.57401885e-03 -8.92914919e-03 9.99958896e-01 -4.81540825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.111346184 meters Centerline goodness [0,1] 0.6929694818320762 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 9.98235235e-01 -5.93464378e-02 -2.10124064e-03 2.09707723e+00] [ 5.93627606e-02 9.98197511e-01 8.81997894e-03 -5.11300024e-02] [ 1.57401885e-03 -8.92914919e-03 9.99958896e-01 -4.81540825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.141346184 meters Centerline goodness [0,1] 0.6939058514721541 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.48 [[ 9.98364249e-01 -5.71446843e-02 -1.81973524e-03 2.09396431e+00] [ 5.71616242e-02 9.98301330e-01 1.12695776e-02 -4.80257115e-02] [ 1.17264765e-03 -1.13551624e-02 9.99934840e-01 -4.79407369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.171346184 meters Centerline goodness [0,1] 0.6925918579858183 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98334383e-01 -5.76619344e-02 -1.88690822e-03 2.09316227e+00] [ 5.76781040e-02 9.98284281e-01 1.00861995e-02 -4.47823656e-02] [ 1.30208104e-03 -1.01782331e-02 9.99947353e-01 -4.77700400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.201346184 meters Centerline goodness [0,1] 0.6906202534797441 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98323979e-01 -5.78399935e-02 -1.94132714e-03 2.09299989e+00] [ 5.78557116e-02 9.98281060e-01 9.36174693e-03 -4.26412529e-02] [ 1.39650673e-03 -9.45837331e-03 9.99954293e-01 -4.76926040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23134618399999 meters Centerline goodness [0,1] 0.6927929270352158 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98359169e-01 -5.72210215e-02 -2.17351602e-03 2.09478046e+00] [ 5.72399438e-02 9.98310687e-01 9.96795726e-03 -4.46069961e-02] [ 1.59946758e-03 -1.00760135e-02 9.99947956e-01 -4.78519071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26134618399999 meters Centerline goodness [0,1] 0.6912147586104292 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 9.98369493e-01 -5.70422468e-02 -2.13008998e-03 2.09546217e+00] [ 5.70613202e-02 9.98317101e-01 1.03427157e-02 -4.61041091e-02] [ 1.53653351e-03 -1.04473976e-02 9.99944244e-01 -4.79618401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29134618399999 meters Centerline goodness [0,1] 0.6875154572884206 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 9.98362954e-01 -5.71541879e-02 -2.19353285e-03 2.09576267e+00] [ 5.71737374e-02 9.98311834e-01 1.02296830e-02 -4.59811392e-02] [ 1.60516057e-03 -1.03383490e-02 9.99945270e-01 -4.79845467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32134618399999 meters Centerline goodness [0,1] 0.6858032378580323 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98316806e-01 -5.79585507e-02 -2.08828970e-03 2.09461025e+00] [ 5.79752274e-02 9.98276671e-01 9.08627518e-03 -4.20382261e-02] [ 1.55806355e-03 -9.19205029e-03 9.99956538e-01 -4.78569719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.351346184 meters Centerline goodness [0,1] 0.681821603312006 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98296657e-01 -5.83014137e-02 -2.17487585e-03 2.09435008e+00] [ 5.83177355e-02 9.98262717e-01 8.40171967e-03 -3.98910079e-02] [ 1.68126534e-03 -8.51424250e-03 9.99962340e-01 -4.77764123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.381346184 meters Centerline goodness [0,1] 0.6795295295295296 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98273794e-01 -5.86816123e-02 -2.42910201e-03 2.09418659e+00] [ 5.86984613e-02 9.98247054e-01 7.57034031e-03 -3.77150437e-02] [ 1.98060415e-03 -7.69985689e-03 9.99968394e-01 -4.76453562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.411346184 meters Centerline goodness [0,1] 0.6763367178512479 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98254873e-01 -5.90062601e-02 -2.33882607e-03 2.09350668e+00] [ 5.90217308e-02 9.98230625e-01 7.21491164e-03 -3.78212026e-02] [ 1.90896285e-03 -7.34036226e-03 9.99971237e-01 -4.75598439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.441346184 meters Centerline goodness [0,1] 0.6721282857000349 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98242025e-01 -5.92309764e-02 -2.13340914e-03 2.09282547e+00] [ 5.92449539e-02 9.98217321e-01 7.22607991e-03 -3.89980353e-02] [ 1.70159819e-03 -7.33977037e-03 9.99971616e-01 -4.75322131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.471346184 meters Centerline goodness [0,1] 0.664420653340321 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98226474e-01 -5.94992363e-02 -1.93594769e-03 2.09223200e+00] [ 5.95117112e-02 9.98201682e-01 7.19433355e-03 -4.00131355e-02] [ 1.50440889e-03 -7.29678577e-03 9.99972246e-01 -4.75123189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.501346184 meters Centerline goodness [0,1] 0.6578115274492717 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98204449e-01 -5.98752401e-02 -1.68315440e-03 2.09169627e+00] [ 5.98859410e-02 9.98178847e-01 7.25701154e-03 -4.16704215e-02] [ 1.24557380e-03 -7.34477849e-03 9.99972251e-01 -4.75381070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.531346184 meters Centerline goodness [0,1] 0.6736928551875171 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98192086e-01 -6.00865588e-02 -1.47128163e-03 2.09119497e+00] [ 6.00956526e-02 9.98166571e-01 7.21168436e-03 -4.21546898e-02] [ 1.03525884e-03 -7.28706388e-03 9.99972913e-01 -4.75403297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.561346184 meters Centerline goodness [0,1] 0.6522797258368929 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.48 [[ 9.98189894e-01 -6.01198950e-02 -1.59199134e-03 2.09137109e+00] [ 6.01296606e-02 9.98165798e-01 7.03302151e-03 -4.15880781e-02] [ 1.16624680e-03 -7.11601689e-03 9.99974001e-01 -4.75140107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.591346184 meters Centerline goodness [0,1] 0.652017937219731 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 9.98381949e-01 -5.68416250e-02 -1.58567371e-03 2.08999513e+00] [ 5.68554292e-02 9.98324559e-01 1.07486857e-02 -4.16330299e-02] [ 9.72044247e-04 -1.08214479e-02 9.99940974e-01 -4.74463596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62134618399999 meters Centerline goodness [0,1] 0.6501548760991207 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 9.98378141e-01 -5.69043627e-02 -1.72663407e-03 2.09008579e+00] [ 5.69193298e-02 9.98324318e-01 1.04281013e-02 -4.06408165e-02] [ 1.13033632e-03 -1.05094673e-02 9.99944135e-01 -4.73943331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65134618399999 meters Centerline goodness [0,1] 0.644457165613022 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 9.98372479e-01 -5.70032439e-02 -1.73859940e-03 2.08977959e+00] [ 5.70182273e-02 9.98319622e-01 1.03370678e-02 -4.12838033e-02] [ 1.14643150e-03 -1.04193758e-02 9.99945060e-01 -4.73307285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68134618399999 meters Centerline goodness [0,1] 0.6436014489157942 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.04, Z:-0.47 [[ 9.98371795e-01 -5.70158199e-02 -1.71935495e-03 2.08963088e+00] [ 5.70309106e-02 9.98316005e-01 1.06127100e-02 -4.35331985e-02] [ 1.11136720e-03 -1.06934867e-02 9.99942205e-01 -4.73096966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71134618399999 meters Centerline goodness [0,1] 0.6306510950346905 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 9.98169063e-01 -6.04565694e-02 -1.87733416e-03 2.09097760e+00] [ 6.04687504e-02 9.98143366e-01 7.30413116e-03 -4.70726370e-02] [ 1.43226592e-03 -7.40427781e-03 9.99971562e-01 -4.73348116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.741346184 meters Centerline goodness [0,1] 0.6273968551289002 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 9.98158180e-01 -6.06417477e-02 -1.68101971e-03 2.09047456e+00] [ 6.06528762e-02 9.98129723e-01 7.63444544e-03 -4.95436187e-02] [ 1.21490963e-03 -7.72234285e-03 9.99969444e-01 -4.73389938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.771346184 meters Centerline goodness [0,1] 0.6602850823298108 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 9.98140464e-01 -6.09366894e-02 -1.52768155e-03 2.08972320e+00] [ 6.09466501e-02 9.98111654e-01 7.65716632e-03 -5.07511723e-02] [ 1.05819440e-03 -7.73603461e-03 9.99969517e-01 -4.72875856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.801346184 meters Centerline goodness [0,1] 0.6817969345831181 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 9.98156646e-01 -6.06590792e-02 -1.94568309e-03 2.09051621e+00] [ 6.06721841e-02 9.98128905e-01 7.58779772e-03 -4.98356860e-02] [ 1.48177371e-03 -7.69185957e-03 9.99969319e-01 -4.72372958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.831346184 meters Centerline goodness [0,1] 0.6845751762907442 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.05, Z:-0.47 [[ 0.99819369 -0.06002316 -0.00256577 2.09255454] [ 0.0600413 0.99816619 0.00770073 -0.04821981] [ 0.00209885 -0.00784087 0.99996706 -0.47301775] [ 0. 0. 0. 1. ]] SLAMing on 94.861346184 meters Centerline goodness [0,1] 0.6743916284120638 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99835193 -0.05728267 -0.00348027 2.09801801] [ 0.05731415 0.99830867 0.00974097 -0.04962274] [ 0.0029164 -0.00992438 0.9999465 -0.4769461 ] [ 0. 0. 0. 1. ]] SLAMing on 94.891346184 meters Centerline goodness [0,1] 0.7029773622047244 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99841771 -0.05607279 -0.00423405 2.10143213] [ 0.05611573 0.9983657 0.01081461 -0.05131815] [ 0.00362073 -0.0110351 0.99993256 -0.47915292] [ 0. 0. 0. 1. ]] SLAMing on 94.921346184 meters Centerline goodness [0,1] 0.6831942318139168 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99845302 -0.05539774 -0.00475892 2.10333053] [ 0.05544773 0.9983998 0.0111077 -0.05135071] [ 0.00413597 -0.01135439 0.99992698 -0.47986275] [ 0. 0. 0. 1. ]] SLAMing on 94.951346184 meters Centerline goodness [0,1] 0.7070804563565719 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99846397 -0.05515644 -0.00524101 2.10423547] [ 0.05520969 0.99841826 0.01062414 -0.04933724] [ 0.00464673 -0.01089718 0.99992983 -0.47912019] [ 0. 0. 0. 1. ]] SLAMing on 94.98134618399999 meters Centerline goodness [0,1] 0.6835058729842723 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99863031 -0.05207496 -0.00507011 2.10191923] [ 0.0521395 0.99854774 0.01356043 -0.04734182] [ 0.00435658 -0.01380621 0.9998952 -0.47706753] [ 0. 0. 0. 1. ]] SLAMing on 95.01134618399999 meters Centerline goodness [0,1] 0.7183056503224843 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99862379 -0.05218992 -0.00517028 2.10193024] [ 0.05225431 0.9985463 0.01321987 -0.04667145] [ 0.00447282 -0.01347185 0.99989925 -0.47659736] [ 0. 0. 0. 1. ]] SLAMing on 95.04134618399999 meters Centerline goodness [0,1] 0.7087718427323273 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99862771 -0.05213116 -0.0050031 2.10198385] [ 0.05219493 0.99854436 0.01359602 -0.04907949] [ 0.00428704 -0.0138385 0.99989505 -0.47717698] [ 0. 0. 0. 1. ]] SLAMing on 95.07134618399999 meters Centerline goodness [0,1] 0.7203802054896511 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99863592 -0.05197172 -0.0050245 2.10246075] [ 0.05203679 0.99854941 0.01382903 -0.05001303] [ 0.00429849 -0.01407162 0.99989175 -0.47770033] [ 0. 0. 0. 1. ]] SLAMing on 95.101346184 meters Centerline goodness [0,1] 0.6719861231569818 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99863868 -0.05190627 -0.00515093 2.10301891] [ 0.051973 0.99855314 0.01379978 -0.05005922] [ 0.00442718 -0.0140487 0.99989151 -0.47797536] [ 0. 0. 0. 1. ]] SLAMing on 95.131346184 meters Centerline goodness [0,1] 0.7068422488406121 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99864246 -0.05182919 -0.00519342 2.10339867] [ 0.05189623 0.99855804 0.01373384 -0.04980343] [ 0.00447412 -0.01398472 0.9998922 -0.47821567] [ 0. 0. 0. 1. ]] SLAMing on 95.161346184 meters Centerline goodness [0,1] 0.7185497889247578 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99863474 -0.05198149 -0.0051564 2.10314678] [ 0.05204615 0.99855588 0.01331725 -0.0488558 ] [ 0.0044567 -0.01356744 0.99989803 -0.47775096] [ 0. 0. 0. 1. ]] SLAMing on 95.191346184 meters Centerline goodness [0,1] 0.7166352450883111 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99861327 -0.05239059 -0.00517391 2.1023328 ] [ 0.05245 0.99855016 0.01210673 -0.04587026] [ 0.00453213 -0.01236131 0.99991333 -0.47580904] [ 0. 0. 0. 1. ]] SLAMing on 95.221346184 meters Centerline goodness [0,1] 0.7107062069651247 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99860603 -0.05253619 -0.00509351 2.10193582] [ 0.05259349 0.99854562 0.01185606 -0.04557819] [ 0.00446323 -0.01210742 0.99991674 -0.47535522] [ 0. 0. 0. 1. ]] SLAMing on 95.251346184 meters Centerline goodness [0,1] 0.7056923497403533 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99860104 -0.05264269 -0.00497003 2.10148005] [ 0.0526979 0.9985417 0.01172217 -0.0459251 ] [ 0.00434569 -0.01196768 0.99991894 -0.47493472] [ 0. 0. 0. 1. ]] SLAMing on 95.281346184 meters Centerline goodness [0,1] 0.705609907120743 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99857325 -0.05318157 -0.00481438 2.10030866] [ 0.05323095 0.99852399 0.0107849 -0.04452809] [ 0.00423372 -0.01102578 0.99993025 -0.47340447] [ 0. 0. 0. 1. ]] SLAMing on 95.311346184 meters Centerline goodness [0,1] 0.7120858377626547 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99856208 -0.05338894 -0.00483613 2.10004863] [ 0.05343732 0.99851603 0.01049753 -0.04417725] [ 0.0042685 -0.01074086 0.9999332 -0.47285653] [ 0. 0. 0. 1. ]] SLAMing on 95.341346184 meters Centerline goodness [0,1] 0.6988533194040245 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.04, Z:-0.47 [[ 0.99854853 -0.05365746 -0.00466039 2.09968991] [ 0.05370399 0.9985016 0.01050932 -0.0448151 ] [ 0.0040895 -0.01074435 0.99993392 -0.4730629 ] [ 0. 0. 0. 1. ]] SLAMing on 95.37134618399999 meters Centerline goodness [0,1] 0.6995261131404877 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99835278 -0.05718322 -0.0046698 2.10169819] [ 0.05721646 0.99833494 0.00732321 -0.04712787] [ 0.00424326 -0.00757834 0.99996228 -0.47527145] [ 0. 0. 0. 1. ]] SLAMing on 95.40134618399999 meters Centerline goodness [0,1] 0.6864673485444532 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99835918 -0.05708219 -0.00453594 2.1025584 ] [ 0.05711814 0.99833346 0.00823532 -0.05000159] [ 0.00405829 -0.00848089 0.9999558 -0.47739136] [ 0. 0. 0. 1. ]] SLAMing on 95.43134618399999 meters Centerline goodness [0,1] 0.6942181211347795 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99835888 -0.05708688 -0.00454151 2.10334893] [ 0.05712555 0.99832736 0.00889681 -0.0518635 ] [ 0.00402602 -0.00914165 0.99995011 -0.47899825] [ 0. 0. 0. 1. ]] SLAMing on 95.46134618399999 meters Centerline goodness [0,1] 0.6883938461538461 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99836134 -0.05703449 -0.00465904 2.10419819] [ 0.05707643 0.99832529 0.00942864 -0.05275863] [ 0.00411348 -0.00967911 0.9999447 -0.4802381 ] [ 0. 0. 0. 1. ]] SLAMing on 95.491346184 meters Centerline goodness [0,1] 0.6944869831546707 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99833813 -0.05742963 -0.00477687 2.10426685] [ 0.05747124 0.99830582 0.00908518 -0.049864 ] [ 0.00424702 -0.00934461 0.99994732 -0.48037127] [ 0. 0. 0. 1. ]] SLAMing on 95.521346184 meters Centerline goodness [0,1] 0.688269396817565 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99833082 -0.05754406 -0.00492592 2.1042791 ] [ 0.05758536 0.99830267 0.00870036 -0.04875483] [ 0.00441691 -0.0089695 0.99995002 -0.47967426] [ 0. 0. 0. 1. ]] SLAMing on 95.551346184 meters Centerline goodness [0,1] 0.660120437507681 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99831024 -0.05791794 -0.00471027 2.10328619] [ 0.05795825 0.9982791 0.00892603 -0.05170689] [ 0.00418518 -0.00918395 0.99994907 -0.47918394] [ 0. 0. 0. 1. ]] SLAMing on 95.581346184 meters Centerline goodness [0,1] 0.6671745220425616 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99830323 -0.05804291 -0.00465733 2.1029466 ] [ 0.05808349 0.99827015 0.00911181 -0.05356365] [ 0.0041204 -0.00936686 0.99994764 -0.47891396] [ 0. 0. 0. 1. ]] SLAMing on 95.611346184 meters Centerline goodness [0,1] 0.6668632655067335 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99828048 -0.05844443 -0.00450886 2.10213513] [ 0.0584825 0.99824937 0.00883116 -0.0536986 ] [ 0.00398484 -0.00907966 0.99995084 -0.47825095] [ 0. 0. 0. 1. ]] SLAMing on 95.641346184 meters Centerline goodness [0,1] 0.6741924364782352 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99824623 -0.05904145 -0.00430932 2.10091501] [ 0.05907515 0.99822016 0.00816319 -0.05248675] [ 0.00381968 -0.00840345 0.9999574 -0.47714693] [ 0. 0. 0. 1. ]] SLAMing on 95.671346184 meters Centerline goodness [0,1] 0.6595608349557631 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99817514 -0.06027682 -0.00361852 2.09824136] [ 0.06030123 0.99815521 0.00706655 -0.05069523] [ 0.00318589 -0.00727186 0.99996848 -0.47568637] [ 0. 0. 0. 1. ]] SLAMing on 95.701346184 meters Centerline goodness [0,1] 0.6385586649929853 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99815511 -0.06062687 -0.00328029 2.09730536] [ 0.06064864 0.9981346 0.00700425 -0.05195553] [ 0.00284952 -0.00719028 0.99997009 -0.47550516] [ 0. 0. 0. 1. ]] SLAMing on 95.73134618399999 meters Centerline goodness [0,1] 0.6281918819188193 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.9981675 -0.06042803 -0.0031772 2.09776469] [ 0.06045029 0.99814339 0.00745199 -0.05389555] [ 0.00272099 -0.0076304 0.99996719 -0.47649871] [ 0. 0. 0. 1. ]] SLAMing on 95.76134618399999 meters Centerline goodness [0,1] 0.6669371695561294 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.48 [[ 0.99823148 -0.05934 -0.00356033 2.10069245] [ 0.05936849 0.99819981 0.00851627 -0.05582984] [ 0.00304856 -0.00871258 0.9999574 -0.4792942 ] [ 0. 0. 0. 1. ]] SLAMing on 95.79134618399999 meters Centerline goodness [0,1] 0.6678402599960607 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99825593 -0.05890781 -0.00386989 2.10179074] [ 0.05893806 0.99822769 0.00823254 -0.05381508] [ 0.00337807 -0.00844626 0.99995862 -0.47938162] [ 0. 0. 0. 1. ]] SLAMing on 95.82134618399999 meters Centerline goodness [0,1] 0.656868804232281 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99845387 -0.05546735 -0.0036396 2.10003436] [ 0.05550725 0.99838646 0.01197561 -0.0539484 ] [ 0.00296947 -0.01215912 0.99992167 -0.47865821] [ 0. 0. 0. 1. ]] SLAMing on 95.851346184 meters Centerline goodness [0,1] 0.669946709629446 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99862613 -0.05229778 -0.00328546 2.09747375] [ 0.05234144 0.99851632 0.01501765 -0.05194511] [ 0.00249519 -0.01516899 0.99988183 -0.47685266] [ 0. 0. 0. 1. ]] SLAMing on 95.881346184 meters Centerline goodness [0,1] 0.6406880336592006 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99861067 -0.05258882 -0.00333738 2.09705542] [ 0.05263183 0.99850914 0.01446992 -0.05088049] [ 0.00257144 -0.01462547 0.99988974 -0.47593245] [ 0. 0. 0. 1. ]] SLAMing on 95.911346184 meters Centerline goodness [0,1] 0.6707568494001341 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99860675 -0.05266527 -0.0033069 2.09708297] [ 0.05270817 0.99850316 0.01460405 -0.05185304] [ 0.00253282 -0.01475801 0.99988789 -0.47610842] [ 0. 0. 0. 1. ]] SLAMing on 95.941346184 meters Centerline goodness [0,1] 0.6495198227037675 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.48 [[ 0.99840015 -0.05645046 -0.00323828 2.09781988] [ 0.05648282 0.99834334 0.01096678 -0.05426057] [ 0.00261384 -0.01113215 0.99993462 -0.47644145] [ 0. 0. 0. 1. ]] SLAMing on 95.971346184 meters Centerline goodness [0,1] 0.648452670648674 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.48 [[ 0.99836177 -0.05714663 -0.00283451 2.09604707] [ 0.05717396 0.99830647 0.0107393 -0.05596219] [ 0.002216 -0.01088376 0.99993831 -0.47538754] [ 0. 0. 0. 1. ]] SLAMing on 96.001346184 meters Centerline goodness [0,1] 0.648452670648674 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.48 [[ 0.99836177 -0.05714663 -0.00283451 2.09604707] [ 0.05717396 0.99830647 0.0107393 -0.05596219] [ 0.002216 -0.01088376 0.99993831 -0.47538754] [ 0. 0. 0. 1. ]] SLAMing on 96.031346184 meters Centerline goodness [0,1] 0.6366784556439729 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 9.98312973e-01 -5.80123445e-02 -2.40336121e-03 2.09408597e+00] [ 5.80342376e-02 9.98260940e-01 1.03499755e-02 -5.73283167e-02] [ 1.79875528e-03 -1.04719920e-02 9.99943549e-01 -4.74191722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.061346184 meters Centerline goodness [0,1] 0.6228470484322096 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 9.98270962e-01 -5.87440923e-02 -2.05364966e-03 2.09257059e+00] [ 5.87620798e-02 9.98219845e-01 1.02058731e-02 -5.90286515e-02] [ 1.45045910e-03 -1.03089035e-02 9.99945810e-01 -4.73450499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.091346184 meters Centerline goodness [0,1] 0.6104419633040972 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 9.98007713e-01 -6.30648279e-02 -1.85246030e-03 2.09223930e+00] [ 6.30751631e-02 9.97989620e-01 6.18402015e-03 -5.99975529e-02] [ 1.45874199e-03 -6.28854405e-03 9.99979163e-01 -4.72862599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12134618399999 meters Centerline goodness [0,1] 0.6031135040319633 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 9.98000917e-01 -6.31745571e-02 -1.77323626e-03 2.09218540e+00] [ 6.31853562e-02 9.97977993e-01 6.89460087e-03 -6.26377278e-02] [ 1.33408741e-03 -6.99286055e-03 9.99974660e-01 -4.73511111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15134618399999 meters Centerline goodness [0,1] 0.6101818358379257 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.47 [[ 9.98000377e-01 -6.31869278e-02 -1.63059051e-03 2.09229536e+00] [ 6.31977913e-02 9.97970482e-01 7.80739384e-03 -6.60123963e-02] [ 1.13395597e-03 -7.89483172e-03 9.99968192e-01 -4.74605552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18134618399999 meters Centerline goodness [0,1] 0.5977890951220102 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.48 [[ 9.97778427e-01 -6.65967634e-02 -1.75525400e-03 2.09384590e+00] [ 6.66047803e-02 9.97766944e-01 4.99290652e-03 -6.94472333e-02] [ 1.41882300e-03 -5.09872272e-03 9.99985995e-01 -4.75769352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21134618399999 meters Centerline goodness [0,1] 0.5918906584035935 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.48 [[ 9.97774960e-01 -6.66483108e-02 -1.76964591e-03 2.09378672e+00] [ 6.66569496e-02 9.97761450e-01 5.37961018e-03 -7.07366306e-02] [ 1.40714254e-03 -5.48559953e-03 9.99983964e-01 -4.75837028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.241346184 meters Centerline goodness [0,1] 0.5852059925093633 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.47 [[ 9.97756857e-01 -6.69162926e-02 -1.86122234e-03 2.09315956e+00] [ 6.69255873e-02 9.97742895e-01 5.48463404e-03 -7.16672824e-02] [ 1.49000999e-03 -5.59689462e-03 9.99983227e-01 -4.74834698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.271346184 meters Centerline goodness [0,1] 0.5900658288450029 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.07, Z:-0.47 [[ 9.97762255e-01 -6.68376372e-02 -1.79262286e-03 2.09298195e+00] [ 6.68471293e-02 9.97745805e-01 5.89656972e-03 -7.37664068e-02] [ 1.39446915e-03 -6.00320639e-03 9.99981008e-01 -4.74833168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.301346184 meters Centerline goodness [0,1] 0.6214003590664272 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.47 [[ 9.97772710e-01 -6.66838526e-02 -1.69767467e-03 2.09288344e+00] [ 6.66933155e-02 9.97753540e-01 6.31461504e-03 -7.61181102e-02] [ 1.27277806e-03 -6.41377411e-03 9.99978622e-01 -4.74876695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.331346184 meters Centerline goodness [0,1] 0.5898063443031959 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.48 [[ 9.97792653e-01 -6.63814607e-02 -1.82305035e-03 2.09347500e+00] [ 6.63925009e-02 9.97769934e-01 6.86977446e-03 -7.82906507e-02] [ 1.36295917e-03 -6.97564736e-03 9.99974741e-01 -4.75335263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.361346184 meters Centerline goodness [0,1] 0.6204783507113507 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.08, Z:-0.48 [[ 9.97834843e-01 -6.57388376e-02 -2.00784371e-03 2.09477745e+00] [ 6.57525335e-02 9.97805810e-01 7.75698246e-03 -8.12170141e-02] [ 1.49350311e-03 -7.87220819e-03 9.99967898e-01 -4.76584663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.391346184 meters Centerline goodness [0,1] 0.6231956315289648 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 9.97856801e-01 -6.53979594e-02 -2.21635438e-03 2.09556421e+00] [ 6.54137023e-02 9.97826246e-01 7.98943883e-03 -8.17039599e-02] [ 1.68904358e-03 -8.11729582e-03 9.99965628e-01 -4.76883621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.421346184 meters Centerline goodness [0,1] 0.5867776434042351 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 9.98108755e-01 -6.14284664e-02 -2.33595583e-03 2.09523908e+00] [ 6.14527079e-02 9.98033869e-01 1.23272107e-02 -8.30516569e-02] [ 1.57412139e-03 -1.24474477e-02 9.99921288e-01 -4.77149019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.451346184 meters Centerline goodness [0,1] 0.6459867889559474 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 9.98133065e-01 -6.10170943e-02 -2.70178220e-03 2.09633053e+00] [ 6.10459072e-02 9.98058942e-01 1.23184819e-02 -8.20137633e-02] [ 1.94489991e-03 -1.24604168e-02 9.99920475e-01 -4.77334595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48134618399999 meters Centerline goodness [0,1] 0.6404061541388248 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 0.99816011 -0.0605545 -0.00308838 2.09731103] [ 0.06058798 0.99808783 0.01223845 -0.08118131] [ 0.00234138 -0.01240305 0.99992034 -0.4770416 ] [ 0. 0. 0. 1. ]] SLAMing on 96.51134618399999 meters Centerline goodness [0,1] 0.6391361101222262 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 0.99817996 -0.06020747 -0.00344 2.09810642] [ 0.06024499 0.99811018 0.01210803 -0.0805648 ] [ 0.00270451 -0.01229324 0.99992078 -0.47667158] [ 0. 0. 0. 1. ]] SLAMing on 96.54134618399999 meters Centerline goodness [0,1] 0.6477996388176028 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 0.99840304 -0.05639211 -0.00336276 2.09676185] [ 0.05643913 0.9982765 0.01608294 -0.08173045] [ 0.00245002 -0.01624705 0.99986501 -0.47574599] [ 0. 0. 0. 1. ]] SLAMing on 96.57134618399999 meters Centerline goodness [0,1] 0.6657392214216071 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 0.99841757 -0.05611843 -0.00361585 2.09747909] [ 0.05616928 0.99829365 0.01596226 -0.08130386] [ 0.0027139 -0.0161401 0.99986606 -0.47564131] [ 0. 0. 0. 1. ]] SLAMing on 96.601346184 meters Centerline goodness [0,1] 0.6751856082238721 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99841283 -0.05620505 -0.00358048 2.0970952 ] [ 0.05625352 0.99829935 0.01529538 -0.07963928] [ 0.00271471 -0.01547252 0.99987661 -0.47477522] [ 0. 0. 0. 1. ]] SLAMing on 96.631346184 meters Centerline goodness [0,1] 0.6634975099482927 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99838808 -0.05663534 -0.00369969 2.09657505] [ 0.05668276 0.99828985 0.01429858 -0.07724479] [ 0.00288356 -0.01448524 0.99989093 -0.47340242] [ 0. 0. 0. 1. ]] SLAMing on 96.661346184 meters Centerline goodness [0,1] 0.6660867492850333 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99836038 -0.05711531 -0.00379269 2.09602488] [ 0.05716057 0.99827843 0.01314725 -0.07477906] [ 0.00303525 -0.01334249 0.99990638 -0.47190181] [ 0. 0. 0. 1. ]] SLAMing on 96.691346184 meters Centerline goodness [0,1] 0.6669776119402986 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99835155 -0.05726386 -0.00387751 2.09634733] [ 0.05730847 0.99827719 0.01258528 -0.07301688] [ 0.00315015 -0.01278675 0.99991328 -0.47193511] [ 0. 0. 0. 1. ]] SLAMing on 96.721346184 meters Centerline goodness [0,1] 0.6675420168067228 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99836301 -0.05705725 -0.00397234 2.09737332] [ 0.05710453 0.9982832 0.01302816 -0.07471109] [ 0.00322217 -0.01323368 0.99990724 -0.47315466] [ 0. 0. 0. 1. ]] SLAMing on 96.751346184 meters Centerline goodness [0,1] 0.6653875488607113 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99837299 -0.05688833 -0.00388565 2.09811922] [ 0.05693638 0.99828464 0.01363917 -0.0769956 ] [ 0.00310307 -0.01383822 0.99989943 -0.47470228] [ 0. 0. 0. 1. ]] SLAMing on 96.781346184 meters Centerline goodness [0,1] 0.6687686611728174 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.48 [[ 0.99836587 -0.05701697 -0.00382715 2.09835425] [ 0.0570643 0.99827685 0.01367436 -0.07697808] [ 0.00304088 -0.01387041 0.99989918 -0.47541534] [ 0. 0. 0. 1. ]] SLAMing on 96.811346184 meters Centerline goodness [0,1] 0.6633835734045598 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99834544 -0.05735466 -0.00410175 2.09861241] [ 0.05740271 0.99826963 0.01275426 -0.07380868] [ 0.00336314 -0.01296861 0.99991025 -0.47470735] [ 0. 0. 0. 1. ]] SLAMing on 96.841346184 meters Centerline goodness [0,1] 0.6514496927803379 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99827909 -0.05851628 -0.00383351 2.09665829] [ 0.05855492 0.99822477 0.0108918 -0.06797616] [ 0.00318936 -0.01109753 0.99993333 -0.47267275] [ 0. 0. 0. 1. ]] SLAMing on 96.87134618399999 meters Centerline goodness [0,1] 0.661025899522335 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99826017 -0.05884971 -0.00365182 2.09601334] [ 0.05888511 0.99820962 0.01049264 -0.0673879 ] [ 0.00302779 -0.01068942 0.99993828 -0.47225364] [ 0. 0. 0. 1. ]] SLAMing on 96.90134618399999 meters Centerline goodness [0,1] 0.6480288461538461 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.9982458 -0.05909441 -0.0036288 2.09538435] [ 0.05912746 0.99820236 0.00979739 -0.06621745] [ 0.0030433 -0.00999476 0.99994542 -0.47105719] [ 0. 0. 0. 1. ]] SLAMing on 96.93134618399999 meters Centerline goodness [0,1] 0.6599542884638518 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99823129 -0.05933884 -0.00363325 2.09477326] [ 0.05936946 0.99819555 0.00899523 -0.06459625] [ 0.00309292 -0.00919502 0.99995294 -0.4697681 ] [ 0. 0. 0. 1. ]] SLAMing on 96.96134618399999 meters Centerline goodness [0,1] 0.6574794612956851 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99821719 -0.05958355 -0.00349866 2.09368543] [ 0.05961025 0.99818886 0.00810105 -0.06351238] [ 0.00300963 -0.00829516 0.99996107 -0.46802651] [ 0. 0. 0. 1. ]] SLAMing on 96.991346184 meters Centerline goodness [0,1] 0.6541080235775292 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99820424 -0.05979728 -0.00354795 2.09348905] [ 0.05982229 0.99818147 0.0074196 -0.06149242] [ 0.00309783 -0.00761852 0.99996618 -0.46735972] [ 0. 0. 0. 1. ]] SLAMing on 97.021346184 meters Centerline goodness [0,1] 0.6630390094077245 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.9983741 -0.05691598 -0.00311741 2.09109576] [ 0.05694611 0.99832072 0.01062438 -0.06032436] [ 0.00250748 -0.01078463 0.9999387 -0.46651208] [ 0. 0. 0. 1. ]] SLAMing on 97.051346184 meters Centerline goodness [0,1] 0.6546489563567363 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99835766 -0.057194 -0.00329209 2.09103079] [ 0.05722294 0.99831628 0.00949468 -0.05661134] [ 0.00274351 -0.00966747 0.99994951 -0.46542063] [ 0. 0. 0. 1. ]] SLAMing on 97.081346184 meters Centerline goodness [0,1] 0.6410399167292005 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99839173 -0.05659442 -0.00332127 2.09265924] [ 0.05662586 0.99834243 0.01029081 -0.05917365] [ 0.00273336 -0.01046233 0.99994153 -0.46763786] [ 0. 0. 0. 1. ]] SLAMing on 97.111346184 meters Centerline goodness [0,1] 0.6595375304414921 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99823947 -0.05918489 -0.00388811 2.09658319] [ 0.05921191 0.99821915 0.00724477 -0.06023551] [ 0.0034524 -0.00746224 0.9999662 -0.47004741] [ 0. 0. 0. 1. ]] SLAMing on 97.141346184 meters Centerline goodness [0,1] 0.6668278646903789 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99825936 -0.05881801 -0.00432364 2.09867517] [ 0.05884962 0.99823801 0.00758884 -0.05860317] [ 0.00386966 -0.00783008 0.99996186 -0.47191357] [ 0. 0. 0. 1. ]] SLAMing on 97.171346184 meters Centerline goodness [0,1] 0.6631913294377227 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99842695 -0.0559037 -0.00428986 2.0968843 ] [ 0.05594731 0.99837502 0.01082673 -0.05663395] [ 0.00367764 -0.0110497 0.99993219 -0.47077882] [ 0. 0. 0. 1. ]] SLAMing on 97.201346184 meters Centerline goodness [0,1] 0.6521167563356622 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99840295 -0.05630871 -0.00457006 2.09662749] [ 0.05635111 0.99836341 0.00974981 -0.05288039] [ 0.00401358 -0.00999177 0.99994203 -0.46921801] [ 0. 0. 0. 1. ]] SLAMing on 97.23134618399999 meters Centerline goodness [0,1] 0.661055294718661 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99838702 -0.05659171 -0.00455282 2.09610347] [ 0.05663192 0.99835228 0.00924893 -0.0519692 ] [ 0.00402191 -0.00949184 0.99994686 -0.4683393 ] [ 0. 0. 0. 1. ]] SLAMing on 97.26134618399999 meters Centerline goodness [0,1] 0.6645062627439557 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.47 [[ 0.99819339 -0.05991179 -0.00453067 2.09714799] [ 0.05993663 0.9981867 0.00556001 -0.05382439] [ 0.00418935 -0.00582152 0.99997428 -0.46839733] [ 0. 0. 0. 1. ]] SLAMing on 97.29134618399999 meters Centerline goodness [0,1] 0.6627392156388359 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99819089 -0.0599714 -0.00428732 2.09679604] [ 0.05999635 0.99818086 0.00594981 -0.05671183] [ 0.0039227 -0.00619626 0.99997311 -0.46875526] [ 0. 0. 0. 1. ]] SLAMing on 97.32134618399999 meters Centerline goodness [0,1] 0.6546533507019829 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99817531 -0.0602497 -0.00400235 2.09591203] [ 0.06027268 0.99816455 0.00589397 -0.05835402] [ 0.00363989 -0.00612445 0.99997462 -0.46833163] [ 0. 0. 0. 1. ]] SLAMing on 97.351346184 meters Centerline goodness [0,1] 0.6339994193922973 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99811461 -0.06127755 -0.00350657 2.09344609] [ 0.06129367 0.99810874 0.00469278 -0.05596825] [ 0.00321238 -0.00489887 0.99998284 -0.46637346] [ 0. 0. 0. 1. ]] SLAMing on 97.381346184 meters Centerline goodness [0,1] 0.6438684963390389 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99828876 -0.05838149 -0.00333849 2.09156968] [ 0.05840742 0.99825846 0.00828343 -0.05608087] [ 0.00284908 -0.00846425 0.99996012 -0.46576635] [ 0. 0. 0. 1. ]] SLAMing on 97.411346184 meters Centerline goodness [0,1] 0.6305150631681244 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.06, Z:-0.47 [[ 0.99829613 -0.05823885 -0.00361615 2.09243581] [ 0.05826724 0.99826638 0.00831687 -0.0552831 ] [ 0.00312551 -0.0085134 0.99995888 -0.4661317 ] [ 0. 0. 0. 1. ]] SLAMing on 97.441346184 meters Centerline goodness [0,1] 0.6382477854629293 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.9982409 -0.05909557 -0.00477691 2.09946858] [ 0.05912838 0.99822552 0.00704655 -0.05897661] [ 0.00435201 -0.00731661 0.99996376 -0.47073668] [ 0. 0. 0. 1. ]] SLAMing on 97.471346184 meters Centerline goodness [0,1] 0.6484864616352506 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99827661 -0.05847409 -0.00495831 2.10105116] [ 0.05851368 0.99825247 0.0082559 -0.06296622] [ 0.00446689 -0.0085318 0.99995363 -0.4725484 ] [ 0. 0. 0. 1. ]] SLAMing on 97.501346184 meters Centerline goodness [0,1] 0.6629497615721787 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99830394 -0.05798917 -0.00514743 2.10227464] [ 0.058035 0.99827166 0.00925366 -0.06582423] [ 0.00460192 -0.00953669 0.99994394 -0.47391028] [ 0. 0. 0. 1. ]] SLAMing on 97.531346184 meters Centerline goodness [0,1] 0.6612456330562583 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99831238 -0.05783106 -0.0052874 2.10278203] [ 0.0578798 0.99827757 0.00958195 -0.06654727] [ 0.00472416 -0.00987181 0.99994011 -0.47422955] [ 0. 0. 0. 1. ]] SLAMing on 97.561346184 meters Centerline goodness [0,1] 0.6431164210678142 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99844662 -0.05548619 -0.00506348 2.09919564] [ 0.05554561 0.99837833 0.01246613 -0.0654595 ] [ 0.00436357 -0.01272802 0.99990947 -0.47116046] [ 0. 0. 0. 1. ]] SLAMing on 97.591346184 meters Centerline goodness [0,1] 0.6477272727272727 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.47 [[ 0.99840321 -0.05627853 -0.00487459 2.09718724] [ 0.05633089 0.99834743 0.01136845 -0.06404603] [ 0.00422673 -0.01162489 0.9999235 -0.46853491] [ 0. 0. 0. 1. ]] SLAMing on 97.62134618399999 meters Centerline goodness [0,1] 0.6327800829875518 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99837867 -0.05673822 -0.00456144 2.09595115] [ 0.05678655 0.99832267 0.01127503 -0.06523886] [ 0.00391407 -0.01151578 0.99992603 -0.46786828] [ 0. 0. 0. 1. ]] SLAMing on 97.65134618399999 meters Centerline goodness [0,1] 0.6230719717739052 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99821547 -0.05952447 -0.00476547 2.09945512] [ 0.05956657 0.99818156 0.00924133 -0.07176271] [ 0.00420672 -0.0095087 0.99994594 -0.47145074] [ 0. 0. 0. 1. ]] SLAMing on 97.68134618399999 meters Centerline goodness [0,1] 0.6295276525041538 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99803314 -0.06246837 -0.00524943 2.10256344] [ 0.0624992 0.9980274 0.00592885 -0.07304784] [ 0.00486871 -0.00624528 0.99996865 -0.47301656] [ 0. 0. 0. 1. ]] SLAMing on 97.71134618399999 meters Centerline goodness [0,1] 0.6438833570412518 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99804977 -0.06219719 -0.00530789 2.10346046] [ 0.06223127 0.99804048 0.00651725 -0.07464884] [ 0.00489213 -0.00683486 0.99996468 -0.47421807] [ 0. 0. 0. 1. ]] SLAMing on 97.741346184 meters Centerline goodness [0,1] 0.6496360816131727 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99826276 -0.05865808 -0.00553925 2.10320715] [ 0.05871186 0.99822382 0.01010556 -0.07200213] [ 0.00493664 -0.01041322 0.9999336 -0.47442605] [ 0. 0. 0. 1. ]] SLAMing on 97.771346184 meters Centerline goodness [0,1] 0.6551724137931034 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99847012 -0.05500224 -0.00567253 2.10287582] [ 0.05507686 0.99838446 0.0139647 -0.07101987] [ 0.00489527 -0.01425576 0.9998864 -0.4746311 ] [ 0. 0. 0. 1. ]] SLAMing on 97.801346184 meters Centerline goodness [0,1] 0.6724595063632858 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.48 [[ 0.99869471 -0.0507292 -0.00595118 2.10332202] [ 0.05083022 0.99854016 0.01827148 -0.07137679] [ 0.00501559 -0.01855013 0.99981535 -0.47515653] [ 0. 0. 0. 1. ]] SLAMing on 97.831346184 meters Centerline goodness [0,1] 0.681506272120964 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.48 [[ 0.99871528 -0.05029362 -0.0061925 2.10439683] [ 0.05040019 0.99855846 0.0184615 -0.07214302] [ 0.00525508 -0.01874989 0.99981039 -0.47559573] [ 0. 0. 0. 1. ]] SLAMing on 97.861346184 meters Centerline goodness [0,1] 0.6687803237738387 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.07, Z:-0.48 [[ 0.99872728 -0.05003702 -0.00633447 2.10501311] [ 0.0501469 0.99856913 0.01857392 -0.0729673 ] [ 0.00539603 -0.01886794 0.99980742 -0.47580166] [ 0. 0. 0. 1. ]] SLAMing on 97.891346184 meters Centerline goodness [0,1] 0.6738230296067591 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99871668 -0.05024891 -0.00632803 2.10439376] [ 0.05035563 0.99856881 0.01801775 -0.07261326] [ 0.0054136 -0.01831328 0.99981764 -0.4746024 ] [ 0. 0. 0. 1. ]] SLAMing on 97.921346184 meters Centerline goodness [0,1] 0.6738230296067591 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99871668 -0.05024891 -0.00632803 2.10439376] [ 0.05035563 0.99856881 0.01801775 -0.07261326] [ 0.0054136 -0.01831328 0.99981764 -0.4746024 ] [ 0. 0. 0. 1. ]] SLAMing on 97.951346184 meters Centerline goodness [0,1] 0.6641959316829783 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99869327 -0.05073004 -0.00618185 2.10328624] [ 0.05083053 0.99855643 0.01735831 -0.07183646] [ 0.00529233 -0.01764985 0.99983022 -0.47335131] [ 0. 0. 0. 1. ]] SLAMing on 97.98134618399999 meters Centerline goodness [0,1] 0.6751741805731798 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99866431 -0.0512907 -0.00623414 2.10248102] [ 0.05138738 0.99854266 0.01648916 -0.07018728] [ 0.00537931 -0.01678749 0.99984461 -0.4718503 ] [ 0. 0. 0. 1. ]] SLAMing on 98.01134618399999 meters Centerline goodness [0,1] 0.6586765942116009 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99862056 -0.0521557 -0.00606277 2.10107648] [ 0.05224372 0.99851561 0.01540027 -0.06784567] [ 0.00525056 -0.01569577 0.99986303 -0.47039418] [ 0. 0. 0. 1. ]] SLAMing on 98.04134618399999 meters Centerline goodness [0,1] 0.6681259471291463 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99859147 -0.05271647 -0.00600389 2.10040537] [ 0.05280119 0.99849308 0.01495347 -0.06721365] [ 0.00520655 -0.01524942 0.99987017 -0.46974953] [ 0. 0. 0. 1. ]] SLAMing on 98.07134618399999 meters Centerline goodness [0,1] 0.6349031003097909 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99836572 -0.05685608 -0.00576854 2.1009145 ] [ 0.05691764 0.99831675 0.01113752 -0.06902568] [ 0.0051256 -0.01144765 0.99992134 -0.47052827] [ 0. 0. 0. 1. ]] SLAMing on 98.101346184 meters Centerline goodness [0,1] 0.6549749634634274 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99835177 -0.05711356 -0.00563705 2.10063793] [ 0.05717381 0.99830167 0.01117753 -0.07058521] [ 0.00498909 -0.0114814 0.99992164 -0.47058977] [ 0. 0. 0. 1. ]] SLAMing on 98.131346184 meters Centerline goodness [0,1] 0.6488335253456221 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99833194 -0.05746432 -0.00558409 2.10035296] [ 0.05752146 0.99828717 0.01067734 -0.06956906] [ 0.00496096 -0.01098074 0.9999274 -0.47030786] [ 0. 0. 0. 1. ]] SLAMing on 98.161346184 meters Centerline goodness [0,1] 0.6467261048796855 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99832645 -0.05755626 -0.0056186 2.10052083] [ 0.05761304 0.99828347 0.01052849 -0.06917519] [ 0.00500298 -0.01083457 0.99992879 -0.47037397] [ 0. 0. 0. 1. ]] SLAMing on 98.191346184 meters Centerline goodness [0,1] 0.6345526896154953 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99832214 -0.05762746 -0.00565563 2.10077608] [ 0.05768372 0.99828128 0.01034729 -0.068725 ] [ 0.00504962 -0.01065617 0.99993047 -0.47049437] [ 0. 0. 0. 1. ]] SLAMing on 98.221346184 meters Centerline goodness [0,1] 0.6451203144473205 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99831795 -0.05769456 -0.00571028 2.1008236 ] [ 0.05774978 0.99828069 0.01003127 -0.06794011] [ 0.00512171 -0.01034416 0.99993338 -0.47018306] [ 0. 0. 0. 1. ]] SLAMing on 98.251346184 meters Centerline goodness [0,1] 0.6310457673612782 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99829838 -0.0580363 -0.0056682 2.10001235] [ 0.05808804 0.99826688 0.00943478 -0.06675386] [ 0.00511082 -0.00974798 0.99993943 -0.46901719] [ 0. 0. 0. 1. ]] SLAMing on 98.281346184 meters Centerline goodness [0,1] 0.631371701601479 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99829945 -0.05800743 -0.0057753 2.10023698] [ 0.05806024 0.99826843 0.00944156 -0.06718661] [ 0.00521762 -0.00976082 0.99993875 -0.4688833 ] [ 0. 0. 0. 1. ]] SLAMing on 98.311346184 meters Centerline goodness [0,1] 0.6343611277744451 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99830268 -0.05795226 -0.0057706 2.1003892 ] [ 0.05800601 0.99826979 0.00962999 -0.06836354] [ 0.00520253 -0.00994838 0.99993698 -0.46902833] [ 0. 0. 0. 1. ]] SLAMing on 98.341346184 meters Centerline goodness [0,1] 0.6349274944780563 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99830641 -0.05788346 -0.00581529 2.10073206] [ 0.05793913 0.99827092 0.00991087 -0.06975167] [ 0.00523156 -0.01023102 0.99993398 -0.46937621] [ 0. 0. 0. 1. ]] SLAMing on 98.37134618399999 meters Centerline goodness [0,1] 0.6249283941187702 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99827377 -0.05844887 -0.00576331 2.09974052] [ 0.05850323 0.99823946 0.00976436 -0.07108256] [ 0.00518245 -0.01008468 0.99993572 -0.46834257] [ 0. 0. 0. 1. ]] SLAMing on 98.40134618399999 meters Centerline goodness [0,1] 0.6212569845742395 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99825429 -0.05879263 -0.00563858 2.09898054] [ 0.05884491 0.99822093 0.00960443 -0.07142121] [ 0.00506388 -0.00991946 0.99993798 -0.46769052] [ 0. 0. 0. 1. ]] SLAMing on 98.43134618399999 meters Centerline goodness [0,1] 0.6176428331976438 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.47 [[ 0.99825017 -0.05885914 -0.00567489 2.09898294] [ 0.05891216 0.99821625 0.00967854 -0.07196553] [ 0.0050951 -0.00999593 0.99993706 -0.46757703] [ 0. 0. 0. 1. ]] SLAMing on 98.46134618399999 meters Centerline goodness [0,1] 0.6192643064754372 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99824302 -0.05899396 -0.00553068 2.09869578] [ 0.05904856 0.99820205 0.01029244 -0.07592541] [ 0.00491355 -0.01060093 0.99993174 -0.46792088] [ 0. 0. 0. 1. ]] SLAMing on 98.491346184 meters Centerline goodness [0,1] 0.607637651196502 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99824416 -0.05898991 -0.00536628 2.09834479] [ 0.05904442 0.99819865 0.01064004 -0.07842211] [ 0.00472896 -0.01093821 0.99992899 -0.46783289] [ 0. 0. 0. 1. ]] SLAMing on 98.521346184 meters Centerline goodness [0,1] 0.6094002855782961 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99823926 -0.05908162 -0.00526763 2.097975 ] [ 0.05913575 0.99819159 0.0107938 -0.07972768] [ 0.00462039 -0.0110863 0.99992787 -0.46762979] [ 0. 0. 0. 1. ]] SLAMing on 98.551346184 meters Centerline goodness [0,1] 0.6099931098386752 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99823342 -0.0591832 -0.00523355 2.09773071] [ 0.05923724 0.9981849 0.01085656 -0.08058004] [ 0.00458153 -0.0111474 0.99992737 -0.46737665] [ 0. 0. 0. 1. ]] SLAMing on 98.581346184 meters Centerline goodness [0,1] 0.6348544769933928 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99823316 -0.05918565 -0.00525437 2.09788378] [ 0.0592412 0.9981816 0.0111346 -0.08186564] [ 0.00458581 -0.0114262 0.9999242 -0.46760745] [ 0. 0. 0. 1. ]] SLAMing on 98.611346184 meters Centerline goodness [0,1] 0.6368106028217186 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99823518 -0.05913239 -0.00546715 2.09848098] [ 0.05919026 0.99818489 0.01111041 -0.0815311 ] [ 0.00480024 -0.0114144 0.99992333 -0.46771556] [ 0. 0. 0. 1. ]] SLAMing on 98.641346184 meters Centerline goodness [0,1] 0.6419615821347464 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99824665 -0.05891859 -0.00567754 2.09949419] [ 0.0589803 0.99819411 0.01139484 -0.08192084] [ 0.00499592 -0.01170972 0.99991896 -0.46846187] [ 0. 0. 0. 1. ]] SLAMing on 98.671346184 meters Centerline goodness [0,1] 0.6429229787535746 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99825322 -0.05879802 -0.00577137 2.10036427] [ 0.05886333 0.99819529 0.01188615 -0.08347497] [ 0.00506207 -0.01220511 0.9999127 -0.46953707] [ 0. 0. 0. 1. ]] SLAMing on 98.701346184 meters Centerline goodness [0,1] 0.6252205207818785 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99804101 -0.0622811 -0.00593296 2.1022376 ] [ 0.06233101 0.99801817 0.00863543 -0.08539287] [ 0.00538338 -0.00898832 0.99994511 -0.47088159] [ 0. 0. 0. 1. ]] SLAMing on 98.73134618399999 meters Centerline goodness [0,1] 0.6298621889845257 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99803036 -0.06246584 -0.00578034 2.10192999] [ 0.06251592 0.99800399 0.00893262 -0.08731412] [ 0.00521081 -0.00927639 0.9999434 -0.47111236] [ 0. 0. 0. 1. ]] SLAMing on 98.76134618399999 meters Centerline goodness [0,1] 0.6257831381842927 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99802159 -0.06262238 -0.00559813 2.10147692] [ 0.06267204 0.99799192 0.00918369 -0.08926822] [ 0.00501179 -0.00951637 0.99994216 -0.4711224 ] [ 0. 0. 0. 1. ]] SLAMing on 98.79134618399999 meters Centerline goodness [0,1] 0.6239764166393711 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99802111 -0.06264217 -0.00546194 2.10069396] [ 0.0626924 0.99798701 0.00957033 -0.09197826] [ 0.00485144 -0.00989381 0.99993929 -0.47041979] [ 0. 0. 0. 1. ]] SLAMing on 98.82134618399999 meters Centerline goodness [0,1] 0.6289817110248375 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99802737 -0.06251784 -0.00573429 2.10110504] [ 0.06257017 0.9979958 0.00945278 -0.09133178] [ 0.00513183 -0.00979293 0.99993888 -0.47000718] [ 0. 0. 0. 1. ]] SLAMing on 98.851346184 meters Centerline goodness [0,1] 0.6336649927253954 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99825773 -0.05869953 -0.00598981 2.10027932] [ 0.05877254 0.99818878 0.01284311 -0.08928567] [ 0.00522508 -0.01317277 0.99989958 -0.46859371] [ 0. 0. 0. 1. ]] SLAMing on 98.881346184 meters Centerline goodness [0,1] 0.6500683414243296 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99827682 -0.05833779 -0.0063322 2.10112488] [ 0.05841454 0.99821162 0.01270045 -0.08832471] [ 0.00557996 -0.01304846 0.9998993 -0.46834553] [ 0. 0. 0. 1. ]] SLAMing on 98.911346184 meters Centerline goodness [0,1] 0.6374782322210195 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.998301 -0.05788642 -0.0066535 2.10230885] [ 0.05796962 0.99823269 0.01307777 -0.0894383 ] [ 0.00588471 -0.01344125 0.99989235 -0.46887487] [ 0. 0. 0. 1. ]] SLAMing on 98.941346184 meters Centerline goodness [0,1] 0.645436438195665 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99833001 -0.05733878 -0.00703258 2.10379784] [ 0.05743025 0.99825718 0.01357828 -0.09096179] [ 0.00624176 -0.01395949 0.99988308 -0.46961138] [ 0. 0. 0. 1. ]] SLAMing on 98.971346184 meters Centerline goodness [0,1] 0.6646622192990699 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99836006 -0.05679186 -0.00720236 2.10479992] [ 0.05688987 0.99827913 0.01422374 -0.09270739] [ 0.00638217 -0.01461016 0.9998729 -0.47041363] [ 0. 0. 0. 1. ]] SLAMing on 99.001346184 meters Centerline goodness [0,1] 0.6588309740320615 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99835605 -0.0568487 -0.00730976 2.10504305] [ 0.05694828 0.99827579 0.01422442 -0.09321135] [ 0.00648852 -0.01461731 0.99987211 -0.47040098] [ 0. 0. 0. 1. ]] SLAMing on 99.031346184 meters Centerline goodness [0,1] 0.6563028367461958 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99834206 -0.05709178 -0.00732594 2.10491835] [ 0.05719031 0.9982647 0.01403067 -0.0931152 ] [ 0.00651219 -0.01442638 0.99987473 -0.47022896] [ 0. 0. 0. 1. ]] SLAMing on 99.061346184 meters Centerline goodness [0,1] 0.654906103286385 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99829928 -0.05785792 -0.00714167 2.1038178 ] [ 0.05794887 0.99823145 0.013263 -0.09186477] [ 0.00636167 -0.01365429 0.99988654 -0.4692775 ] [ 0. 0. 0. 1. ]] SLAMing on 99.091346184 meters Centerline goodness [0,1] 0.6506751203475403 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.09, Z:-0.47 [[ 0.99828741 -0.05807113 -0.00707 2.10353771] [ 0.05816094 0.99821942 0.01323997 -0.09263377] [ 0.00628855 -0.01362849 0.99988735 -0.46913058] [ 0. 0. 0. 1. ]] SLAMing on 99.12134618399999 meters Centerline goodness [0,1] 0.6461419825209141 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99808322 -0.06145063 -0.00732846 2.10520578] [ 0.06151636 0.99806451 0.0091092 -0.09166866] [ 0.00675451 -0.00954256 0.99993166 -0.46919654] [ 0. 0. 0. 1. ]] SLAMing on 99.15134618399999 meters Centerline goodness [0,1] 0.6404415711718441 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99786623 -0.06485893 -0.00750334 2.10675166] [ 0.06489894 0.9978782 0.00521724 -0.09194997] [ 0.00714904 -0.00569307 0.99995824 -0.46948112] [ 0. 0. 0. 1. ]] SLAMing on 99.18134618399999 meters Centerline goodness [0,1] 0.6397477955375631 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99787001 -0.06478386 -0.00764837 2.10727239] [ 0.06482534 0.99788252 0.005306 -0.09164128] [ 0.00728843 -0.00579051 0.99995667 -0.46979487] [ 0. 0. 0. 1. ]] SLAMing on 99.21134618399999 meters Centerline goodness [0,1] 0.6352869865249219 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99786929 -0.06477147 -0.00784431 2.10765227] [ 0.06481169 0.99788506 0.00498607 -0.08991529] [ 0.00750477 -0.00548385 0.9999568 -0.46958413] [ 0. 0. 0. 1. ]] SLAMing on 99.241346184 meters Centerline goodness [0,1] 0.6450901756607801 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99806376 -0.06173644 -0.00757258 2.10552125] [ 0.06179847 0.99805455 0.00825005 -0.08823431] [ 0.00704852 -0.00870205 0.99993729 -0.46862381] [ 0. 0. 0. 1. ]] SLAMing on 99.271346184 meters Centerline goodness [0,1] 0.6367656051554635 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99806321 -0.06172462 -0.00773959 2.10577782] [ 0.06178553 0.99805822 0.00789526 -0.08664387] [ 0.00723723 -0.00835816 0.99993888 -0.4683002 ] [ 0. 0. 0. 1. ]] SLAMing on 99.301346184 meters Centerline goodness [0,1] 0.6475838357196684 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99805618 -0.06183757 -0.00774459 2.10560611] [ 0.06189626 0.99805378 0.00758279 -0.0861046 ] [ 0.00726061 -0.00804742 0.99994126 -0.46788532] [ 0. 0. 0. 1. ]] SLAMing on 99.331346184 meters Centerline goodness [0,1] 0.6418548898864784 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99806327 -0.06172467 -0.00773192 2.10607764] [ 0.06178404 0.99805991 0.00769034 -0.0866367 ] [ 0.00724224 -0.00815316 0.99994054 -0.46858011] [ 0. 0. 0. 1. ]] SLAMing on 99.361346184 meters Centerline goodness [0,1] 0.6421608925425719 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.47 [[ 0.99807152 -0.06156679 -0.00792232 2.10673471] [ 0.06162694 0.99807042 0.00758721 -0.086191 ] [ 0.00743991 -0.0080608 0.99993983 -0.46876392] [ 0. 0. 0. 1. ]] SLAMing on 99.391346184 meters Centerline goodness [0,1] 0.6558339028586242 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.47 [[ 0.99807106 -0.06156421 -0.00800026 2.10695086] [ 0.06162217 0.9980735 0.00721142 -0.08479497] [ 0.00754088 -0.0076905 0.99994199 -0.4686158 ] [ 0. 0. 0. 1. ]] SLAMing on 99.421346184 meters Centerline goodness [0,1] 0.6391509433962264 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.47 [[ 0.99805465 -0.06182767 -0.00801546 2.10627793] [ 0.06187472 0.99806729 0.00576136 -0.08070172] [ 0.00764375 -0.0062461 0.99995128 -0.46676784] [ 0. 0. 0. 1. ]] SLAMing on 99.451346184 meters Centerline goodness [0,1] 0.6519628735142302 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.47 [[ 0.99805073 -0.06186667 -0.00820067 2.10643604] [ 0.06190916 0.9980691 0.00503263 -0.07774548] [ 0.00787348 -0.00553051 0.99995371 -0.46608577] [ 0. 0. 0. 1. ]] SLAMing on 99.48134618399999 meters Centerline goodness [0,1] 0.6606582326643204 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.47 [[ 0.99824577 -0.05865769 -0.00804053 2.1047935 ] [ 0.05872555 0.99823814 0.00848059 -0.07736291] [ 0.00752891 -0.00893789 0.99993171 -0.46535776] [ 0. 0. 0. 1. ]] SLAMing on 99.51134618399999 meters Centerline goodness [0,1] 0.6422286692666223 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99824377 -0.05867819 -0.00813891 2.10472939] [ 0.05873995 0.99824463 0.00756812 -0.07486225] [ 0.00768054 -0.00803291 0.99993824 -0.46431166] [ 0. 0. 0. 1. ]] SLAMing on 99.54134618399999 meters Centerline goodness [0,1] 0.6535605483625286 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.46 [[ 0.99825442 -0.05849454 -0.00815471 2.10514727] [ 0.05855716 0.99825464 0.00766407 -0.07551695] [ 0.00769217 -0.00812821 0.99993738 -0.46469111] [ 0. 0. 0. 1. ]] SLAMing on 99.57134618399999 meters Centerline goodness [0,1] 0.6557607195545614 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.07, Z:-0.46 [[ 0.99826048 -0.05838514 -0.0081975 2.1054932 ] [ 0.05844647 0.99826272 0.0074527 -0.07482349] [ 0.00774813 -0.00791885 0.99993863 -0.46481719] [ 0. 0. 0. 1. ]] SLAMing on 99.601346184 meters Centerline goodness [0,1] 0.6603345280764635 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99845724 -0.05493902 -0.00805314 2.10419414] [ 0.05502236 0.9984297 0.01051981 -0.07223543] [ 0.00746255 -0.01094668 0.99991224 -0.46412539] [ 0. 0. 0. 1. ]] SLAMing on 99.631346184 meters Centerline goodness [0,1] 0.6779291683628266 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99844629 -0.05511503 -0.00820557 2.1041555 ] [ 0.05519384 0.99842845 0.00970888 -0.0691938 ] [ 0.00765757 -0.01014669 0.9999192 -0.46331011] [ 0. 0. 0. 1. ]] SLAMing on 99.661346184 meters Centerline goodness [0,1] 0.6740204306747878 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99843167 -0.05536454 -0.00830507 2.10394181] [ 0.05543838 0.99842207 0.00894145 -0.06683531] [ 0.00779692 -0.00938784 0.99992554 -0.46244576] [ 0. 0. 0. 1. ]] SLAMing on 99.691346184 meters Centerline goodness [0,1] 0.6742652191704981 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99842684 -0.055438 -0.00839448 2.10387218] [ 0.0555092 0.99842199 0.00850035 -0.06555135] [ 0.00790999 -0.00895295 0.99992864 -0.46184545] [ 0. 0. 0. 1. ]] SLAMing on 99.721346184 meters Centerline goodness [0,1] 0.6854170170843645 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.9984247 -0.05546049 -0.00850015 2.10386258] [ 0.05553024 0.99842332 0.00820143 -0.06501249] [ 0.00803189 -0.00866052 0.99993024 -0.4613248 ] [ 0. 0. 0. 1. ]] SLAMing on 99.751346184 meters Centerline goodness [0,1] 0.6859275309979536 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99843055 -0.0553405 -0.00859397 2.10446659] [ 0.05541488 0.99842576 0.00867189 -0.067432 ] [ 0.00810054 -0.00913451 0.99992547 -0.46203782] [ 0. 0. 0. 1. ]] SLAMing on 99.781346184 meters Centerline goodness [0,1] 0.6465957906357245 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99841317 -0.0556647 -0.00851953 2.10410742] [ 0.05573716 0.99840914 0.00851785 -0.06784188] [ 0.00803183 -0.00897919 0.99992743 -0.46185275] [ 0. 0. 0. 1. ]] SLAMing on 99.811346184 meters Centerline goodness [0,1] 0.6465957906357245 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99841317 -0.0556647 -0.00851953 2.10410742] [ 0.05573716 0.99840914 0.00851785 -0.06784188] [ 0.00803183 -0.00897919 0.99992743 -0.46185275] [ 0. 0. 0. 1. ]] SLAMing on 99.841346184 meters Centerline goodness [0,1] 0.6402013196551558 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99836542 -0.05654526 -0.0083145 2.10260088] [ 0.05660912 0.99836706 0.00765612 -0.06535578] [ 0.00786801 -0.00811428 0.99993612 -0.46054767] [ 0. 0. 0. 1. ]] SLAMing on 99.87134618399999 meters Centerline goodness [0,1] 0.658166099157188 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99835101 -0.05681087 -0.00823288 2.1024853 ] [ 0.05687353 0.99835256 0.00758693 -0.06465584] [ 0.0077883 -0.00804265 0.99993733 -0.46089443] [ 0. 0. 0. 1. ]] SLAMing on 99.90134618399999 meters Centerline goodness [0,1] 0.6578966389591616 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99833669 -0.05707071 -0.00817274 2.10254227] [ 0.05713327 0.99833735 0.00763751 -0.06502066] [ 0.00772327 -0.00809174 0.99993744 -0.46137961] [ 0. 0. 0. 1. ]] SLAMing on 99.93134618399999 meters Centerline goodness [0,1] 0.6671566619273682 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99832567 -0.05728359 -0.00802797 2.10235162] [ 0.05734594 0.99832417 0.00776485 -0.06597172] [ 0.00756972 -0.00821222 0.99993763 -0.46175067] [ 0. 0. 0. 1. ]] SLAMing on 99.96134618399999 meters Centerline goodness [0,1] 0.646021111485998 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99829247 -0.05790207 -0.0077127 2.10104306] [ 0.0579585 0.99829227 0.00730429 -0.0665186 ] [ 0.00727659 -0.00773883 0.99994358 -0.46096284] [ 0. 0. 0. 1. ]] SLAMing on 99.991346184 meters Centerline goodness [0,1] 0.6484762409128111 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.46 [[ 0.99827463 -0.05822812 -0.00756622 2.10027527] [ 0.05828044 0.99827649 0.00688832 -0.06640505] [ 0.00715208 -0.0073174 0.99994765 -0.4601885 ] [ 0. 0. 0. 1. ]] SLAMing on 100.021346184 meters Centerline goodness [0,1] 0.6676167930817913 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.9982718 -0.05827527 -0.00757697 2.09981889] [ 0.05832034 0.99828067 0.00586948 -0.06351462] [ 0.00722189 -0.00630123 0.99995407 -0.45879635] [ 0. 0. 0. 1. ]] SLAMing on 100.051346184 meters Centerline goodness [0,1] 0.6676723305657463 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99828224 -0.05806556 -0.00780776 2.10042968] [ 0.05811032 0.99829427 0.00563393 -0.06231277] [ 0.00746731 -0.00607796 0.99995365 -0.45862857] [ 0. 0. 0. 1. ]] SLAMing on 100.081346184 meters Centerline goodness [0,1] 0.6790899820327296 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99829845 -0.05773731 -0.00816155 2.1014406 ] [ 0.057783 0.99831413 0.00547864 -0.0614404 ] [ 0.00783147 -0.00594091 0.99995169 -0.45863389] [ 0. 0. 0. 1. ]] SLAMing on 100.111346184 meters Centerline goodness [0,1] 0.6780707082978982 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99831596 -0.05737338 -0.00857537 2.10262112] [ 0.0574193 0.99833656 0.00520869 -0.05978729] [ 0.00826227 -0.00569231 0.99994966 -0.45856666] [ 0. 0. 0. 1. ]] SLAMing on 100.141346184 meters Centerline goodness [0,1] 0.6802295887345866 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99852517 -0.05358783 -0.0087075 2.10228419] [ 0.05366844 0.99851547 0.00930359 -0.06022134] [ 0.00819601 -0.00975719 0.99991881 -0.45877306] [ 0. 0. 0. 1. ]] SLAMing on 100.171346184 meters Centerline goodness [0,1] 0.6916705240334251 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99872115 -0.04976858 -0.00889726 2.10185735] [ 0.04988057 0.99867262 0.0128423 -0.05877943] [ 0.0082463 -0.01326968 0.99987795 -0.45816875] [ 0. 0. 0. 1. ]] SLAMing on 100.201346184 meters Centerline goodness [0,1] 0.6999438873844201 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.99872079 -0.049766 -0.00895135 2.1018623 ] [ 0.04987645 0.99867627 0.01257147 -0.05850246] [ 0.00831387 -0.01300185 0.99988091 -0.45773802] [ 0. 0. 0. 1. ]] SLAMing on 100.23134618399999 meters Centerline goodness [0,1] 0.6983414634146341 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.46 [[ 0.9987092 -0.0500135 -0.00886483 2.10111679] [ 0.05011884 0.9986701 0.01208838 -0.05819575] [ 0.00824846 -0.01251707 0.99988764 -0.45672866] [ 0. 0. 0. 1. ]] SLAMing on 100.26134618399999 meters Centerline goodness [0,1] 0.6878251312736599 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99867548 -0.05067521 -0.00890539 2.09952248] [ 0.05076442 0.99865964 0.01009463 -0.05388361] [ 0.00838191 -0.01053333 0.99990939 -0.45325931] [ 0. 0. 0. 1. ]] SLAMing on 100.29134618399999 meters Centerline goodness [0,1] 0.7006092041200793 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99865029 -0.05116898 -0.00890677 2.09875547] [ 0.05124958 0.99864469 0.00906971 -0.0511026 ] [ 0.00843061 -0.00951394 0.9999192 -0.45191525] [ 0. 0. 0. 1. ]] SLAMing on 100.32134618399999 meters Centerline goodness [0,1] 0.6846419221452864 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99862828 -0.05159322 -0.00892707 2.09814519] [ 0.05166626 0.99863112 0.00815431 -0.04903255] [ 0.00849414 -0.00860435 0.9999269 -0.45069412] [ 0. 0. 0. 1. ]] SLAMing on 100.351346184 meters Centerline goodness [0,1] 0.6923227431702008 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99859608 -0.05230513 -0.0083691 2.0964871 ] [ 0.05236811 0.99859975 0.00749126 -0.04904209] [ 0.00796555 -0.00791901 0.99993692 -0.45009775] [ 0. 0. 0. 1. ]] SLAMing on 100.381346184 meters Centerline goodness [0,1] 0.6625960550144389 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99858463 -0.05257048 -0.00806697 2.09594762] [ 0.05263177 0.99858519 0.0075833 -0.05087533] [ 0.0076569 -0.00799714 0.99993871 -0.45038261] [ 0. 0. 0. 1. ]] SLAMing on 100.411346184 meters Centerline goodness [0,1] 0.6739321240491516 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99858185 -0.05262694 -0.00804362 2.09615423] [ 0.05269007 0.99858007 0.00784908 -0.05251262] [ 0.00761913 -0.00826177 0.99993684 -0.45086323] [ 0. 0. 0. 1. ]] SLAMing on 100.441346184 meters Centerline goodness [0,1] 0.6785661710584425 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99854822 -0.05326469 -0.00802076 2.09555044] [ 0.05332135 0.9985527 0.00702457 -0.05002496] [ 0.00763499 -0.00744205 0.99994316 -0.4502056 ] [ 0. 0. 0. 1. ]] SLAMing on 100.471346184 meters Centerline goodness [0,1] 0.6741078021166625 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99853464 -0.05350718 -0.00809648 2.09539061] [ 0.05356092 0.99854295 0.0065732 -0.0483331 ] [ 0.00773297 -0.00699722 0.99994562 -0.44970129] [ 0. 0. 0. 1. ]] SLAMing on 100.501346184 meters Centerline goodness [0,1] 0.6839221659869295 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99853212 -0.05356824 -0.00800356 2.09532008] [ 0.05362259 0.99853854 0.0067377 -0.04872721] [ 0.00763094 -0.00715698 0.99994527 -0.44999851] [ 0. 0. 0. 1. ]] SLAMing on 100.531346184 meters Centerline goodness [0,1] 0.6604519498267363 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.9983481 -0.05687862 -0.00811763 2.09684072] [ 0.05690634 0.99837431 0.00322512 -0.0503029 ] [ 0.007921 -0.00368174 0.99996185 -0.45055101] [ 0. 0. 0. 1. ]] SLAMing on 100.561346184 meters Centerline goodness [0,1] 0.6818704296999193 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99834245 -0.05698945 -0.00803478 2.0964692 ] [ 0.05701745 0.99836773 0.00329958 -0.05104312] [ 0.00783362 -0.00375224 0.99996228 -0.4503245 ] [ 0. 0. 0. 1. ]] SLAMing on 100.59134618399999 meters Centerline goodness [0,1] 0.6713557793110174 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99835625 -0.05670958 -0.008296 2.09728391] [ 0.05674138 0.99838224 0.00364915 -0.05125863] [ 0.00807564 -0.00411388 0.99995893 -0.45063685] [ 0. 0. 0. 1. ]] SLAMing on 100.62134618399999 meters Centerline goodness [0,1] 0.6667641824520345 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99835685 -0.0566793 -0.00842948 2.09771292] [ 0.05671358 0.99838293 0.00388475 -0.05144999] [ 0.00819566 -0.00435643 0.99995693 -0.45096215] [ 0. 0. 0. 1. ]] SLAMing on 100.65134618399999 meters Centerline goodness [0,1] 0.6566200737720831 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99835327 -0.05673571 -0.00847355 2.09832921] [ 0.05677897 0.99837448 0.00495462 -0.05449376] [ 0.00817868 -0.00542758 0.99995182 -0.45257682] [ 0. 0. 0. 1. ]] SLAMing on 100.68134618399999 meters Centerline goodness [0,1] 0.6543854959049262 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99834635 -0.05686801 -0.0084022 2.09829764] [ 0.05691467 0.99836432 0.00542247 -0.05688986] [ 0.00808009 -0.00589171 0.99995 -0.4530781 ] [ 0. 0. 0. 1. ]] SLAMing on 100.71134618399999 meters Centerline goodness [0,1] 0.665729928775619 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.9983565 -0.05667005 -0.00853225 2.09912198] [ 0.05672408 0.99837046 0.00622977 -0.05984223] [ 0.00816531 -0.00670351 0.99994419 -0.45406532] [ 0. 0. 0. 1. ]] SLAMing on 100.741346184 meters Centerline goodness [0,1] 0.6468105748241572 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99836421 -0.05651411 -0.00866414 2.09978573] [ 0.05657445 0.99837464 0.00688495 -0.06257319] [ 0.00826097 -0.00736385 0.99993876 -0.45482118] [ 0. 0. 0. 1. ]] SLAMing on 100.771346184 meters Centerline goodness [0,1] 0.661834577717444 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99836752 -0.05642964 -0.0088311 2.10010806] [ 0.05649089 0.99837964 0.00684628 -0.06270852] [ 0.00843046 -0.00733398 0.99993757 -0.45459652] [ 0. 0. 0. 1. ]] SLAMing on 100.801346184 meters Centerline goodness [0,1] 0.6768106826648604 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99840407 -0.05572047 -0.00919525 2.10120454] [ 0.05578274 0.99842071 0.00666091 -0.06102456] [ 0.00880958 -0.00716321 0.99993554 -0.4541162 ] [ 0. 0. 0. 1. ]] SLAMing on 100.831346184 meters Centerline goodness [0,1] 0.6906986337935888 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99842243 -0.05532605 -0.00957493 2.10231786] [ 0.05538944 0.99844376 0.00648667 -0.05974461] [ 0.00920115 -0.00700679 0.99993312 -0.45407403] [ 0. 0. 0. 1. ]] SLAMing on 100.861346184 meters Centerline goodness [0,1] 0.687881514628274 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99844404 -0.05488609 -0.00984934 2.10336417] [ 0.05495122 0.99846809 0.00646839 -0.05880734] [ 0.00947923 -0.00699956 0.99993057 -0.45433442] [ 0. 0. 0. 1. ]] SLAMing on 100.891346184 meters Centerline goodness [0,1] 0.6939638507635801 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.45 [[ 0.99850105 -0.05368572 -0.01065356 2.10619433] [ 0.05376002 0.99853063 0.00681527 -0.05924485] [ 0.01027203 -0.00737779 0.99992002 -0.45488348] [ 0. 0. 0. 1. ]] SLAMing on 100.921346184 meters Centerline goodness [0,1] 0.7014994065353777 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.46 [[ 0.99851586 -0.0533971 -0.01071552 2.10673578] [ 0.05347381 0.99854468 0.0070049 -0.06013046] [ 0.01032589 -0.0075675 0.99991805 -0.45523269] [ 0. 0. 0. 1. ]] SLAMing on 100.951346184 meters Centerline goodness [0,1] 0.7020576927726866 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.45 [[ 0.99852373 -0.05321832 -0.01087061 2.10701832] [ 0.05329715 0.99855349 0.00709561 -0.06077581] [ 0.01047727 -0.0076645 0.99991574 -0.45499529] [ 0. 0. 0. 1. ]] SLAMing on 100.98134618399999 meters Centerline goodness [0,1] 0.685016105204524 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.45 [[ 0.99851674 -0.05335062 -0.01086412 2.10658137] [ 0.0534247 0.99854976 0.0066466 -0.05988127] [ 0.01049376 -0.00721715 0.99991889 -0.45407301] [ 0. 0. 0. 1. ]] SLAMing on 101.01134618399999 meters Centerline goodness [0,1] 0.6944565691837625 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99846879 -0.05424217 -0.01085642 2.10448179] [ 0.05429342 0.99851496 0.00448252 -0.05554293] [ 0.01059715 -0.00506509 0.99993102 -0.44981243] [ 0. 0. 0. 1. ]] SLAMing on 101.04134618399999 meters Centerline goodness [0,1] 0.684368932038835 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.05, Z:-0.45 [[ 0.99845568 -0.05446508 -0.01094548 2.10412814] [ 0.05451306 0.9985045 0.00413424 -0.0548861 ] [ 0.01070394 -0.00472453 0.99993155 -0.44890754] [ 0. 0. 0. 1. ]] SLAMing on 101.07134618399999 meters Centerline goodness [0,1] 0.6929474708171206 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99845716 -0.05443537 -0.01095816 2.10428528] [ 0.05448695 0.9985045 0.00446396 -0.0562248 ] [ 0.01069878 -0.00505415 0.99992999 -0.44920322] [ 0. 0. 0. 1. ]] SLAMing on 101.101346184 meters Centerline goodness [0,1] 0.6882167916767481 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 0.99846125 -0.05436673 -0.01092706 2.10486012] [ 0.05442455 0.99850504 0.0050656 -0.05825926] [ 0.01063532 -0.0056525 0.99992747 -0.45037336] [ 0. 0. 0. 1. ]] SLAMing on 101.131346184 meters Centerline goodness [0,1] 0.6746041310163651 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.45 [[ 9.98264037e-01 -5.78376288e-02 -1.11229617e-02 2.10718109e+00] [ 5.78617090e-02 9.98322884e-01 1.85516402e-03 -5.92097554e-02] [ 1.09970090e-02 -2.49553710e-03 9.99936417e-01 -4.52473336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.161346184 meters Centerline goodness [0,1] 0.6588479451724221 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:-0.45 [[ 0.99824282 -0.05824376 -0.01090554 2.10683989] [ 0.05827011 0.99829862 0.00211401 -0.05994127] [ 0.01076386 -0.00274576 0.9999383 -0.45327786] [ 0. 0. 0. 1. ]] SLAMing on 101.191346184 meters Centerline goodness [0,1] 0.6460488557717814 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 9.98132890e-01 -6.02586243e-02 -9.98162274e-03 2.10282554e+00] [ 6.02712836e-02 9.98181560e-01 9.72064603e-04 -5.87852280e-02] [ 9.90489649e-03 -1.57185487e-03 9.99949710e-01 -4.51443364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.221346184 meters Centerline goodness [0,1] 0.6319695436364512 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 9.98100720e-01 -6.08335837e-02 -9.70705996e-03 2.10146775e+00] [ 6.08433642e-02 9.98147070e-01 7.15181796e-04 -5.90824407e-02] [ 9.64556639e-03 -1.30443365e-03 9.99952630e-01 -4.50574071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.251346184 meters Centerline goodness [0,1] 0.6241121136494528 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 9.98089169e-01 -6.10465889e-02 -9.55640875e-03 2.10108211e+00] [ 6.10586054e-02 9.98133711e-01 9.70481419e-04 -6.07104488e-02] [ 9.47932915e-03 -1.55212798e-03 9.99953866e-01 -4.50702140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.281346184 meters Centerline goodness [0,1] 0.6226170779080642 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.06, Z:-0.45 [[ 9.98085299e-01 -6.11262818e-02 -9.45059743e-03 2.10114986e+00] [ 6.11429436e-02 9.98127917e-01 1.48401955e-03 -6.32124295e-02] [ 9.34219253e-03 -2.05901544e-03 9.99954241e-01 -4.51431520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.311346184 meters Centerline goodness [0,1] 0.6106198931301368 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 9.98073220e-01 -6.13445828e-02 -9.31069629e-03 2.10112260e+00] [ 6.13655999e-02 9.98113375e-01 1.98838367e-03 -6.65654769e-02] [ 9.17115394e-03 -2.55590895e-03 9.99954678e-01 -4.52258660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34134618399999 meters Centerline goodness [0,1] 0.6161054523666867 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99807641 -0.06127372 -0.00943424 2.10155692] [ 0.06129619 0.99811739 0.00211084 -0.06641773] [ 0.00928714 -0.00268506 0.99995327 -0.45251137] [ 0. 0. 0. 1. ]] SLAMing on 101.37134618399999 meters Centerline goodness [0,1] 0.6511510791366906 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99808967 -0.06098011 -0.00992142 2.10285878] [ 0.06100477 0.99813505 0.00220152 -0.06547192] [ 0.00976867 -0.00280257 0.99994836 -0.45272657] [ 0. 0. 0. 1. ]] SLAMing on 101.40134618399999 meters Centerline goodness [0,1] 0.6353918382087396 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.9982768 -0.05788714 -0.00961777 2.10079347] [ 0.05794636 0.99830169 0.00599701 -0.06665798] [ 0.00925428 -0.00654399 0.99993577 -0.45220282] [ 0. 0. 0. 1. ]] SLAMing on 101.43134618399999 meters Centerline goodness [0,1] 0.6428107952224171 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99828413 -0.05773467 -0.00977211 2.10112578] [ 0.0577961 0.99830962 0.00612486 -0.06718527] [ 0.00940198 -0.00667914 0.99993349 -0.45207402] [ 0. 0. 0. 1. ]] SLAMing on 101.46134618399999 meters Centerline goodness [0,1] 0.638411452099392 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99829555 -0.05751315 -0.00991102 2.10154775] [ 0.05757779 0.99832074 0.00636461 -0.06812785] [ 0.00952833 -0.00692441 0.99993063 -0.45208784] [ 0. 0. 0. 1. ]] SLAMing on 101.491346184 meters Centerline goodness [0,1] 0.6526341053642146 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.9983025 -0.05737851 -0.00999117 2.10175387] [ 0.05744571 0.99832698 0.00657444 -0.06928088] [ 0.00959722 -0.00713723 0.99992847 -0.45201939] [ 0. 0. 0. 1. ]] SLAMing on 101.521346184 meters Centerline goodness [0,1] 0.6524802437398838 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99812763 -0.06027909 -0.01037585 2.10387847] [ 0.06031603 0.99817393 0.00328461 -0.07106783] [ 0.01015891 -0.00390429 0.99994077 -0.45226328] [ 0. 0. 0. 1. ]] SLAMing on 101.551346184 meters Centerline goodness [0,1] 0.6322121696784513 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99812598 -0.06032466 -0.01026986 2.10359226] [ 0.0603659 0.99816926 0.00375416 -0.0736455 ] [ 0.01002459 -0.00436708 0.99994022 -0.45234531] [ 0. 0. 0. 1. ]] SLAMing on 101.581346184 meters Centerline goodness [0,1] 0.6433937146389008 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99809907 -0.06083143 -0.00988836 2.10171664] [ 0.06087003 0.99813903 0.0036502 -0.07468345] [ 0.00964791 -0.00424516 0.99994445 -0.45100276] [ 0. 0. 0. 1. ]] SLAMing on 101.611346184 meters Centerline goodness [0,1] 0.643088116410671 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99810126 -0.06076781 -0.01005713 2.10166334] [ 0.06080409 0.99814413 0.00334158 -0.07361407] [ 0.00983541 -0.00394675 0.99994384 -0.44998494] [ 0. 0. 0. 1. ]] SLAMing on 101.641346184 meters Centerline goodness [0,1] 0.6319181828992746 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.07, Z:-0.45 [[ 0.99811159 -0.06054686 -0.01036011 2.10211402] [ 0.0605837 0.99815773 0.00327985 -0.07321901] [ 0.01014244 -0.00390131 0.99994095 -0.44939841] [ 0. 0. 0. 1. ]] SLAMing on 101.671346184 meters Centerline goodness [0,1] 0.6370352885636729 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.45 [[ 0.99816844 -0.05954007 -0.01071193 2.10368544] [ 0.05959095 0.99821276 0.00449523 -0.07724989] [ 0.01042514 -0.00512534 0.99993252 -0.45024901] [ 0. 0. 0. 1. ]] SLAMing on 101.701346184 meters Centerline goodness [0,1] 0.6555272349664873 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.45 [[ 0.99820001 -0.05897109 -0.01091573 2.10494475] [ 0.05903212 0.99824172 0.00535548 -0.07981137] [ 0.01058072 -0.00599022 0.99992608 -0.45140872] [ 0. 0. 0. 1. ]] SLAMing on 101.73134618399999 meters Centerline goodness [0,1] 0.6555272349664873 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.08, Z:-0.45 [[ 0.99820001 -0.05897109 -0.01091573 2.10494475] [ 0.05903212 0.99824172 0.00535548 -0.07981137] [ 0.01058072 -0.00599022 0.99992608 -0.45140872] [ 0. 0. 0. 1. ]] SLAMing on 101.76134618399999 meters Centerline goodness [0,1] 0.6481511991903406 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99822319 -0.05855303 -0.01104585 2.10590492] [ 0.05862308 0.99826138 0.00612868 -0.08197449] [ 0.0106678 -0.00676533 0.99992021 -0.4524589 ] [ 0. 0. 0. 1. ]] SLAMing on 101.79134618399999 meters Centerline goodness [0,1] 0.6315876114102956 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.9982288 -0.05842786 -0.01120047 2.10624628] [ 0.05850142 0.99826709 0.00635657 -0.0826933 ] [ 0.01080966 -0.00700056 0.99991707 -0.45246131] [ 0. 0. 0. 1. ]] SLAMing on 101.82134618399999 meters Centerline goodness [0,1] 0.6412197637352335 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99822763 -0.05834517 -0.01172382 2.10655701] [ 0.05841177 0.99827785 0.00542143 -0.0792661 ] [ 0.01138732 -0.00609663 0.99991658 -0.45037235] [ 0. 0. 0. 1. ]] SLAMing on 101.851346184 meters Centerline goodness [0,1] 0.6457805313057354 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99840952 -0.05510942 -0.01189038 2.10535574] [ 0.05522079 0.99843132 0.00925006 -0.0805881 ] [ 0.01136197 -0.00989194 0.99988652 -0.44949132] [ 0. 0. 0. 1. ]] SLAMing on 101.881346184 meters Centerline goodness [0,1] 0.6718654577911402 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99841589 -0.05495232 -0.01208106 2.10573138] [ 0.05506637 0.99843921 0.00931899 -0.08107945] [ 0.01155011 -0.00996949 0.9998836 -0.44926755] [ 0. 0. 0. 1. ]] SLAMing on 101.911346184 meters Centerline goodness [0,1] 0.6684028588779372 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99828486 -0.05721193 -0.01241494 2.10879096] [ 0.05729816 0.9983346 0.00670459 -0.08409302] [ 0.01201068 -0.00740445 0.99990045 -0.45092778] [ 0. 0. 0. 1. ]] SLAMing on 101.941346184 meters Centerline goodness [0,1] 0.671624047180587 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99830836 -0.05676825 -0.01256103 2.10981699] [ 0.05686625 0.99835298 0.00758702 -0.08754011] [ 0.01210964 -0.00828848 0.99989232 -0.45195386] [ 0. 0. 0. 1. ]] SLAMing on 101.971346184 meters Centerline goodness [0,1] 0.6720846413207766 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.9983205 -0.05652128 -0.01270939 2.11051816] [ 0.0566258 0.99836326 0.0080199 -0.08924712] [ 0.01223529 -0.00872611 0.99988707 -0.45247145] [ 0. 0. 0. 1. ]] SLAMing on 102.001346184 meters Centerline goodness [0,1] 0.6739586245457088 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99846249 -0.05402914 -0.01239003 2.1075379 ] [ 0.05416542 0.99847203 0.01094099 -0.08765939] [ 0.01177996 -0.01159528 0.99986338 -0.45059904] [ 0. 0. 0. 1. ]] SLAMing on 102.031346184 meters Centerline goodness [0,1] 0.6513137918953638 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.99844183 -0.05435977 -0.01260685 2.10724769] [ 0.05448886 0.99846297 0.01013225 -0.08494405] [ 0.01203668 -0.0108034 0.99986919 -0.44925516] [ 0. 0. 0. 1. ]] SLAMing on 102.061346184 meters Centerline goodness [0,1] 0.6582707734044295 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:-0.45 [[ 0.9984219 -0.05468096 -0.01279433 2.10705102] [ 0.05480593 0.99845059 0.00962934 -0.08398168] [ 0.01224796 -0.01031535 0.99987178 -0.44828117] [ 0. 0. 0. 1. ]] SLAMing on 102.09134618399999 meters Centerline goodness [0,1] 0.6496017142590953 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99840872 -0.05493625 -0.01272926 2.10655564] [ 0.05506096 0.99843624 0.00966271 -0.08562921] [ 0.01217852 -0.01034822 0.99987229 -0.44780426] [ 0. 0. 0. 1. ]] SLAMing on 102.12134618399999 meters Centerline goodness [0,1] 0.6342069798782471 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99816183 -0.0593329 -0.0123515 2.10588161] [ 0.05940778 0.99821703 0.0057862 -0.09028763] [ 0.01198617 -0.00650934 0.99990698 -0.44714784] [ 0. 0. 0. 1. ]] SLAMing on 102.15134618399999 meters Centerline goodness [0,1] 0.6250057862333935 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99793907 -0.06292988 -0.01254796 2.10720585] [ 0.06296132 0.9980137 0.00212636 -0.09155826] [ 0.01238923 -0.00291201 0.99991901 -0.44730913] [ 0. 0. 0. 1. ]] SLAMing on 102.18134618399999 meters Centerline goodness [0,1] 0.6340883378356538 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99792391 -0.06320664 -0.01236113 2.1068194 ] [ 0.0632437 0.99799465 0.00262998 -0.09427175] [ 0.01217011 -0.00340629 0.99992014 -0.44770163] [ 0. 0. 0. 1. ]] SLAMing on 102.21134618399999 meters Centerline goodness [0,1] 0.6433820972341362 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99788677 -0.06381472 -0.01223411 2.10619176] [ 0.06385082 0.99795611 0.00258255 -0.09384961] [ 0.0120443 -0.00335825 0.99992183 -0.44778441] [ 0. 0. 0. 1. ]] SLAMing on 102.241346184 meters Centerline goodness [0,1] 0.6338572652144725 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99788606 -0.06378723 -0.01243426 2.10670235] [ 0.06382234 0.99795828 0.00244741 -0.09240462] [ 0.01225276 -0.00323582 0.9999197 -0.4478061 ] [ 0. 0. 0. 1. ]] SLAMing on 102.271346184 meters Centerline goodness [0,1] 0.6164099252836455 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99790652 -0.06339633 -0.01278629 2.10761007] [ 0.06343628 0.99798212 0.00274329 -0.09244122] [ 0.01258658 -0.00354866 0.99991449 -0.44790835] [ 0. 0. 0. 1. ]] SLAMing on 102.301346184 meters Centerline goodness [0,1] 0.6349803740475641 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99793041 -0.06296995 -0.01302601 2.10876123] [ 0.06301812 0.99800686 0.00332093 -0.09391703] [ 0.01279093 -0.00413493 0.99990964 -0.44878376] [ 0. 0. 0. 1. ]] SLAMing on 102.331346184 meters Centerline goodness [0,1] 0.6405940137434857 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99795115 -0.06259482 -0.01324337 2.10984882] [ 0.06264986 0.9980284 0.00378291 -0.09479251] [ 0.01298047 -0.00460485 0.99990515 -0.44965449] [ 0. 0. 0. 1. ]] SLAMing on 102.361346184 meters Centerline goodness [0,1] 0.6456531266579014 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99794913 -0.06260606 -0.0133421 2.11026675] [ 0.06266115 0.99802781 0.0037516 -0.09435786] [ 0.01308091 -0.00457994 0.99990395 -0.45002382] [ 0. 0. 0. 1. ]] SLAMing on 102.391346184 meters Centerline goodness [0,1] 0.6365844068737424 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99795192 -0.06251837 -0.01354355 2.11084249] [ 0.06257363 0.99803351 0.00369549 -0.09401964] [ 0.01328588 -0.00453539 0.99990145 -0.45009612] [ 0. 0. 0. 1. ]] SLAMing on 102.421346184 meters Centerline goodness [0,1] 0.6286894514573189 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99796491 -0.06225424 -0.01380026 2.11181656] [ 0.06231385 0.99804886 0.00393144 -0.09402162] [ 0.01352858 -0.00478338 0.99989704 -0.4506291 ] [ 0. 0. 0. 1. ]] SLAMing on 102.451346184 meters Centerline goodness [0,1] 0.6357372424795948 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.9979752 -0.06202288 -0.01409503 2.11276111] [ 0.06208535 0.99806267 0.00403819 -0.09415377] [ 0.01381726 -0.00490511 0.99989251 -0.45095193] [ 0. 0. 0. 1. ]] SLAMing on 102.48134618399999 meters Centerline goodness [0,1] 0.6345067662586164 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.45 [[ 0.99802991 -0.06104595 -0.01448091 2.11523038] [ 0.06112288 0.99811807 0.00493039 -0.09497138] [ 0.01415268 -0.00580579 0.99988299 -0.45314205] [ 0. 0. 0. 1. ]] SLAMing on 102.51134618399999 meters Centerline goodness [0,1] 0.6468051744413955 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.45 [[ 0.9980567 -0.06051194 -0.01487032 2.11682744] [ 0.06059264 0.99814987 0.00503733 -0.09360711] [ 0.01453799 -0.00592858 0.99987674 -0.4539342 ] [ 0. 0. 0. 1. ]] SLAMing on 102.54134618399999 meters Centerline goodness [0,1] 0.6420029550281652 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.45 [[ 0.99825277 -0.05718053 -0.0148928 2.11580256] [ 0.05731435 0.99831811 0.00871908 -0.09330764] [ 0.01436919 -0.00955742 0.99985108 -0.45366681] [ 0. 0. 0. 1. ]] SLAMing on 102.57134618399999 meters Centerline goodness [0,1] 0.6417917361497127 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99842709 -0.05409103 -0.01474829 2.11382578] [ 0.05426875 0.99845511 0.01192846 -0.09215543] [ 0.01408028 -0.01271006 0.99982008 -0.45234077] [ 0. 0. 0. 1. ]] SLAMing on 102.601346184 meters Centerline goodness [0,1] 0.6501849826651465 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99858429 -0.05116707 -0.01453803 2.1112315 ] [ 0.05137936 0.99857213 0.0146242 -0.08974691] [ 0.01376899 -0.01535045 0.99978737 -0.45014221] [ 0. 0. 0. 1. ]] SLAMing on 102.631346184 meters Centerline goodness [0,1] 0.6722200246643554 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99857336 -0.05135396 -0.01462954 2.11105474] [ 0.05155987 0.99857088 0.01406335 -0.08914347] [ 0.01388643 -0.01479758 0.99979408 -0.44929414] [ 0. 0. 0. 1. ]] SLAMing on 102.661346184 meters Centerline goodness [0,1] 0.6690844841214488 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99857388 -0.05130761 -0.01475613 2.1112987 ] [ 0.05151477 0.99857382 0.01401945 -0.09004833] [ 0.01401578 -0.01475962 0.99979283 -0.44907005] [ 0. 0. 0. 1. ]] SLAMing on 102.691346184 meters Centerline goodness [0,1] 0.6372001390659404 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99838023 -0.054941 -0.01477847 2.11191524] [ 0.05508585 0.99843567 0.00957951 -0.08969025] [ 0.01422905 -0.01037807 0.9998449 -0.44825297] [ 0. 0. 0. 1. ]] SLAMing on 102.721346184 meters Centerline goodness [0,1] 0.6274573292011656 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99836492 -0.05524076 -0.01469498 2.11148821] [ 0.05538147 0.99842152 0.00934708 -0.08998643] [ 0.01415544 -0.01014563 0.99984833 -0.44792818] [ 0. 0. 0. 1. ]] SLAMing on 102.751346184 meters Centerline goodness [0,1] 0.6262376237623762 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.9983633 -0.05521748 -0.01489161 2.11202006] [ 0.05535983 0.99842295 0.00932239 -0.0897312 ] [ 0.01435337 -0.01013153 0.99984565 -0.44802742] [ 0. 0. 0. 1. ]] SLAMing on 102.781346184 meters Centerline goodness [0,1] 0.6635425124695511 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:-0.45 [[ 0.99836989 -0.05499096 -0.01528275 2.11335903] [ 0.05513563 0.99843638 0.00921174 -0.08830457] [ 0.01475229 -0.01003935 0.99984078 -0.44857049] [ 0. 0. 0. 1. ]] SLAMing on 102.811346184 meters Centerline goodness [0,1] 0.6789427066337234 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:-0.45 [[ 0.99860912 -0.05021145 -0.01608188 2.11661567] [ 0.05043747 0.9986295 0.01397099 -0.08670669] [ 0.01535833 -0.01476269 0.99977307 -0.45181523] [ 0. 0. 0. 1. ]] SLAMing on 102.84134618399999 meters Centerline goodness [0,1] 0.6803829985987856 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.45 [[ 0.99863433 -0.04948395 -0.01675724 2.11915444] [ 0.0497204 0.99866504 0.01400062 -0.08453631] [ 0.01604207 -0.01481467 0.99976156 -0.45292347] [ 0. 0. 0. 1. ]] SLAMing on 102.87134618399999 meters Centerline goodness [0,1] 0.677748526431051 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.45 [[ 0.99867005 -0.04844545 -0.01764015 2.12237124] [ 0.04870348 0.99870797 0.01450416 -0.08418248] [ 0.0169147 -0.015344 0.99973919 -0.45425142] [ 0. 0. 0. 1. ]] SLAMing on 102.90134618399999 meters Centerline goodness [0,1] 0.6911926048693947 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.46 [[ 0.99870556 -0.04755188 -0.01805626 2.12444021] [ 0.04781725 0.99874997 0.01456034 -0.08293948] [ 0.01734132 -0.01540489 0.99973095 -0.45515355] [ 0. 0. 0. 1. ]] SLAMing on 102.93134618399999 meters Centerline goodness [0,1] 0.6922408529425579 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.45 [[ 0.9987001 -0.04759832 -0.01823461 2.12468382] [ 0.04785591 0.99875669 0.01396019 -0.08125172] [ 0.01754745 -0.01481468 0.99973627 -0.45458135] [ 0. 0. 0. 1. ]] SLAMing on 102.96134618399999 meters Centerline goodness [0,1] 0.6879517788608698 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.08, Z:-0.45 [[ 0.99867107 -0.04811722 -0.01846159 2.12416182] [ 0.04834699 0.99875599 0.01220801 -0.07719061] [ 0.01785121 -0.01308435 0.99975504 -0.45222187] [ 0. 0. 0. 1. ]] SLAMing on 102.991346184 meters Centerline goodness [0,1] 0.699763481551561 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99863964 -0.04880928 -0.01834434 2.12312235] [ 0.0490174 0.99873656 0.01107176 -0.07439077] [ 0.01778076 -0.0119559 0.99977042 -0.45095847] [ 0. 0. 0. 1. ]] SLAMing on 103.021346184 meters Centerline goodness [0,1] 0.6961610155494207 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99860831 -0.04938901 -0.01849789 2.12258738] [ 0.04957723 0.99872163 0.00985884 -0.071662 ] [ 0.01798732 -0.01076219 0.99978029 -0.44935751] [ 0. 0. 0. 1. ]] SLAMing on 103.051346184 meters Centerline goodness [0,1] 0.676262746027982 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99857406 -0.05017806 -0.01822093 2.12172692] [ 0.0503483 0.9986911 0.00900777 -0.06976338] [ 0.01774508 -0.00991232 0.99979341 -0.44911076] [ 0. 0. 0. 1. ]] SLAMing on 103.081346184 meters Centerline goodness [0,1] 0.6671320397539044 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99857994 -0.04999568 -0.0183992 2.12302576] [ 0.05017584 0.99869556 0.0094636 -0.07089214] [ 0.01790207 -0.01037335 0.99978593 -0.45057642] [ 0. 0. 0. 1. ]] SLAMing on 103.111346184 meters Centerline goodness [0,1] 0.6861932611938532 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99858357 -0.04988665 -0.01849801 2.12419435] [ 0.05007475 0.99869691 0.00984878 -0.07223867] [ 0.01798259 -0.01076111 0.99978039 -0.45207322] [ 0. 0. 0. 1. ]] SLAMing on 103.141346184 meters Centerline goodness [0,1] 0.6823877768565676 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.45 [[ 0.99858547 -0.04981967 -0.01857593 2.12509286] [ 0.05001422 0.99869683 0.01015976 -0.07329152] [ 0.01804557 -0.01107444 0.99977583 -0.45329675] [ 0. 0. 0. 1. ]] SLAMing on 103.171346184 meters Centerline goodness [0,1] 0.6786120322122218 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99855818 -0.05033554 -0.01865199 2.12472269] [ 0.0505084 0.99868384 0.00891516 -0.07003234] [ 0.01817869 -0.00984439 0.99978629 -0.45205283] [ 0. 0. 0. 1. ]] SLAMing on 103.201346184 meters Centerline goodness [0,1] 0.6787295843055092 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.45 [[ 0.99870172 -0.04752944 -0.01832538 2.1218604 ] [ 0.04774989 0.99878979 0.01178596 -0.06823101] [ 0.01774303 -0.01264569 0.99976261 -0.44997948] [ 0. 0. 0. 1. ]] SLAMing on 103.23134618399999 meters Centerline goodness [0,1] 0.6510368196244064 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.45 [[ 0.9986619 -0.04815674 -0.0188503 2.12122387] [ 0.04833679 0.99878859 0.009215 -0.06234526] [ 0.0183837 -0.01011383 0.99977985 -0.44579492] [ 0. 0. 0. 1. ]] SLAMing on 103.26134618399999 meters Centerline goodness [0,1] 0.6371343283582089 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.9986297 -0.04871099 -0.01913021 2.12025309] [ 0.04885586 0.99878003 0.00717976 -0.05830328] [ 0.01875714 -0.00810454 0.99979122 -0.44212916] [ 0. 0. 0. 1. ]] SLAMing on 103.29134618399999 meters Centerline goodness [0,1] 0.6672458938348013 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99863036 -0.04872248 -0.01906627 2.12021443] [ 0.04886862 0.99877872 0.00727488 -0.05981421] [ 0.01868854 -0.00819666 0.99979175 -0.44218073] [ 0. 0. 0. 1. ]] SLAMing on 103.32134618399999 meters Centerline goodness [0,1] 0.6356874673256975 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99862729 -0.04881424 -0.0189925 2.12003343] [ 0.04896233 0.99877313 0.00741172 -0.06195651] [ 0.0186074 -0.00833146 0.99979215 -0.44213698] [ 0. 0. 0. 1. ]] SLAMing on 103.351346184 meters Centerline goodness [0,1] 0.6598983566068206 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99862101 -0.04897246 -0.01891519 2.11984542] [ 0.04911954 0.99876556 0.00739103 -0.06314275] [ 0.01852988 -0.00830994 0.99979377 -0.44212838] [ 0. 0. 0. 1. ]] SLAMing on 103.381346184 meters Centerline goodness [0,1] 0.6567575923327547 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99861045 -0.04921637 -0.01883906 2.12003518] [ 0.04935762 0.99875588 0.00710699 -0.06209047] [ 0.01846585 -0.00802697 0.99979727 -0.44271343] [ 0. 0. 0. 1. ]] SLAMing on 103.411346184 meters Centerline goodness [0,1] 0.6560860440713536 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99860418 -0.04924969 -0.01908321 2.12071629] [ 0.04938506 0.99875742 0.00668846 -0.05986858] [ 0.01873009 -0.00762154 0.99979553 -0.44268458] [ 0. 0. 0. 1. ]] SLAMing on 103.441346184 meters Centerline goodness [0,1] 0.6539544651806597 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99861076 -0.04892156 -0.01957614 2.12237204] [ 0.04905902 0.99877405 0.00660371 -0.05757204] [ 0.01922908 -0.00755492 0.99978656 -0.4432084 ] [ 0. 0. 0. 1. ]] SLAMing on 103.471346184 meters Centerline goodness [0,1] 0.652072248335759 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99862894 -0.0483937 -0.01995703 2.12417969] [ 0.04854914 0.99879354 0.00737854 -0.05933659] [ 0.01957588 -0.00833732 0.99977361 -0.444646 ] [ 0. 0. 0. 1. ]] SLAMing on 103.501346184 meters Centerline goodness [0,1] 0.6604192002289149 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.45 [[ 0.99864671 -0.04800302 -0.02001154 2.12494953] [ 0.0481758 0.99880486 0.0082431 -0.06305213] [ 0.01959193 -0.00919601 0.99976577 -0.4455878 ] [ 0. 0. 0. 1. ]] SLAMing on 103.531346184 meters Centerline goodness [0,1] 0.6501011062210063 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.45 [[ 0.99864923 -0.04793206 -0.02005586 2.1251157 ] [ 0.04810764 0.99880713 0.00836541 -0.06420617] [ 0.01963097 -0.00931895 0.99976386 -0.44550251] [ 0. 0. 0. 1. ]] SLAMing on 103.561346184 meters Centerline goodness [0,1] 0.6667542016806722 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99859999 -0.04885724 -0.02027375 2.12323977] [ 0.04898868 0.99878108 0.00603799 -0.05857826] [ 0.01995404 -0.00702272 0.99977623 -0.44097636] [ 0. 0. 0. 1. ]] SLAMing on 103.59134618399999 meters Centerline goodness [0,1] 0.6670887285584596 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.9985716 -0.0493104 -0.0205729 2.12262883] [ 0.04942254 0.99876555 0.00497839 -0.05657694] [ 0.02030202 -0.00598804 0.99977596 -0.43863109] [ 0. 0. 0. 1. ]] SLAMing on 103.62134618399999 meters Centerline goodness [0,1] 0.6670887285584596 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.9985716 -0.0493104 -0.0205729 2.12262883] [ 0.04942254 0.99876555 0.00497839 -0.05657694] [ 0.02030202 -0.00598804 0.99977596 -0.43863109] [ 0. 0. 0. 1. ]] SLAMing on 103.65134618399999 meters Centerline goodness [0,1] 0.6473101341352809 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99856828 -0.04942899 -0.02044894 2.12222859] [ 0.04953853 0.99876027 0.00488497 -0.05698366] [ 0.02018213 -0.00589099 0.99977896 -0.4382211 ] [ 0. 0. 0. 1. ]] SLAMing on 103.68134618399999 meters Centerline goodness [0,1] 0.643266338855206 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99856903 -0.04944172 -0.02038178 2.12190016] [ 0.04955487 0.99875846 0.00508398 -0.05896311] [ 0.02010512 -0.00608672 0.99977934 -0.43788519] [ 0. 0. 0. 1. ]] SLAMing on 103.71134618399999 meters Centerline goodness [0,1] 0.6490474721833408 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.06, Z:-0.44 [[ 0.99841361 -0.05234988 -0.02073061 2.12485884] [ 0.05241508 0.99862196 0.00261392 -0.06363215] [ 0.02056521 -0.00369637 0.99978168 -0.44015632] [ 0. 0. 0. 1. ]] SLAMing on 103.741346184 meters Centerline goodness [0,1] 0.6457155027569397 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99843424 -0.05191616 -0.02082736 2.126143 ] [ 0.05200538 0.99863971 0.00376487 -0.06726279] [ 0.02060357 -0.00484211 0.999776 -0.44193874] [ 0. 0. 0. 1. ]] SLAMing on 103.771346184 meters Centerline goodness [0,1] 0.6208596772671511 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99844225 -0.05170622 -0.02096498 2.12705759] [ 0.05180573 0.99864822 0.00423081 -0.06819858] [ 0.02071788 -0.00531033 0.99977126 -0.44292376] [ 0. 0. 0. 1. ]] SLAMing on 103.801346184 meters Centerline goodness [0,1] 0.6485557898727579 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99860728 -0.04847298 -0.02082958 2.12577607] [ 0.04865182 0.99878242 0.00816609 -0.06897847] [ 0.02040838 -0.00916812 0.99974969 -0.44294095] [ 0. 0. 0. 1. ]] SLAMing on 103.831346184 meters Centerline goodness [0,1] 0.668721772170048 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.07, Z:-0.44 [[ 0.99875827 -0.0452505 -0.02083992 2.12435875] [ 0.04549374 0.99890015 0.01134912 -0.06614079] [ 0.02030345 -0.01228311 0.99971841 -0.44185919] [ 0. 0. 0. 1. ]] SLAMing on 103.861346184 meters Centerline goodness [0,1] 0.6729388757721018 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99876522 -0.04482711 -0.02141411 2.12573852] [ 0.04507774 0.9989188 0.01136811 -0.06607466] [ 0.02088136 -0.01231937 0.99970606 -0.44153839] [ 0. 0. 0. 1. ]] SLAMing on 103.891346184 meters Centerline goodness [0,1] 0.6576295413936868 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99877494 -0.04449905 -0.021644 2.12630474] [ 0.04475754 0.99893043 0.01160884 -0.06749136] [ 0.02110427 -0.01256335 0.99969834 -0.44132891] [ 0. 0. 0. 1. ]] SLAMing on 103.921346184 meters Centerline goodness [0,1] 0.6774592013682685 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99866231 -0.04675111 -0.02208914 2.12957794] [ 0.04695568 0.9988579 0.0088348 -0.07041601] [ 0.02165088 -0.00986019 0.99971697 -0.44276433] [ 0. 0. 0. 1. ]] SLAMing on 103.951346184 meters Centerline goodness [0,1] 0.6795662696341289 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99866306 -0.04669258 -0.02217863 2.12995909] [ 0.04689999 0.99885971 0.00892553 -0.07133138] [ 0.02173659 -0.00995377 0.99971418 -0.44294444] [ 0. 0. 0. 1. ]] SLAMing on 103.98134618399999 meters Centerline goodness [0,1] 0.6575615781097837 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99865328 -0.0467783 -0.02243709 2.1302714 ] [ 0.04697759 0.9988603 0.00843866 -0.06999861] [ 0.02201677 -0.00948134 0.99971264 -0.44227862] [ 0. 0. 0. 1. ]] SLAMing on 104.01134618399999 meters Centerline goodness [0,1] 0.6804236843360847 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99864175 -0.04698403 -0.02252023 2.13019029] [ 0.04716864 0.99885697 0.00773722 -0.06741224] [ 0.02213097 -0.00878896 0.99971645 -0.44158216] [ 0. 0. 0. 1. ]] SLAMing on 104.04134618399999 meters Centerline goodness [0,1] 0.6781752701080432 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99863289 -0.04706741 -0.0227378 2.13040889] [ 0.04723578 0.99885976 0.00692544 -0.06328644] [ 0.02238591 -0.00799001 0.99971748 -0.44077783] [ 0. 0. 0. 1. ]] SLAMing on 104.07134618399999 meters Centerline goodness [0,1] 0.6782021826536473 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99863579 -0.04674545 -0.02326842 2.13194914] [ 0.04691787 0.99887478 0.00691964 -0.06290803] [ 0.02291877 -0.00800191 0.99970531 -0.44096483] [ 0. 0. 0. 1. ]] SLAMing on 104.101346184 meters Centerline goodness [0,1] 0.6799109600517006 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99864568 -0.04640511 -0.02352368 2.13300035] [ 0.0465871 0.99888794 0.0072478 -0.06385103] [ 0.02316119 -0.00833389 0.99969701 -0.44152073] [ 0. 0. 0. 1. ]] SLAMing on 104.131346184 meters Centerline goodness [0,1] 0.6786089364139775 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99865752 -0.04610661 -0.02360811 2.13360931] [ 0.04630026 0.99889772 0.00772274 -0.06644425] [ 0.02322602 -0.00880544 0.99969146 -0.44198799] [ 0. 0. 0. 1. ]] SLAMing on 104.161346184 meters Centerline goodness [0,1] 0.6759804505900584 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99864939 -0.04649056 -0.02319528 2.13186317] [ 0.04666982 0.99888408 0.00724771 -0.06786047] [ 0.02283245 -0.00832044 0.99970468 -0.44047997] [ 0. 0. 0. 1. ]] SLAMing on 104.191346184 meters Centerline goodness [0,1] 0.6750549660644298 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.07, Z:-0.44 [[ 0.99863834 -0.04671101 -0.02322811 2.13123213] [ 0.04687001 0.99888083 0.00634803 -0.06540759] [ 0.02290559 -0.00742809 0.99971004 -0.4389035 ] [ 0. 0. 0. 1. ]] SLAMing on 104.221346184 meters Centerline goodness [0,1] 0.6723036812017127 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99863748 -0.0465186 -0.02364727 2.1315012 ] [ 0.04664866 0.99889895 0.00497804 -0.06127867] [ 0.02338966 -0.00607437 0.99970797 -0.43649708] [ 0. 0. 0. 1. ]] SLAMing on 104.251346184 meters Centerline goodness [0,1] 0.6770500405476315 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99864297 -0.04632488 -0.02379526 2.13193132] [ 0.04645602 0.99890788 0.00498816 -0.06148558] [ 0.0235382 -0.00608682 0.99970441 -0.43637404] [ 0. 0. 0. 1. ]] SLAMing on 104.281346184 meters Centerline goodness [0,1] 0.6733818095124569 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99865509 -0.04601114 -0.02389513 2.13257928] [ 0.04615163 0.99892006 0.00536134 -0.06221415] [ 0.02362264 -0.00645693 0.99970009 -0.43686006] [ 0. 0. 0. 1. ]] SLAMing on 104.311346184 meters Centerline goodness [0,1] 0.676228432331814 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99865168 -0.04604569 -0.02397101 2.13277347] [ 0.04618513 0.99891886 0.00529577 -0.0620679 ] [ 0.02370124 -0.00639573 0.99969863 -0.43685068] [ 0. 0. 0. 1. ]] SLAMing on 104.34134618399999 meters Centerline goodness [0,1] 0.6689258525642555 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99864123 -0.04621134 -0.02408747 2.13266379] [ 0.04634636 0.99891253 0.00507726 -0.06181584] [ 0.02382665 -0.00618673 0.99969696 -0.43617274] [ 0. 0. 0. 1. ]] SLAMing on 104.37134618399999 meters Centerline goodness [0,1] 0.6830847911289551 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99862855 -0.04653088 -0.02399765 2.13204169] [ 0.04665979 0.99889911 0.00483988 -0.06187601] [ 0.02374602 -0.00595297 0.9997003 -0.43559042] [ 0. 0. 0. 1. ]] SLAMing on 104.40134618399999 meters Centerline goodness [0,1] 0.65854066185951 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99862303 -0.04672632 -0.02384752 2.13159723] [ 0.04685627 0.99888953 0.00491924 -0.06262587] [ 0.02359118 -0.00602987 0.9997035 -0.43554633] [ 0. 0. 0. 1. ]] SLAMing on 104.43134618399999 meters Centerline goodness [0,1] 0.6598174060213106 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99861767 -0.04691218 -0.02370626 2.13125179] [ 0.04704117 0.99888087 0.0049129 -0.06322307] [ 0.02344926 -0.00602128 0.9997069 -0.4355643 ] [ 0. 0. 0. 1. ]] SLAMing on 104.46134618399999 meters Centerline goodness [0,1] 0.6549292407726143 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99862217 -0.04677331 -0.02379122 2.13174943] [ 0.04690637 0.99888645 0.0050657 -0.06399284] [ 0.02352779 -0.00617468 0.99970411 -0.43597545] [ 0. 0. 0. 1. ]] SLAMing on 104.491346184 meters Centerline goodness [0,1] 0.6655126307244162 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.9986288 -0.04637368 -0.02428998 2.13338218] [ 0.04651053 0.99890478 0.0050993 -0.06325777] [ 0.0240269 -0.00622205 0.99969195 -0.43636357] [ 0. 0. 0. 1. ]] SLAMing on 104.521346184 meters Centerline goodness [0,1] 0.6703086523059267 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99863015 -0.04623172 -0.02450393 2.13416397] [ 0.04636549 0.99891243 0.00491878 -0.06199097] [ 0.02424987 -0.00604818 0.99968763 -0.43660116] [ 0. 0. 0. 1. ]] SLAMing on 104.551346184 meters Centerline goodness [0,1] 0.6554831288343559 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99863433 -0.04606927 -0.02463945 2.13484672] [ 0.04620149 0.99892049 0.00482375 -0.06116861] [ 0.02439063 -0.00595554 0.99968476 -0.43696104] [ 0. 0. 0. 1. ]] SLAMing on 104.581346184 meters Centerline goodness [0,1] 0.6652368742661331 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.44 [[ 0.99865225 -0.04561211 -0.02476335 2.13555942] [ 0.04574681 0.99894105 0.00490026 -0.06125699] [ 0.02451361 -0.0060265 0.99968133 -0.43713896] [ 0. 0. 0. 1. ]] SLAMing on 104.611346184 meters Centerline goodness [0,1] 0.6548246454580299 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.44 [[ 0.99864829 -0.04551612 -0.02509752 2.13604636] [ 0.04564269 0.99894772 0.00449344 -0.06020383] [ 0.02486658 -0.00563289 0.99967491 -0.43632282] [ 0. 0. 0. 1. ]] SLAMing on 104.641346184 meters Centerline goodness [0,1] 0.6909160985715318 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.06, Z:-0.44 [[ 0.99879434 -0.04230462 -0.02490355 2.13412591] [ 0.04251538 0.99906382 0.00799521 -0.06048948] [ 0.02454201 -0.00904435 0.99965789 -0.43520238] [ 0. 0. 0. 1. ]] SLAMing on 104.671346184 meters Centerline goodness [0,1] 0.6763337431595189 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 0.99878329 -0.04224523 -0.02544154 2.13511054] [ 0.04244735 0.99907087 0.00745723 -0.05858356] [ 0.02510287 -0.00852808 0.9996485 -0.43448101] [ 0. 0. 0. 1. ]] SLAMing on 104.701346184 meters Centerline goodness [0,1] 0.685127686716249 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 0.99878445 -0.04223584 -0.02541192 2.13529976] [ 0.04244597 0.99906842 0.00778694 -0.06056253] [ 0.02505935 -0.00885611 0.99964674 -0.43492129] [ 0. 0. 0. 1. ]] SLAMing on 104.73134618399999 meters Centerline goodness [0,1] 0.6833879807577244 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.44 [[ 0.99862899 -0.0455402 -0.02581156 2.13733473] [ 0.04565273 0.99895019 0.00378692 -0.05942967] [ 0.025612 -0.0049601 0.99965965 -0.43508748] [ 0. 0. 0. 1. ]] SLAMing on 104.76134618399999 meters Centerline goodness [0,1] 0.6834434233199311 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 0.99861514 -0.04598526 -0.02555706 2.13606249] [ 0.04608643 0.99893173 0.0033836 -0.05976583] [ 0.02537416 -0.00455675 0.99966764 -0.43403192] [ 0. 0. 0. 1. ]] SLAMing on 104.79134618399999 meters Centerline goodness [0,1] 0.6684506032732052 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98405025e-01 -5.02128814e-02 -2.58083908e-02 2.13607554e+00] [ 5.01710753e-02 9.98738070e-01 -2.26525341e-03 -5.65344169e-02] [ 2.58895673e-02 9.66805668e-04 9.99664341e-01 -4.31035114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82134618399999 meters Centerline goodness [0,1] 0.6675509033553197 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98406025e-01 -5.02364032e-02 -2.57237916e-02 2.13597993e+00] [ 5.02013182e-02 9.98737100e-01 -2.00829925e-03 -5.73318589e-02] [ 2.57921947e-02 7.13729821e-04 9.99667071e-01 -4.31302458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.851346184 meters Centerline goodness [0,1] 0.6753882915173237 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98410065e-01 -5.00282078e-02 -2.59715223e-02 2.13694561e+00] [ 4.99980516e-02 9.98747676e-01 -1.80960977e-03 -5.74029632e-02] [ 2.60295291e-02 5.08207093e-04 9.99661045e-01 -4.31862625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.881346184 meters Centerline goodness [0,1] 0.6686735474006116 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98457845e-01 -4.86383727e-02 -2.67626623e-02 2.14060780e+00] [ 4.86397728e-02 9.98816206e-01 -5.99047900e-04 -5.77270588e-02] [ 2.67601176e-02 -7.03605742e-04 9.99641636e-01 -4.34389460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.911346184 meters Centerline goodness [0,1] 0.6715202605613564 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98472007e-01 -4.81769651e-02 -2.70671439e-02 2.14185608e+00] [ 4.81835354e-02 9.98838415e-01 -4.09802972e-04 -5.75782931e-02] [ 2.70554462e-02 -8.95013888e-04 9.99633534e-01 -4.34948281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.941346184 meters Centerline goodness [0,1] 0.6881436493266437 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.44 [[ 9.98493313e-01 -4.74700433e-02 -2.75263205e-02 2.14346576e+00] [ 4.74828495e-02 9.98872036e-01 -1.88587554e-04 -5.67638023e-02] [ 2.75042240e-02 -1.11872472e-03 9.99621061e-01 -4.35357450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.971346184 meters Centerline goodness [0,1] 0.6782962534912838 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.44 [[ 0.99866771 -0.04368815 -0.02746191 2.14255481] [ 0.04380573 0.99903324 0.00369439 -0.05690323] [ 0.02727396 -0.00489245 0.99961602 -0.43510543] [ 0. 0. 0. 1. ]] SLAMing on 105.001346184 meters Centerline goodness [0,1] 0.6967286443095819 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 0.99882758 -0.03978377 -0.0275811 2.14157777] [ 0.0399821 0.99917809 0.00667666 -0.05406509] [ 0.02729281 -0.00777158 0.99959727 -0.43327361] [ 0. 0. 0. 1. ]] SLAMing on 105.031346184 meters Centerline goodness [0,1] 0.6906301264112709 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 0.99882576 -0.03959674 -0.02791401 2.14208442] [ 0.03978701 0.99918836 0.00629379 -0.05345515] [ 0.02764214 -0.00739701 0.99959051 -0.43241389] [ 0. 0. 0. 1. ]] SLAMing on 105.061346184 meters Centerline goodness [0,1] 0.7036660862836139 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 0.99882824 -0.03958282 -0.0278449 2.14176821] [ 0.03976923 0.99918982 0.00617293 -0.05405172] [ 0.027578 -0.00727307 0.9995932 -0.43196813] [ 0. 0. 0. 1. ]] SLAMing on 105.09134618399999 meters Centerline goodness [0,1] 0.6932685133931795 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 9.98694501e-01 -4.26292731e-02 -2.81431886e-02 2.14350162e+00] [ 4.27024673e-02 9.99085823e-01 2.00463673e-03 -5.29734077e-02] [ 2.80320046e-02 -3.20380327e-03 9.99601892e-01 -4.31459839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12134618399999 meters Centerline goodness [0,1] 0.7041320322852669 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 9.98688320e-01 -4.27596531e-02 -2.81647393e-02 2.14338968e+00] [ 4.28261430e-02 9.99080987e-01 1.76150519e-03 -5.19781718e-02] [ 2.80635342e-02 -2.96538181e-03 9.99601743e-01 -4.31187821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15134618399999 meters Centerline goodness [0,1] 0.7053648896172756 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 9.98677453e-01 -4.28668921e-02 -2.83861689e-02 2.14372072e+00] [ 4.29267076e-02 9.99077097e-01 1.50090524e-03 -5.06182214e-02] [ 2.82956320e-02 -2.71744500e-03 9.99595905e-01 -4.30915972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18134618399999 meters Centerline goodness [0,1] 0.6999735532421321 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 9.98674668e-01 -4.28832220e-02 -2.84593756e-02 2.14447738e+00] [ 4.29600912e-02 9.99074593e-01 2.09481942e-03 -5.15497287e-02] [ 2.83432065e-02 -3.31466046e-03 9.99592755e-01 -4.32353147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21134618399999 meters Centerline goodness [0,1] 0.6975367805626108 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.43 [[ 0.9986782 -0.04287342 -0.02834996 2.14459567] [ 0.0429657 0.99907302 0.00265335 -0.0538238 ] [ 0.02820992 -0.00386792 0.99959454 -0.43317533] [ 0. 0. 0. 1. ]] SLAMing on 105.241346184 meters Centerline goodness [0,1] 0.693025928320046 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 0.99867348 -0.04309088 -0.02818603 2.14418948] [ 0.04319512 0.99906185 0.00309977 -0.05683501] [ 0.02802601 -0.00431316 0.99959789 -0.43344902] [ 0. 0. 0. 1. ]] SLAMing on 105.271346184 meters Centerline goodness [0,1] 0.6784721727356944 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98492595e-01 -4.70941478e-02 -2.81900628e-02 2.14477622e+00] [ 4.70963824e-02 9.98890178e-01 -5.85050338e-04 -5.76279552e-02] [ 2.81863293e-02 -7.43481547e-04 9.99602410e-01 -4.33715980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.301346184 meters Centerline goodness [0,1] 0.6718290484773741 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.06, Z:-0.43 [[ 9.98475233e-01 -4.74686702e-02 -2.81768303e-02 2.14463817e+00] [ 4.74719549e-02 9.98872418e-01 -5.52729698e-04 -5.75337602e-02] [ 2.81712960e-02 -7.85722305e-04 9.99602801e-01 -4.33932985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.331346184 meters Centerline goodness [0,1] 0.663957345971564 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.43 [[ 9.98459972e-01 -4.76996521e-02 -2.83271654e-02 2.14503911e+00] [ 4.77058964e-02 9.98861322e-01 -4.55729704e-04 -5.69758406e-02] [ 2.83166480e-02 -8.96344951e-04 9.99598601e-01 -4.34365724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.361346184 meters Centerline goodness [0,1] 0.6620849823447165 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.43 [[ 9.98445857e-01 -4.79780971e-02 -2.83544143e-02 2.14517340e+00] [ 4.79889201e-02 9.98847823e-01 -2.99049974e-04 -5.73994383e-02] [ 2.83360928e-02 -1.06211251e-03 9.99597888e-01 -4.34845171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.391346184 meters Centerline goodness [0,1] 0.6509855888686433 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99824764 -0.05183992 -0.02853544 2.14698666] [ 0.05175656 0.99865305 -0.00365251 -0.05957722] [ 0.02868635 0.00216922 0.99958611 -0.43643836] [ 0. 0. 0. 1. ]] SLAMing on 105.421346184 meters Centerline goodness [0,1] 0.6387944066515495 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 9.98244745e-01 -5.20535286e-02 -2.82463991e-02 2.14686129e+00] [ 5.19873479e-02 9.98643016e-01 -3.07281333e-03 -6.19655352e-02] [ 2.83680200e-02 1.59896438e-03 9.99596268e-01 -4.37736738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.451346184 meters Centerline goodness [0,1] 0.6570578652879099 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 9.98236108e-01 -5.22251018e-02 -2.82349464e-02 2.14737317e+00] [ 5.21655569e-02 9.98634407e-01 -2.84190673e-03 -6.20366722e-02] [ 2.83448078e-02 1.36400221e-03 9.99597275e-01 -4.38932507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48134618399999 meters Centerline goodness [0,1] 0.6495876386387336 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 9.98226897e-01 -5.23363004e-02 -2.83544379e-02 2.14744312e+00] [ 5.22644257e-02 9.98627925e-01 -3.27058593e-03 -6.01614710e-02] [ 2.84867038e-02 1.78285844e-03 9.99592582e-01 -4.38486495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51134618399999 meters Centerline goodness [0,1] 0.6531980946512785 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 9.98635321e-01 -5.01196725e-02 -1.46804224e-02 2.15001171e+00] [ 5.01203944e-02 9.98743132e-01 -3.18964424e-04 -6.09454674e-02] [ 1.46779574e-02 -4.17259420e-04 9.99892186e-01 -4.43706595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54134618399999 meters Centerline goodness [0,1] 0.6531980946512785 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 9.98635321e-01 -5.01196725e-02 -1.46804224e-02 2.15001171e+00] [ 5.01203944e-02 9.98743132e-01 -3.18964424e-04 -6.09454674e-02] [ 1.46779574e-02 -4.17259420e-04 9.99892186e-01 -4.43706595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57134618399999 meters Centerline goodness [0,1] 0.6560110198071534 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99878396 -0.04714915 -0.01440665 2.14757419] [ 0.0471978 0.99888089 0.00305573 -0.06175755] [ 0.01424645 -0.00373197 0.99989155 -0.44216389] [ 0. 0. 0. 1. ]] SLAMing on 105.601346184 meters Centerline goodness [0,1] 0.6586285389102291 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99880058 -0.04669969 -0.014715 2.14820128] [ 0.04674198 0.99890376 0.002543 -0.06002348] [ 0.01458012 -0.00322775 0.99988849 -0.4411978 ] [ 0. 0. 0. 1. ]] SLAMing on 105.631346184 meters Centerline goodness [0,1] 0.6539411206077872 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99881408 -0.04623987 -0.01524155 2.1497523 ] [ 0.0462848 0.99892488 0.00260834 -0.05934621] [ 0.01510455 -0.00331069 0.99988044 -0.44148638] [ 0. 0. 0. 1. ]] SLAMing on 105.661346184 meters Centerline goodness [0,1] 0.6590963082624601 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99882858 -0.04577443 -0.01569003 2.15126895] [ 0.04582314 0.99894576 0.00275873 -0.05856509] [ 0.01554721 -0.00347446 0.9998731 -0.44205713] [ 0. 0. 0. 1. ]] SLAMing on 105.691346184 meters Centerline goodness [0,1] 0.6602742330267817 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99883941 -0.04542919 -0.01600075 2.15238992] [ 0.04547745 0.99896181 0.00266526 -0.0571467 ] [ 0.01586306 -0.00338984 0.99986843 -0.44234952] [ 0. 0. 0. 1. ]] SLAMing on 105.721346184 meters Centerline goodness [0,1] 0.6712129521447817 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99899666 -0.04191649 -0.01576939 2.1508328 ] [ 0.04202192 0.9990961 0.00641446 -0.05757911] [ 0.01548627 -0.00707068 0.99985508 -0.44179288] [ 0. 0. 0. 1. ]] SLAMing on 105.751346184 meters Centerline goodness [0,1] 0.6633382584242886 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.06, Z:-0.44 [[ 0.99900326 -0.04162922 -0.01610866 2.15166169] [ 0.04173255 0.99911 0.00613214 -0.0566205 ] [ 0.01583905 -0.00679828 0.99985144 -0.44144538] [ 0. 0. 0. 1. ]] SLAMing on 105.781346184 meters Centerline goodness [0,1] 0.6684465209410979 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.05, Z:-0.44 [[ 0.99901807 -0.04125128 -0.01616275 2.15182006] [ 0.04133469 0.99913353 0.00486143 -0.05302382] [ 0.01594821 -0.00552474 0.99985756 -0.43980482] [ 0. 0. 0. 1. ]] SLAMing on 105.811346184 meters Centerline goodness [0,1] 0.668793004587156 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.05, Z:-0.44 [[ 0.99901832 -0.04113425 -0.0164427 2.15221621] [ 0.04120792 0.9991419 0.0041669 -0.05089355] [ 0.01625719 -0.00484038 0.99985613 -0.43878099] [ 0. 0. 0. 1. ]] SLAMing on 105.84134618399999 meters Centerline goodness [0,1] 0.671134663341646 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.05, Z:-0.44 [[ 0.99901946 -0.04099652 -0.0167153 2.15272894] [ 0.04106436 0.99914952 0.00373556 -0.04938773] [ 0.01654794 -0.0044183 0.99985331 -0.43821877] [ 0. 0. 0. 1. ]] SLAMing on 105.87134618399999 meters Centerline goodness [0,1] 0.69408580257264 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.05, Z:-0.44 [[ 0.99905164 -0.04010892 -0.01694374 2.15453311] [ 0.0401898 0.99918211 0.00446061 -0.05090725] [ 0.01675097 -0.00513734 0.99984649 -0.43973036] [ 0. 0. 0. 1. ]] SLAMing on 105.90134618399999 meters Centerline goodness [0,1] 0.6937260536398467 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99906223 -0.03969124 -0.01729909 2.15590599] [ 0.03977716 0.99919775 0.00465138 -0.05059966] [ 0.01710059 -0.00533512 0.99983954 -0.44039238] [ 0. 0. 0. 1. ]] SLAMing on 105.93134618399999 meters Centerline goodness [0,1] 0.6809313277908597 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.9990691 -0.03928844 -0.01781437 2.15745685] [ 0.03937371 0.9992146 0.0044613 -0.04880044] [ 0.0176251 -0.00515857 0.99983136 -0.4405791 ] [ 0. 0. 0. 1. ]] SLAMing on 105.96134618399999 meters Centerline goodness [0,1] 0.7023694856482373 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99908294 -0.03862994 -0.01846635 2.15956857] [ 0.03871975 0.99923984 0.00453098 -0.0469168 ] [ 0.01827728 -0.00524183 0.99981922 -0.44113569] [ 0. 0. 0. 1. ]] SLAMing on 105.991346184 meters Centerline goodness [0,1] 0.7122489911316241 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923616 -0.0344496 -0.01844792 2.15943951] [ 0.03461808 0.99936105 0.00889289 -0.04799489] [ 0.01812978 -0.00952473 0.99979027 -0.44167572] [ 0. 0. 0. 1. ]] SLAMing on 106.021346184 meters Centerline goodness [0,1] 0.7090412548033932 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923645 -0.03426446 -0.01877382 2.16012703] [ 0.03443197 0.99936941 0.00867346 -0.04735599] [ 0.01846479 -0.00931326 0.99978613 -0.44131337] [ 0. 0. 0. 1. ]] SLAMing on 106.051346184 meters Centerline goodness [0,1] 0.7115965493076868 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923847 -0.03404241 -0.01906822 2.16079218] [ 0.03421207 0.99937722 0.00864301 -0.0474817 ] [ 0.01876212 -0.00928879 0.99978083 -0.44108156] [ 0. 0. 0. 1. ]] SLAMing on 106.081346184 meters Centerline goodness [0,1] 0.7218937766945779 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99924229 -0.03395805 -0.01901846 2.1607846 ] [ 0.03413214 0.99937766 0.00890482 -0.0493836 ] [ 0.01870423 -0.00954721 0.99977948 -0.4411596 ] [ 0. 0. 0. 1. ]] SLAMing on 106.111346184 meters Centerline goodness [0,1] 0.693902704270282 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923941 -0.03409294 -0.01892833 2.16051981] [ 0.0342651 0.99937363 0.00884639 -0.04963179] [ 0.01861487 -0.00948824 0.99978171 -0.44109036] [ 0. 0. 0. 1. ]] SLAMing on 106.141346184 meters Centerline goodness [0,1] 0.708731077041751 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923784 -0.03395945 -0.01924798 2.16124328] [ 0.03413441 0.9993782 0.00883511 -0.05005638] [ 0.01893598 -0.00948539 0.9997757 -0.44086235] [ 0. 0. 0. 1. ]] SLAMing on 106.171346184 meters Centerline goodness [0,1] 0.7015536553053113 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99923587 -0.03406238 -0.01916834 2.16158071] [ 0.03424709 0.99936927 0.00939131 -0.05219581] [ 0.01883636 -0.0100406 0.99977216 -0.44206715] [ 0. 0. 0. 1. ]] SLAMing on 106.201346184 meters Centerline goodness [0,1] 0.6998437687777912 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.9992339 -0.03404816 -0.01929603 2.16239699] [ 0.03423777 0.99936778 0.00958244 -0.05256602] [ 0.01895757 -0.01023575 0.99976789 -0.44291333] [ 0. 0. 0. 1. ]] SLAMing on 106.23134618399999 meters Centerline goodness [0,1] 0.7095468670954687 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99922575 -0.0342454 -0.01936906 2.16266484] [ 0.03443362 0.99936213 0.0094687 -0.05222274] [ 0.01903245 -0.01012832 0.99976756 -0.4431718 ] [ 0. 0. 0. 1. ]] SLAMing on 106.26134618399999 meters Centerline goodness [0,1] 0.7098032605292942 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99921728 -0.03444315 -0.0194548 2.16294484] [ 0.03462824 0.99935738 0.00925818 -0.05184224] [ 0.01912342 -0.00992461 0.99976787 -0.44328428] [ 0. 0. 0. 1. ]] SLAMing on 106.29134618399999 meters Centerline goodness [0,1] 0.7022751424983094 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99919342 -0.03525442 -0.01922584 2.16223343] [ 0.03543277 0.99933139 0.00901615 -0.05265169] [ 0.01889512 -0.0096901 0.99977451 -0.44355916] [ 0. 0. 0. 1. ]] SLAMing on 106.32134618399999 meters Centerline goodness [0,1] 0.6992120671791041 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99918246 -0.03560854 -0.01914297 2.16199373] [ 0.03578622 0.99931876 0.00902057 -0.05414113] [ 0.01880872 -0.00969825 0.99977606 -0.44365207] [ 0. 0. 0. 1. ]] SLAMing on 106.351346184 meters Centerline goodness [0,1] 0.6980574121267491 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99916504 -0.0362501 -0.01884565 2.16091117] [ 0.03642028 0.9992981 0.00876709 -0.05590113] [ 0.01851461 -0.00944614 0.99978397 -0.44318663] [ 0. 0. 0. 1. ]] SLAMing on 106.381346184 meters Centerline goodness [0,1] 0.6907389635316699 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913695 -0.03711923 -0.01864165 2.15965223] [ 0.03727869 0.9992706 0.0082805 -0.05712545] [ 0.01832069 -0.00896829 0.99979194 -0.44232922] [ 0. 0. 0. 1. ]] SLAMing on 106.411346184 meters Centerline goodness [0,1] 0.6817865122648535 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99912217 -0.03752999 -0.01861157 2.15923654] [ 0.03767677 0.99926108 0.00759956 -0.05549556] [ 0.01831261 -0.00829411 0.99979791 -0.44163224] [ 0. 0. 0. 1. ]] SLAMing on 106.441346184 meters Centerline goodness [0,1] 0.6859320725588576 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.9991119 -0.03773329 -0.01875143 2.15915512] [ 0.03786897 0.99925866 0.00693391 -0.05361953] [ 0.01847589 -0.00763785 0.99980013 -0.44073865] [ 0. 0. 0. 1. ]] SLAMing on 106.471346184 meters Centerline goodness [0,1] 0.685146367907481 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.99911119 -0.03760387 -0.01904664 2.15980141] [ 0.03773508 0.99926613 0.00657689 -0.05254457] [ 0.01878535 -0.00728977 0.99979696 -0.44024136] [ 0. 0. 0. 1. ]] SLAMing on 106.501346184 meters Centerline goodness [0,1] 0.6880742795128422 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.05, Z:-0.44 [[ 0.9991283 -0.03710158 -0.01913385 2.16058119] [ 0.03724198 0.99928152 0.00703466 -0.05477763] [ 0.01885911 -0.00774111 0.99979218 -0.44071233] [ 0. 0. 0. 1. ]] SLAMing on 106.531346184 meters Centerline goodness [0,1] 0.6718930357829935 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913824 -0.03676514 -0.01926417 2.16140157] [ 0.03691521 0.99929031 0.00749337 -0.05654331] [ 0.01897501 -0.00819805 0.99978635 -0.44135493] [ 0. 0. 0. 1. ]] SLAMing on 106.561346184 meters Centerline goodness [0,1] 0.686695072338172 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99914046 -0.03664417 -0.01937878 2.16165869] [ 0.03679766 0.99929365 0.00762414 -0.05754115] [ 0.01908571 -0.00833068 0.99978314 -0.44118939] [ 0. 0. 0. 1. ]] SLAMing on 106.59134618399999 meters Centerline goodness [0,1] 0.6963647270545891 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913673 -0.0365873 -0.01967624 2.16207456] [ 0.03674 0.99929705 0.00745558 -0.05782879] [ 0.01938963 -0.00817205 0.99977861 -0.44050847] [ 0. 0. 0. 1. ]] SLAMing on 106.62134618399999 meters Centerline goodness [0,1] 0.6947764232510238 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913377 -0.03651809 -0.01995322 2.16250731] [ 0.03667728 0.99929772 0.00767138 -0.05886337] [ 0.01965907 -0.00839656 0.99977148 -0.44018472] [ 0. 0. 0. 1. ]] SLAMing on 106.65134618399999 meters Centerline goodness [0,1] 0.6932332989764856 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913778 -0.03633511 -0.02008638 2.16311749] [ 0.03650319 0.99930099 0.00806527 -0.06030601] [ 0.01977929 -0.00879153 0.99976572 -0.44063878] [ 0. 0. 0. 1. ]] SLAMing on 106.68134618399999 meters Centerline goodness [0,1] 0.6950054910948766 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99913605 -0.03634505 -0.02015418 2.16335493] [ 0.03651632 0.99929945 0.00819574 -0.06137114] [ 0.01984219 -0.00892462 0.99976329 -0.44071255] [ 0. 0. 0. 1. ]] SLAMing on 106.71134618399999 meters Centerline goodness [0,1] 0.6814889191709101 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99911538 -0.03698663 -0.02001099 2.161752 ] [ 0.03714289 0.99928187 0.00749397 -0.06090151] [ 0.01971945 -0.00823061 0.99977167 -0.43885137] [ 0. 0. 0. 1. ]] SLAMing on 106.741346184 meters Centerline goodness [0,1] 0.684732367381152 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.9991061 -0.03724319 -0.01999868 2.16124203] [ 0.03739124 0.99927562 0.00708037 -0.06061157] [ 0.01972049 -0.00782182 0.99977494 -0.43795092] [ 0. 0. 0. 1. ]] SLAMing on 106.771346184 meters Centerline goodness [0,1] 0.689205332823625 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99910341 -0.03730342 -0.02002091 2.16128267] [ 0.03745045 0.99927383 0.00701966 -0.06142334] [ 0.01974452 -0.00776316 0.99977492 -0.43775935] [ 0. 0. 0. 1. ]] SLAMing on 106.801346184 meters Centerline goodness [0,1] 0.6800562936812728 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.06, Z:-0.44 [[ 0.99896897 -0.04065635 -0.02020023 2.16302304] [ 0.04073843 0.99916311 0.00366854 -0.06418746] [ 0.02003418 -0.00448768 0.99978922 -0.4386653 ] [ 0. 0. 0. 1. ]] SLAMing on 106.831346184 meters Centerline goodness [0,1] 0.6821535155783693 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.07, Z:-0.44 [[ 0.99897617 -0.04042811 -0.02030223 2.1639542 ] [ 0.04052421 0.99916911 0.00434412 -0.06710696] [ 0.02010973 -0.00516241 0.99978445 -0.43979491] [ 0. 0. 0. 1. ]] SLAMing on 106.861346184 meters Centerline goodness [0,1] 0.6831436108272535 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99899429 -0.03972962 -0.02078357 2.16624365] [ 0.03984943 0.9991912 0.00538235 -0.06920199] [ 0.02055292 -0.00620515 0.99976951 -0.44155434] [ 0. 0. 0. 1. ]] SLAMing on 106.891346184 meters Centerline goodness [0,1] 0.6800618238021638 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99900128 -0.0394244 -0.02102736 2.16742048] [ 0.03955032 0.99920185 0.0056064 -0.06914889] [ 0.02078954 -0.00643244 0.99976318 -0.44225196] [ 0. 0. 0. 1. ]] SLAMing on 106.921346184 meters Centerline goodness [0,1] 0.6833890214797136 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99899912 -0.03929261 -0.02137406 2.16803274] [ 0.03941309 0.99920924 0.00524483 -0.06700086] [ 0.02115108 -0.006082 0.99975779 -0.44162772] [ 0. 0. 0. 1. ]] SLAMing on 106.951346184 meters Centerline goodness [0,1] 0.6831581706823002 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99899856 -0.03912157 -0.02171116 2.16876352] [ 0.03924007 0.99921701 0.00505892 -0.06658779] [ 0.02149624 -0.00590581 0.99975149 -0.44112148] [ 0. 0. 0. 1. ]] SLAMing on 106.98134618399999 meters Centerline goodness [0,1] 0.680869316557049 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99900337 -0.03891559 -0.02185952 2.16925523] [ 0.03903945 0.99922378 0.00526796 -0.06747714] [ 0.02163754 -0.0061161 0.99974717 -0.44113653] [ 0. 0. 0. 1. ]] SLAMing on 107.01134618399999 meters Centerline goodness [0,1] 0.6807350326022525 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99900741 -0.03892986 -0.02164861 2.16895998] [ 0.03906445 0.99921969 0.00582942 -0.0716669 ] [ 0.02140477 -0.00666933 0.99974865 -0.44144558] [ 0. 0. 0. 1. ]] SLAMing on 107.04134618399999 meters Centerline goodness [0,1] 0.6721179561214587 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99900985 -0.03893681 -0.02152307 2.16899976] [ 0.03907718 0.99921733 0.00614024 -0.07320819] [ 0.02126715 -0.00697522 0.9997495 -0.44190254] [ 0. 0. 0. 1. ]] SLAMing on 107.07134618399999 meters Centerline goodness [0,1] 0.6708410416963142 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99899681 -0.03929785 -0.02147205 2.16851958] [ 0.03943056 0.99920552 0.00579241 -0.07269523] [ 0.02122736 -0.00663326 0.99975267 -0.441317 ] [ 0. 0. 0. 1. ]] SLAMing on 107.101346184 meters Centerline goodness [0,1] 0.6654646390358473 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 0.99898274 -0.03956646 -0.02163272 2.1684152 ] [ 0.03969129 0.99919755 0.00537182 -0.07184741] [ 0.02140282 -0.00622499 0.99975155 -0.44038409] [ 0. 0. 0. 1. ]] SLAMing on 107.131346184 meters Centerline goodness [0,1] 0.6599337748344372 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.07, Z:-0.44 [[ 9.98818785e-01 -4.35401948e-02 -2.15704801e-02 2.16866608e+00] [ 4.35789381e-02 9.99049103e-01 1.32910374e-03 -7.25193726e-02] [ 2.14920994e-02 -2.26755240e-03 9.99766447e-01 -4.39858255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.161346184 meters Centerline goodness [0,1] 0.6495498892397606 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.08, Z:-0.44 [[ 9.98823289e-01 -4.34997723e-02 -2.14431166e-02 2.16914218e+00] [ 4.35507772e-02 9.99049375e-01 1.91717262e-03 -7.66374516e-02] [ 2.13393357e-02 -2.84878106e-03 9.99768232e-01 -4.40924129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.191346184 meters Centerline goodness [0,1] 0.6515963699628533 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.08, Z:-0.44 [[ 0.99883763 -0.04316305 -0.02145574 2.17030167] [ 0.04323396 0.9990609 0.00285201 -0.08085184] [ 0.02131249 -0.00377631 0.99976573 -0.44253717] [ 0. 0. 0. 1. ]] SLAMing on 107.221346184 meters Centerline goodness [0,1] 0.6634121153801018 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.08, Z:-0.44 [[ 0.99884821 -0.04283041 -0.02162881 2.17203128] [ 0.04292576 0.9990704 0.00396354 -0.08366513] [ 0.02143894 -0.00488741 0.99975821 -0.44483672] [ 0. 0. 0. 1. ]] SLAMing on 107.251346184 meters Centerline goodness [0,1] 0.6780274539300488 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.08, Z:-0.44 [[ 0.99884181 -0.04275492 -0.02206941 2.17318342] [ 0.04284628 0.99907489 0.00368332 -0.08162372] [ 0.02189151 -0.00462465 0.99974966 -0.4448668 ] [ 0. 0. 0. 1. ]] SLAMing on 107.281346184 meters Centerline goodness [0,1] 0.6536955803971511 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.08, Z:-0.44 [[ 0.99899909 -0.03866931 -0.02248327 2.17387282] [ 0.03884693 0.9992169 0.00751738 -0.08000158] [ 0.02217497 -0.00838326 0.99971896 -0.4448828 ] [ 0. 0. 0. 1. ]] SLAMing on 107.311346184 meters Centerline goodness [0,1] 0.68711989062279 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.45 [[ 0.99901226 -0.03812411 -0.02282668 2.17530481] [ 0.03830675 0.99923699 0.00761773 -0.0800462 ] [ 0.02251885 -0.00848462 0.99971041 -0.44529575] [ 0. 0. 0. 1. ]] SLAMing on 107.34134618399999 meters Centerline goodness [0,1] 0.6907347341700747 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.45 [[ 0.99902642 -0.03755218 -0.02315287 2.17679869] [ 0.0377445 0.99925599 0.00792628 -0.08106044] [ 0.022838 -0.00879245 0.99970051 -0.44590061] [ 0. 0. 0. 1. ]] SLAMing on 107.37134618399999 meters Centerline goodness [0,1] 0.6915868094701241 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.45 [[ 0.99902995 -0.03718263 -0.02359267 2.17806966] [ 0.03737558 0.99927092 0.00779076 -0.08128772] [ 0.02328579 -0.00866499 0.9996913 -0.44574215] [ 0. 0. 0. 1. ]] SLAMing on 107.40134618399999 meters Centerline goodness [0,1] 0.7006565787306145 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.44 [[ 0.99901798 -0.03727482 -0.02395138 2.17841346] [ 0.03743606 0.99927905 0.00631894 -0.07734519] [ 0.02369857 -0.00720938 0.99969315 -0.44385677] [ 0. 0. 0. 1. ]] SLAMing on 107.43134618399999 meters Centerline goodness [0,1] 0.7006565787306145 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.44 [[ 0.99901798 -0.03727482 -0.02395138 2.17841346] [ 0.03743606 0.99927905 0.00631894 -0.07734519] [ 0.02369857 -0.00720938 0.99969315 -0.44385677] [ 0. 0. 0. 1. ]] SLAMing on 107.46134618399999 meters Centerline goodness [0,1] 0.6977099955282544 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.08, Z:-0.44 [[ 0.99901566 -0.03699057 -0.02448287 2.17979055] [ 0.03714252 0.99929326 0.00578088 -0.07556032] [ 0.02425173 -0.00668454 0.99968354 -0.44332875] [ 0. 0. 0. 1. ]] SLAMing on 107.491346184 meters Centerline goodness [0,1] 0.6978120431932853 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.44 [[ 0.99901541 -0.03690114 -0.02462759 2.18026453] [ 0.03704395 0.99929922 0.00536801 -0.07440294] [ 0.02441224 -0.00627503 0.99968228 -0.44304251] [ 0. 0. 0. 1. ]] SLAMing on 107.521346184 meters Centerline goodness [0,1] 0.705423976953411 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.44 [[ 0.99902038 -0.03640751 -0.02515503 2.18215162] [ 0.03653606 0.99932143 0.00466953 -0.07142889] [ 0.02496796 -0.00558402 0.99967266 -0.44295808] [ 0. 0. 0. 1. ]] SLAMing on 107.551346184 meters Centerline goodness [0,1] 0.7032477985039296 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.44 [[ 0.99902046 -0.03617267 -0.02548858 2.18347477] [ 0.03629474 0.99933169 0.00434261 -0.06949129] [ 0.02531446 -0.00526345 0.99966568 -0.44330867] [ 0. 0. 0. 1. ]] SLAMing on 107.581346184 meters Centerline goodness [0,1] 0.7060736240001899 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.07, Z:-0.44 [[ 0.99902465 -0.03594141 -0.02565066 2.18463261] [ 0.03606225 0.99934045 0.00426396 -0.06827359] [ 0.02548049 -0.00518482 0.99966187 -0.44417131] [ 0. 0. 0. 1. ]] SLAMing on 107.611346184 meters Centerline goodness [0,1] 0.6987077274566267 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.07, Z:-0.44 [[ 0.99902604 -0.03595761 -0.02557382 2.18517158] [ 0.03606692 0.99934205 0.00382585 -0.06618663] [ 0.02541943 -0.00474449 0.99966562 -0.44457486] [ 0. 0. 0. 1. ]] SLAMing on 107.641346184 meters Centerline goodness [0,1] 0.7090019102196752 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.06, Z:-0.44 [[ 0.99901284 -0.03629702 -0.02561007 2.18490573] [ 0.03638619 0.99933323 0.00302402 -0.06369421] [ 0.02548324 -0.00395289 0.99966743 -0.4437246 ] [ 0. 0. 0. 1. ]] SLAMing on 107.671346184 meters Centerline goodness [0,1] 0.7080265885211923 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.06, Z:-0.44 [[ 0.99900046 -0.03632212 -0.02605356 2.18579296] [ 0.03640076 0.99933402 0.00255008 -0.06223444] [ 0.02594359 -0.0034959 0.9996573 -0.44314657] [ 0. 0. 0. 1. ]] SLAMing on 107.701346184 meters Centerline goodness [0,1] 0.6923683644446569 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.06, Z:-0.44 [[ 0.99899765 -0.03651367 -0.025893 2.18553975] [ 0.03658855 0.99932748 0.00242393 -0.06255344] [ 0.02578708 -0.00336889 0.99966178 -0.44321246] [ 0. 0. 0. 1. ]] SLAMing on 107.73134618399999 meters Centerline goodness [0,1] 0.6983963618956439 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.06, Z:-0.44 [[ 9.98978825e-01 -3.73906322e-02 -2.53623238e-02 2.18383436e+00] [ 3.74419817e-02 9.99297597e-01 1.55261645e-03 -6.22894362e-02] [ 2.52864559e-02 -2.50064662e-03 9.99677119e-01 -4.42300262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76134618399999 meters Centerline goodness [0,1] 0.6817768199233716 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.45 [[ 0.99902869 -0.03949934 -0.0195314 2.19787188] [ 0.03967187 0.99917638 0.00852649 -0.06316835] [ 0.01917852 -0.00929306 0.99977289 -0.44518959] [ 0. 0. 0. 1. ]] SLAMing on 107.79134618399999 meters Centerline goodness [0,1] 0.6976666026502785 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.44 [[ 0.99900481 -0.04012736 -0.01947286 2.19704762] [ 0.04027795 0.99916109 0.0074034 -0.06051897] [ 0.01915944 -0.00818036 0.99978298 -0.44386985] [ 0. 0. 0. 1. ]] SLAMing on 107.82134618399999 meters Centerline goodness [0,1] 0.681438911198211 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.44 [[ 0.9989998 -0.04019963 -0.0195803 2.1977515 ] [ 0.04034266 0.99916163 0.00696528 -0.05955517] [ 0.01928388 -0.00774823 0.99978403 -0.44417708] [ 0. 0. 0. 1. ]] SLAMing on 107.851346184 meters Centerline goodness [0,1] 0.6935464487441414 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.45 [[ 0.99901384 -0.03979121 -0.01969782 2.19905441] [ 0.0399417 0.9991753 0.0073063 -0.06097933] [ 0.01939085 -0.00808586 0.99977928 -0.44535247] [ 0. 0. 0. 1. ]] SLAMing on 107.881346184 meters Centerline goodness [0,1] 0.694124410165513 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.45 [[ 0.99903059 -0.03923686 -0.01995874 2.20090779] [ 0.03939939 0.99919297 0.0078162 -0.06230582] [ 0.01963595 -0.00859498 0.99977025 -0.4468239 ] [ 0. 0. 0. 1. ]] SLAMing on 107.911346184 meters Centerline goodness [0,1] 0.70386039132734 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.45 [[ 0.99903679 -0.03892931 -0.02024839 2.20237018] [ 0.03909553 0.99920441 0.00787929 -0.06148372] [ 0.01992555 -0.00866332 0.99976393 -0.4477945 ] [ 0. 0. 0. 1. ]] SLAMing on 107.941346184 meters Centerline goodness [0,1] 0.7102143513814294 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.06, Z:-0.45 [[ 0.99917582 -0.03492024 -0.02069455 2.20317837] [ 0.03515673 0.99931932 0.01117616 -0.0570081 ] [ 0.02029019 -0.0118945 0.99972338 -0.44757269] [ 0. 0. 0. 1. ]] SLAMing on 107.971346184 meters Centerline goodness [0,1] 0.7192679725854275 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.05, Z:-0.45 [[ 0.99916683 -0.03490475 -0.02114978 2.20384903] [ 0.03512233 0.99933294 0.01000487 -0.05309974] [ 0.02078645 -0.01073937 0.99972626 -0.44611719] [ 0. 0. 0. 1. ]] SLAMing on 108.001346184 meters Centerline goodness [0,1] 0.7067027527857022 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.05, Z:-0.44 [[ 0.99915889 -0.03500162 -0.02136364 2.20385913] [ 0.03520102 0.99933946 0.00902995 -0.05107398] [ 0.02103346 -0.00977438 0.99973099 -0.44457388] [ 0. 0. 0. 1. ]] SLAMing on 108.031346184 meters Centerline goodness [0,1] 0.7223926380368098 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.44 [[ 9.99091069e-01 -3.62807843e-02 -2.23772207e-02 2.20934545e+00] [ 3.63366860e-02 9.99337405e-01 2.09649124e-03 -4.80833559e-02] [ 2.22863313e-02 -2.90769972e-03 9.99747400e-01 -4.39142892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.061346184 meters Centerline goodness [0,1] 0.7162889208072645 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.44 [[ 9.99088942e-01 -3.63931732e-02 -2.22895127e-02 2.20899066e+00] [ 3.64406827e-02 9.99334322e-01 1.72888960e-03 -4.79114688e-02] [ 2.22117553e-02 -2.53955954e-03 9.99750063e-01 -4.38528784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09134618399999 meters Centerline goodness [0,1] 0.7226829089307991 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.44 [[ 9.99078048e-01 -3.67610181e-02 -2.21738777e-02 2.20831733e+00] [ 3.67905502e-02 9.99322570e-01 9.25235744e-04 -4.61178330e-02] [ 2.21248438e-02 -1.74017188e-03 9.99753701e-01 -4.37504554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12134618399999 meters Centerline goodness [0,1] 0.7237756271178177 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.05, Z:-0.44 [[ 0.99934759 -0.03503072 -0.00878834 2.21227357] [ 0.03506315 0.99937875 0.00356303 -0.04541419] [ 0.00865807 -0.00386885 0.99995503 -0.44406887] [ 0. 0. 0. 1. ]] SLAMing on 108.15134618399999 meters Centerline goodness [0,1] 0.7117066221261544 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.04, Z:-0.44 [[ 0.9993617 -0.0345372 -0.00913058 2.21360633] [ 0.03456615 0.99939781 0.00303233 -0.03856534] [ 0.00902036 -0.00334601 0.99995372 -0.44395947] [ 0. 0. 0. 1. ]] SLAMing on 108.18134618399999 meters Centerline goodness [0,1] 0.7261464952465395 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.45 [[ 0.99937414 -0.03408738 -0.00945429 2.21563775] [ 0.03411928 0.99941254 0.00323308 -0.03745346] [ 0.00933852 -0.00355363 0.99995008 -0.44562902] [ 0. 0. 0. 1. ]] SLAMing on 108.21134618399999 meters Centerline goodness [0,1] 0.7241600473629681 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.45 [[ 0.99938932 -0.03360694 -0.00956878 2.21763088] [ 0.03364489 0.9994265 0.00383259 -0.03838164] [ 0.00943449 -0.00415219 0.99994687 -0.4480921 ] [ 0. 0. 0. 1. ]] SLAMing on 108.241346184 meters Centerline goodness [0,1] 0.7261449675685008 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.45 [[ 9.99322258e-01 -3.54263082e-02 -1.00001077e-02 2.22251168e+00] [ 3.54392199e-02 9.99371209e-01 1.11685968e-03 -3.76674486e-02] [ 9.95425350e-03 -1.47049876e-03 9.99949374e-01 -4.51793725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.271346184 meters Centerline goodness [0,1] 0.7272951628825272 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.04, Z:-0.45 [[ 9.99328741e-01 -3.50899171e-02 -1.05244709e-02 2.22433129e+00] [ 3.51030038e-02 9.99383136e-01 1.06125886e-03 -3.57507536e-02] [ 1.04807393e-02 -1.42998703e-03 9.99944053e-01 -4.52355574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.301346184 meters Centerline goodness [0,1] 0.7255270711669801 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:-0.45 [[ 0.99942601 -0.03222774 -0.01044126 2.22285036] [ 0.03227299 0.99947029 0.00419402 -0.03425864] [ 0.01030057 -0.00452859 0.99993669 -0.45138336] [ 0. 0. 0. 1. ]] SLAMing on 108.331346184 meters Centerline goodness [0,1] 0.7235113780813041 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.03, Z:-0.45 [[ 9.99414794e-01 -3.24498942e-02 -1.08200910e-02 2.22311621e+00] [ 3.24604584e-02 9.99472699e-01 8.02122515e-04 -2.59190740e-02] [ 1.07883568e-02 -1.15287822e-03 9.99941139e-01 -4.46482115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.361346184 meters Centerline goodness [0,1] 0.7199499374217773 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.45 [[ 9.99418182e-01 -3.22685849e-02 -1.10469763e-02 2.22409294e+00] [ 3.22781757e-02 9.99478685e-01 6.90940110e-04 -2.48698991e-02] [ 1.10189217e-02 -1.04711435e-03 9.99938742e-01 -4.46869629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.391346184 meters Centerline goodness [0,1] 0.7283490188225872 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.45 [[ 9.99424735e-01 -3.20511012e-02 -1.10872385e-02 2.22507640e+00] [ 3.20637540e-02 9.99485360e-01 9.65290005e-04 -2.51439384e-02] [ 1.10505940e-02 -1.32023319e-03 9.99938069e-01 -4.48094369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.421346184 meters Centerline goodness [0,1] 0.7184536469410734 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.45 [[ 9.99434391e-01 -3.17954492e-02 -1.09520607e-02 2.22627252e+00] [ 3.18136330e-02 9.99492708e-01 1.49007131e-03 -2.66082402e-02] [ 1.08991273e-02 -1.83765336e-03 9.99938914e-01 -4.50282059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.451346184 meters Centerline goodness [0,1] 0.7246960524340822 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.03, Z:-0.45 [[ 9.99435280e-01 -3.17964949e-02 -1.08675916e-02 2.22645111e+00] [ 3.18139216e-02 9.99492780e-01 1.43440870e-03 -2.61149154e-02] [ 1.08164702e-02 -1.77933937e-03 9.99939917e-01 -4.50659590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48134618399999 meters Centerline goodness [0,1] 0.7218808240568175 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.45 [[ 0.99952399 -0.02897312 -0.01060003 2.22410379] [ 0.02901602 0.99957128 0.00391601 -0.0221486 ] [ 0.01048203 -0.00422172 0.99993615 -0.44843562] [ 0. 0. 0. 1. ]] SLAMing on 108.51134618399999 meters Centerline goodness [0,1] 0.7263160551153283 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.02, Z:-0.45 [[ 0.99951726 -0.02898859 -0.0111763 2.22494033] [ 0.0290217 0.99957483 0.00281167 -0.01872303] [ 0.01109004 -0.00313467 0.99993359 -0.4468112 ] [ 0. 0. 0. 1. ]] SLAMing on 108.54134618399999 meters Centerline goodness [0,1] 0.7358042770217386 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.45 [[ 0.99951694 -0.02891834 -0.01138527 2.2253818 ] [ 0.02894764 0.99957801 0.00241695 -0.01747381] [ 0.01131057 -0.00274536 0.99993226 -0.44629624] [ 0. 0. 0. 1. ]] SLAMing on 108.57134618399999 meters Centerline goodness [0,1] 0.7333468211016134 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.45 [[ 0.99952237 -0.02872751 -0.0113912 2.22583064] [ 0.02875711 0.99958344 0.00244348 -0.01798875] [ 0.01131626 -0.00276989 0.99993213 -0.44660437] [ 0. 0. 0. 1. ]] SLAMing on 108.601346184 meters Centerline goodness [0,1] 0.7371529530540131 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.45 [[ 0.99953449 -0.02820449 -0.01163256 2.22741705] [ 0.02824006 0.99959695 0.00290555 -0.01918986] [ 0.01154592 -0.00323271 0.99992812 -0.44779449] [ 0. 0. 0. 1. ]] SLAMing on 108.631346184 meters Centerline goodness [0,1] 0.745061744047468 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.45 [[ 0.99954294 -0.02780993 -0.01185444 2.22894452] [ 0.02784455 0.99960844 0.00276477 -0.01745698] [ 0.01177291 -0.00309359 0.99992591 -0.44874745] [ 0. 0. 0. 1. ]] SLAMing on 108.661346184 meters Centerline goodness [0,1] 0.7458113322502031 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.02, Z:-0.45 [[ 0.99954812 -0.02745041 -0.0122489 2.23048401] [ 0.02748516 0.99961863 0.00267703 -0.01553486] [ 0.01217074 -0.00301248 0.9999214 -0.44930398] [ 0. 0. 0. 1. ]] SLAMing on 108.691346184 meters Centerline goodness [0,1] 0.7502804691483936 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99549533e-01 -2.73202253e-02 -1.24231852e-02 2.23091578e+00] [ 2.73468241e-02 9.99624052e-01 1.97622443e-03 -1.32613714e-02] [ 1.23645239e-02 -2.31506887e-03 9.99920876e-01 -4.48405464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.721346184 meters Centerline goodness [0,1] 0.7581499592502038 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99552845e-01 -2.70799166e-02 -1.26802226e-02 2.23158774e+00] [ 2.71065030e-02 9.99630689e-01 1.92950298e-03 -1.29702631e-02] [ 1.26232889e-02 -2.27235668e-03 9.99917741e-01 -4.48159665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.751346184 meters Centerline goodness [0,1] 0.751673411213764 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99558228e-01 -2.67414461e-02 -1.29708676e-02 2.23245156e+00] [ 2.67687073e-02 9.99639786e-01 1.93265790e-03 -1.27943907e-02] [ 1.29145132e-02 -2.27901747e-03 9.99914007e-01 -4.47935476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.781346184 meters Centerline goodness [0,1] 0.7500381776533469 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99561335e-01 -2.64996120e-02 -1.32253193e-02 2.23303936e+00] [ 2.65274125e-02 9.99646221e-01 1.93105592e-03 -1.34622669e-02] [ 1.31694682e-02 -2.28104234e-03 9.99910677e-01 -4.47378611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.811346184 meters Centerline goodness [0,1] 0.7519373936021546 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 0.99956692 -0.02627099 -0.01325933 2.2336245 ] [ 0.02630457 0.99965118 0.0023643 -0.01472303] [ 0.01319259 -0.00271206 0.9999093 -0.44805403] [ 0. 0. 0. 1. ]] SLAMing on 108.84134618399999 meters Centerline goodness [0,1] 0.7575603557814485 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 0.9995677 -0.02617812 -0.01338343 2.23412251] [ 0.02621311 0.99965338 0.00244603 -0.01487807] [ 0.01331476 -0.0027958 0.99990745 -0.44822876] [ 0. 0. 0. 1. ]] SLAMing on 108.87134618399999 meters Centerline goodness [0,1] 0.7537694830786442 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99558049e-01 -2.64488425e-02 -1.35707469e-02 2.23408101e+00] [ 2.64691139e-02 9.99648765e-01 1.31629220e-03 -1.19406512e-02] [ 1.35311659e-02 -1.67491611e-03 9.99907047e-01 -4.46221604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90134618399999 meters Centerline goodness [0,1] 0.7472323314585295 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99563205e-01 -2.61938907e-02 -1.36850022e-02 2.23469115e+00] [ 2.62185664e-02 9.99654911e-01 1.62680159e-03 -1.23965603e-02] [ 1.36376674e-02 -1.98489215e-03 9.99905033e-01 -4.46526641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93134618399999 meters Centerline goodness [0,1] 0.7421829358124412 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.01, Z:-0.45 [[ 9.99566760e-01 -2.60929063e-02 -1.36180727e-02 2.23494934e+00] [ 2.61228557e-02 9.99656687e-01 2.02598653e-03 -1.45174176e-02] [ 1.35605335e-02 -2.38085173e-03 9.99905217e-01 -4.47060227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96134618399999 meters Centerline goodness [0,1] 0.7482074539512023 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.45 [[ 0.99957217 -0.02590252 -0.01358448 2.23552796] [ 0.02593887 0.99966039 0.0025067 -0.01672975] [ 0.01351494 -0.002858 0.99990458 -0.44788523] [ 0. 0. 0. 1. ]] SLAMing on 108.991346184 meters Centerline goodness [0,1] 0.7607513216754779 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.45 [[ 0.99957337 -0.02588904 -0.01352168 2.23542729] [ 0.02592178 0.99966144 0.00225138 -0.01636711] [ 0.01345882 -0.00260092 0.99990604 -0.44735679] [ 0. 0. 0. 1. ]] SLAMing on 109.021346184 meters Centerline goodness [0,1] 0.7633409494795633 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.45 [[ 9.99573715e-01 -2.56712987e-02 -1.39058420e-02 2.23638034e+00] [ 2.57010505e-02 9.99667742e-01 1.96502007e-03 -1.55388361e-02] [ 1.38507770e-02 -2.32157716e-03 9.99901378e-01 -4.46839871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.051346184 meters Centerline goodness [0,1] 0.7506221748184265 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.02, Z:-0.45 [[ 9.99576967e-01 -2.54456741e-02 -1.40856562e-02 2.23724900e+00] [ 2.54760602e-02 9.99673468e-01 1.98199758e-03 -1.50457127e-02] [ 1.40306235e-02 -2.34000615e-03 9.99898828e-01 -4.47184212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.081346184 meters Centerline goodness [0,1] 0.7632885736002026 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 0.99959152 -0.02450921 -0.01470013 2.24011585] [ 0.0245483 0.99969556 0.0024847 -0.01471414] [ 0.01463476 -0.00284455 0.99988886 -0.44854892] [ 0. 0. 0. 1. ]] SLAMing on 109.111346184 meters Centerline goodness [0,1] 0.7506295307134682 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 0.99959634 -0.02409378 -0.01505501 2.24173976] [ 0.02413757 0.99970491 0.0027341 -0.01440146] [ 0.01498469 -0.00309639 0.99988293 -0.44953052] [ 0. 0. 0. 1. ]] SLAMing on 109.141346184 meters Centerline goodness [0,1] 0.7625038121378469 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 0.99960298 -0.02356335 -0.01544853 2.24356754] [ 0.02361392 0.99971635 0.00309945 -0.01438574] [ 0.01537111 -0.00346302 0.99987586 -0.45055022] [ 0. 0. 0. 1. ]] SLAMing on 109.171346184 meters Centerline goodness [0,1] 0.7645218718209563 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 0.99959766 -0.02385809 -0.01534003 2.24301317] [ 0.02389806 0.99971145 0.00242764 -0.0130551 ] [ 0.01527768 -0.00279326 0.99987939 -0.4496207 ] [ 0. 0. 0. 1. ]] SLAMing on 109.201346184 meters Centerline goodness [0,1] 0.7701468230743784 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99597062e-01 -2.39240987e-02 -1.52758560e-02 2.24272386e+00] [ 2.39606925e-02 9.99710443e-01 2.21699009e-03 -1.32482388e-02] [ 1.52183933e-02 -2.58211687e-03 9.99880859e-01 -4.49020442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23134618399999 meters Centerline goodness [0,1] 0.7764514654340428 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99597638e-01 -2.38403580e-02 -1.53687779e-02 2.24290510e+00] [ 2.38760015e-02 9.99712637e-01 2.13989133e-03 -1.38845726e-02] [ 1.53133457e-02 -2.50597528e-03 9.99879604e-01 -4.48540404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26134618399999 meters Centerline goodness [0,1] 0.7652248871761067 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99597167e-01 -2.36355911e-02 -1.57118623e-02 2.24367141e+00] [ 2.36707574e-02 9.99717694e-01 2.05598961e-03 -1.40095926e-02] [ 1.56588322e-02 -2.42707307e-03 9.99874447e-01 -4.47991126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29134618399999 meters Centerline goodness [0,1] 0.7683122030539393 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99591581e-01 -2.39126362e-02 -1.56479135e-02 2.24279281e+00] [ 2.39386292e-02 9.99712341e-01 1.47589717e-03 -1.32194042e-02] [ 1.56081196e-02 -1.84988399e-03 9.99876475e-01 -4.46361243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32134618399999 meters Centerline goodness [0,1] 0.7545581336376316 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99599729e-01 -2.33434887e-02 -1.59832268e-02 2.24437713e+00] [ 2.33805037e-02 9.99724363e-01 2.13290983e-03 -1.46486755e-02] [ 1.59290317e-02 -2.50575198e-03 9.99869985e-01 -4.47294399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.351346184 meters Centerline goodness [0,1] 0.7545581336376316 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.01, Z:-0.45 [[ 9.99599729e-01 -2.33434887e-02 -1.59832268e-02 2.24437713e+00] [ 2.33805037e-02 9.99724363e-01 2.13290983e-03 -1.46486755e-02] [ 1.59290317e-02 -2.50575198e-03 9.99869985e-01 -4.47294399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.381346184 meters Centerline goodness [0,1] 0.760799696317854 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.45 [[ 0.99960951 -0.02295794 -0.01592977 2.24531922] [ 0.02300592 0.99973131 0.00283524 -0.01681184] [ 0.01586039 -0.00320061 0.99986909 -0.44867799] [ 0. 0. 0. 1. ]] SLAMing on 109.411346184 meters Centerline goodness [0,1] 0.7659945421467556 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.45 [[ 0.99962879 -0.02202432 -0.01603808 2.24719879] [ 0.02209529 0.99974679 0.00426151 -0.02169285] [ 0.01594016 -0.0046143 0.9998623 -0.45086608] [ 0. 0. 0. 1. ]] SLAMing on 109.441346184 meters Centerline goodness [0,1] 0.7836052346251796 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.45 [[ 0.99963506 -0.02162434 -0.01619077 2.2482459 ] [ 0.0217038 0.99975317 0.0047485 -0.02338015] [ 0.01608409 -0.00509817 0.99985765 -0.45160535] [ 0. 0. 0. 1. ]] SLAMing on 109.471346184 meters Centerline goodness [0,1] 0.7846815358696472 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.45 [[ 0.99963647 -0.02114595 -0.01672659 2.24991372] [ 0.02123376 0.99976158 0.00508982 -0.02402336] [ 0.01661497 -0.00544314 0.99984715 -0.4518888 ] [ 0. 0. 0. 1. ]] SLAMing on 109.501346184 meters Centerline goodness [0,1] 0.7980938933992234 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.02, Z:-0.45 [[ 0.99963505 -0.0211193 -0.01684438 2.24935805] [ 0.02120373 0.99976341 0.00484947 -0.02340942] [ 0.01673798 -0.00520486 0.99984636 -0.45011748] [ 0. 0. 0. 1. ]] SLAMing on 109.531346184 meters Centerline goodness [0,1] 0.7990938837150767 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:-0.45 [[ 0.99963671 -0.0208118 -0.01712625 2.25008265] [ 0.02090121 0.99976875 0.00505859 -0.0250487 ] [ 0.01701701 -0.00541471 0.99984054 -0.44977786] [ 0. 0. 0. 1. ]] SLAMing on 109.561346184 meters Centerline goodness [0,1] 0.8055192191587844 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:-0.45 [[ 0.99964351 -0.02043453 -0.01718397 2.25077462] [ 0.02053577 0.99977267 0.00573581 -0.02816945] [ 0.01706285 -0.00608665 0.99983589 -0.45042952] [ 0. 0. 0. 1. ]] SLAMing on 109.59134618399999 meters Centerline goodness [0,1] 0.8046272493573265 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:-0.45 [[ 0.99957272 -0.02318888 -0.01779499 2.2533061 ] [ 0.02323262 0.99972754 0.00225495 -0.02933476] [ 0.01773785 -0.00266741 0.99983911 -0.45027535] [ 0. 0. 0. 1. ]] SLAMing on 109.62134618399999 meters Centerline goodness [0,1] 0.8009712364587225 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:-0.45 [[ 0.99957493 -0.02302594 -0.01788224 2.25368603] [ 0.02307457 0.99973058 0.00251795 -0.03034212] [ 0.01781944 -0.00292951 0.99983693 -0.45031312] [ 0. 0. 0. 1. ]] SLAMing on 109.65134618399999 meters Centerline goodness [0,1] 0.8041257611532249 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.03, Z:-0.45 [[ 0.99957778 -0.02279833 -0.01801385 2.2542148 ] [ 0.02285475 0.9997345 0.0029322 -0.03191535] [ 0.01794222 -0.00334266 0.99983344 -0.45051732] [ 0. 0. 0. 1. ]] SLAMing on 109.68134618399999 meters Centerline goodness [0,1] 0.7887910841531671 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.04, Z:-0.45 [[ 0.99957888 -0.02268256 -0.01809862 2.25473792] [ 0.02275123 0.99973469 0.00359719 -0.03565617] [ 0.01801222 -0.00400744 0.99982974 -0.45095234] [ 0. 0. 0. 1. ]] SLAMing on 109.71134618399999 meters Centerline goodness [0,1] 0.7892927794263106 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99958241 -0.02249458 -0.01813859 2.2553036 ] [ 0.02257436 0.99973632 0.00420542 -0.03778279] [ 0.01803921 -0.00461313 0.99982664 -0.45174221] [ 0. 0. 0. 1. ]] SLAMing on 109.741346184 meters Centerline goodness [0,1] 0.8037643692338053 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99958588 -0.02218457 -0.01832769 2.25652207] [ 0.02227964 0.99973928 0.00499927 -0.04043503] [ 0.018212 -0.00540554 0.99981954 -0.45298323] [ 0. 0. 0. 1. ]] SLAMing on 109.771346184 meters Centerline goodness [0,1] 0.7918836592316006 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99958918 -0.02187592 -0.01851798 2.25790796] [ 0.02198956 0.99974046 0.00595527 -0.04340082] [ 0.0183829 -0.00636002 0.99981079 -0.45458563] [ 0. 0. 0. 1. ]] SLAMing on 109.801346184 meters Centerline goodness [0,1] 0.7800509005481597 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99957983 -0.02251971 -0.01824924 2.25696304] [ 0.02262827 0.99972733 0.0057645 -0.0441756 ] [ 0.01811445 -0.00617502 0.99981685 -0.45413426] [ 0. 0. 0. 1. ]] SLAMing on 109.831346184 meters Centerline goodness [0,1] 0.7822273542490725 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99957158 -0.02283236 -0.01831204 2.25652525] [ 0.02293269 0.99972303 0.00528751 -0.04330273] [ 0.01818624 -0.00570519 0.99981834 -0.45306473] [ 0. 0. 0. 1. ]] SLAMing on 109.861346184 meters Centerline goodness [0,1] 0.7697942185203331 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.04, Z:-0.45 [[ 0.99956529 -0.02320352 -0.01818886 2.25594042] [ 0.02329845 0.99971593 0.00502468 -0.04486207] [ 0.0180671 -0.00544627 0.99982194 -0.45244782] [ 0. 0. 0. 1. ]] SLAMing on 109.891346184 meters Centerline goodness [0,1] 0.7739126192276731 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99956475 -0.02329646 -0.01809918 2.25581823] [ 0.02338958 0.99971417 0.00495059 -0.04625903] [ 0.01797867 -0.00537177 0.99982394 -0.45227876] [ 0. 0. 0. 1. ]] SLAMing on 109.921346184 meters Centerline goodness [0,1] 0.7645809946800722 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99956505 -0.02335097 -0.0180123 2.25568146] [ 0.02344403 0.99971278 0.00497258 -0.0473102 ] [ 0.01789101 -0.0053927 0.9998254 -0.45223773] [ 0. 0. 0. 1. ]] SLAMing on 109.951346184 meters Centerline goodness [0,1] 0.7621778602108551 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.05, Z:-0.45 [[ 0.99955747 -0.02391119 -0.01769528 2.25462223] [ 0.02399634 0.99970139 0.00461526 -0.04820019] [ 0.01757964 -0.00503784 0.99983277 -0.4517673 ] [ 0. 0. 0. 1. ]] SLAMing on 109.98134618399999 meters Centerline goodness [0,1] 0.7491721048017921 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99955674 -0.02358432 -0.01816847 2.25600826] [ 0.02367683 0.99970769 0.00489342 -0.04890585] [ 0.01804776 -0.00532143 0.99982296 -0.45200946] [ 0. 0. 0. 1. ]] SLAMing on 110.01134618399999 meters Centerline goodness [0,1] 0.7554252199413489 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99955573 -0.02351287 -0.01831611 2.25666487] [ 0.02360822 0.99970875 0.00500706 -0.0486727 ] [ 0.01819305 -0.00543725 0.99981971 -0.45244773] [ 0. 0. 0. 1. ]] SLAMing on 110.04134618399999 meters Centerline goodness [0,1] 0.764903728978796 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99956142 -0.0225521 -0.01919309 2.25995712] [ 0.02267211 0.9997246 0.00605855 -0.04944927] [ 0.01905117 -0.00649105 0.99979744 -0.4543395 ] [ 0. 0. 0. 1. ]] SLAMing on 110.07134618399999 meters Centerline goodness [0,1] 0.7681828169633047 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99956309 -0.02230551 -0.01939289 2.2608719 ] [ 0.02243467 0.99972739 0.00646846 -0.05061259] [ 0.01924332 -0.00690071 0.99979102 -0.45495492] [ 0. 0. 0. 1. ]] SLAMing on 110.101346184 meters Centerline goodness [0,1] 0.7643456621450181 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.46 [[ 0.99956438 -0.02222848 -0.0194151 2.26110215] [ 0.02236281 0.99972727 0.0067292 -0.05193029] [ 0.01926023 -0.00716045 0.99978886 -0.45514579] [ 0. 0. 0. 1. ]] SLAMing on 110.131346184 meters Centerline goodness [0,1] 0.7616962265528063 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.46 [[ 0.99948358 -0.0251224 -0.02003605 2.26376907] [ 0.02518779 0.99967818 0.00301802 -0.0507093 ] [ 0.01995378 -0.00352112 0.9997947 -0.45553224] [ 0. 0. 0. 1. ]] SLAMing on 110.161346184 meters Centerline goodness [0,1] 0.7570863946073083 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.05, Z:-0.45 [[ 0.99947723 -0.02582733 -0.01944778 2.26167453] [ 0.02588936 0.99966048 0.0029446 -0.05372355] [ 0.01936513 -0.00344655 0.99980654 -0.45459289] [ 0. 0. 0. 1. ]] SLAMing on 110.191346184 meters Centerline goodness [0,1] 0.750405696708407 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.45 [[ 0.99947748 -0.02595701 -0.01926152 2.26133479] [ 0.02602339 0.9996562 0.00320383 -0.05507143] [ 0.01917173 -0.0037034 0.99980935 -0.45477502] [ 0. 0. 0. 1. ]] SLAMing on 110.221346184 meters Centerline goodness [0,1] 0.7505084745762711 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.45 [[ 0.99947896 -0.02590092 -0.01926002 2.26139287] [ 0.02597196 0.99965673 0.00344708 -0.05610414] [ 0.01916413 -0.0039455 0.99980857 -0.45484263] [ 0. 0. 0. 1. ]] SLAMing on 110.251346184 meters Centerline goodness [0,1] 0.7605532170775706 Centerline is valid? [False, False] Translation: X:2.26, Y:-0.06, Z:-0.46 [[ 0.99949238 -0.02501124 -0.0197335 2.26385451] [ 0.02510987 0.99967334 0.00476605 -0.05954728] [ 0.01960785 -0.00525913 0.99979392 -0.45688659] [ 0. 0. 0. 1. ]] SLAMing on 110.281346184 meters Centerline goodness [0,1] 0.7727185213708125 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99949731 -0.02451855 -0.02009901 2.26553866] [ 0.02462905 0.99968277 0.00526889 -0.05981844] [ 0.01996345 -0.00576126 0.99978411 -0.45803127] [ 0. 0. 0. 1. ]] SLAMing on 110.311346184 meters Centerline goodness [0,1] 0.7799295774647887 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99949864 -0.02402399 -0.02062314 2.26737796] [ 0.02414161 0.99969357 0.00547335 -0.0588958 ] [ 0.02048533 -0.00596848 0.99977234 -0.45870035] [ 0. 0. 0. 1. ]] SLAMing on 110.34134618399999 meters Centerline goodness [0,1] 0.7800781815549442 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99950464 -0.02346934 -0.02096808 2.26852935] [ 0.02359417 0.99970522 0.00572583 -0.05926681] [ 0.02082752 -0.00621772 0.99976375 -0.45874401] [ 0. 0. 0. 1. ]] SLAMing on 110.37134618399999 meters Centerline goodness [0,1] 0.7847689303536559 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99950818 -0.02322765 -0.02106843 2.26916886] [ 0.02335872 0.99970916 0.00599646 -0.06052319] [ 0.02092302 -0.00648564 0.99976005 -0.45913708] [ 0. 0. 0. 1. ]] SLAMing on 110.40134618399999 meters Centerline goodness [0,1] 0.7929857455349631 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99950832 -0.02265451 -0.02167691 2.27112282] [ 0.02279776 0.99971971 0.00638401 -0.0612899 ] [ 0.02152621 -0.00687505 0.99974465 -0.45965988] [ 0. 0. 0. 1. ]] SLAMing on 110.43134618399999 meters Centerline goodness [0,1] 0.8002650921797807 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.06, Z:-0.46 [[ 0.99950784 -0.02228782 -0.02207556 2.27259642] [ 0.02243693 0.99972693 0.00652991 -0.06104949] [ 0.02192399 -0.007022 0.99973498 -0.46021191] [ 0. 0. 0. 1. ]] SLAMing on 110.46134618399999 meters Centerline goodness [0,1] 0.8103361040838453 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99951089 -0.02158858 -0.02262557 2.27516222] [ 0.02174798 0.9997402 0.00682287 -0.06069384] [ 0.0224724 -0.00731159 0.99972073 -0.46153847] [ 0. 0. 0. 1. ]] SLAMing on 110.491346184 meters Centerline goodness [0,1] 0.7969210691671903 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99950916 -0.02150553 -0.0227803 2.27590776] [ 0.02166405 0.99974262 0.00673496 -0.05998556] [ 0.0226296 -0.00722517 0.99971781 -0.46195962] [ 0. 0. 0. 1. ]] SLAMing on 110.521346184 meters Centerline goodness [0,1] 0.8111798848775318 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99950052 -0.0212015 -0.02343531 2.27778783] [ 0.02135911 0.99975077 0.00649524 -0.05851777] [ 0.02329176 -0.00699255 0.99970426 -0.46209115] [ 0. 0. 0. 1. ]] SLAMing on 110.551346184 meters Centerline goodness [0,1] 0.8113635267448029 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99949347 -0.02076189 -0.02411964 2.27996129] [ 0.02092416 0.99975997 0.00649503 -0.05711289] [ 0.023979 -0.00699643 0.99968798 -0.46262559] [ 0. 0. 0. 1. ]] SLAMing on 110.581346184 meters Centerline goodness [0,1] 0.8175698581045087 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99948532 -0.02073136 -0.0244808 2.2809406 ] [ 0.02088448 0.9997638 0.00601543 -0.05532681] [ 0.02435031 -0.0065236 0.9996822 -0.46250453] [ 0. 0. 0. 1. ]] SLAMing on 110.611346184 meters Centerline goodness [0,1] 0.816775224581709 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.9994882 -0.02048499 -0.02457029 2.28157838] [ 0.02064618 0.99976684 0.00632458 -0.05709184] [ 0.024435 -0.00682862 0.9996781 -0.46294723] [ 0. 0. 0. 1. ]] SLAMing on 110.641346184 meters Centerline goodness [0,1] 0.8252185673573879 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 0.99940856 -0.02352894 -0.0250783 2.28409417] [ 0.02359813 0.99971848 0.00246636 -0.05638319] [ 0.02501321 -0.0030567 0.99968245 -0.46350719] [ 0. 0. 0. 1. ]] SLAMing on 110.671346184 meters Centerline goodness [0,1] 0.8100572145909277 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.06, Z:-0.46 [[ 9.99398421e-01 -2.37516452e-02 -2.52716469e-02 2.28438178e+00] [ 2.38162609e-02 9.99713801e-01 2.25889534e-03 -5.56512114e-02] [ 2.52107617e-02 -2.85941257e-03 9.99678069e-01 -4.63132266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.701346184 meters Centerline goodness [0,1] 0.804963595462132 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:-0.46 [[ 9.99384605e-01 -2.38151157e-02 -2.57536561e-02 2.28528661e+00] [ 2.38717522e-02 9.99713235e-01 1.89391689e-03 -5.32870879e-02] [ 2.57011670e-02 -2.50753628e-03 9.99666526e-01 -4.62584570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73134618399999 meters Centerline goodness [0,1] 0.7954694283427518 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:-0.46 [[ 9.99375792e-01 -2.38214126e-02 -2.60876790e-02 2.28603272e+00] [ 2.38757109e-02 9.99713364e-01 1.77183357e-03 -5.20156302e-02] [ 2.60379938e-02 -2.39358946e-03 9.99658088e-01 -4.62416022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76134618399999 meters Centerline goodness [0,1] 0.7958034181835762 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:-0.46 [[ 9.99281034e-01 -2.73385639e-02 -2.62681949e-02 2.28734786e+00] [ 2.73000111e-02 9.99625619e-01 -1.82522941e-03 -5.33987937e-02] [ 2.63082598e-02 1.10679512e-03 9.99653265e-01 -4.62838162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79134618399999 meters Centerline goodness [0,1] 0.7941240112518934 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.05, Z:-0.46 [[ 0.99917278 -0.03031447 -0.02710713 2.29058041] [ 0.03017907 0.99952997 -0.00539013 -0.05344728] [ 0.02725779 0.0045676 0.999618 -0.46346804] [ 0. 0. 0. 1. ]] SLAMing on 110.82134618399999 meters Centerline goodness [0,1] 0.7880637178347469 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:-0.46 [[ 0.99917985 -0.03000004 -0.02719612 2.29151082] [ 0.02988403 0.9995425 -0.00466235 -0.05529566] [ 0.02732355 0.0038458 0.99961924 -0.46461839] [ 0. 0. 0. 1. ]] SLAMing on 110.851346184 meters Centerline goodness [0,1] 0.7813557288542292 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.06, Z:-0.47 [[ 0.99917907 -0.02953851 -0.0277248 2.29341642] [ 0.02943944 0.99955866 -0.00397484 -0.05638884] [ 0.02782998 0.00315537 0.99960769 -0.46566959] [ 0. 0. 0. 1. ]] SLAMing on 110.881346184 meters Centerline goodness [0,1] 0.7714669480955579 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.47 [[ 0.99917807 -0.02905204 -0.02826943 2.29561266] [ 0.02896649 0.99957449 -0.00343098 -0.0557297 ] [ 0.02835708 0.0026093 0.99959445 -0.46691963] [ 0. 0. 0. 1. ]] SLAMing on 110.911346184 meters Centerline goodness [0,1] 0.7701022248947684 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.47 [[ 9.99180465e-01 -2.84575096e-02 -2.87848783e-02 2.29763348e+00] [ 2.83858008e-02 9.99592844e-01 -2.89684492e-03 -5.56302137e-02] [ 2.88555954e-02 2.07738903e-03 9.99581432e-01 -4.67987797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.941346184 meters Centerline goodness [0,1] 0.77373017973581 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.47 [[ 9.99191841e-01 -2.74526940e-02 -2.93600806e-02 2.30037554e+00] [ 2.74135827e-02 9.99622673e-01 -1.73389075e-03 -5.73118460e-02] [ 2.93966022e-02 9.27624490e-04 9.99567396e-01 -4.69888154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.971346184 meters Centerline goodness [0,1] 0.7780963164614902 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.47 [[ 9.99204273e-01 -2.67484303e-02 -2.95862003e-02 2.30212077e+00] [ 2.67363365e-02 9.99642197e-01 -8.04361588e-04 -5.95436110e-02] [ 2.95971297e-02 1.26949290e-05 9.99561909e-01 -4.71551261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.001346184 meters Centerline goodness [0,1] 0.7947702060221871 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.06, Z:-0.47 [[ 9.99225489e-01 -2.53492045e-02 -3.00971717e-02 2.30467549e+00] [ 2.53618329e-02 9.99678336e-01 3.78565709e-05 -6.00304005e-02] [ 3.00865309e-02 -8.01146692e-04 9.99546977e-01 -4.72622108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.031346184 meters Centerline goodness [0,1] 0.7980947340566287 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:-0.47 [[ 9.99225054e-01 -2.47415467e-02 -3.06128507e-02 2.30632297e+00] [ 2.47548561e-02 9.99693550e-01 5.57858939e-05 -5.84023088e-02] [ 3.06020892e-02 -8.13559377e-04 9.99531315e-01 -4.72653368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.061346184 meters Centerline goodness [0,1] 0.80299672383889 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:-0.47 [[ 9.99222350e-01 -2.39694804e-02 -3.13075083e-02 2.30858740e+00] [ 2.39962843e-02 9.99711932e-01 4.80653090e-04 -5.77196302e-02] [ 3.12869686e-02 -1.23154318e-03 9.99509684e-01 -4.73200185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09134618399999 meters Centerline goodness [0,1] 0.8071027947007059 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:-0.47 [[ 9.99223817e-01 -2.33117873e-02 -3.17541254e-02 2.31017081e+00] [ 2.33532526e-02 9.99726838e-01 9.35526940e-04 -5.79204740e-02] [ 3.17236426e-02 -1.67636291e-03 9.99495273e-01 -4.73612839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12134618399999 meters Centerline goodness [0,1] 0.830679162550895 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:-0.47 [[ 9.99225108e-01 -2.27895160e-02 -3.20908244e-02 2.31173788e+00] [ 2.28499113e-02 9.99737757e-01 1.51649238e-03 -5.94110784e-02] [ 3.20478486e-02 -2.24858975e-03 9.99483806e-01 -4.74587817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15134618399999 meters Centerline goodness [0,1] 0.8412149916632434 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.06, Z:-0.48 [[ 9.99229559e-01 -2.26106918e-02 -3.20787420e-02 2.31218402e+00] [ 2.26824202e-02 9.99740965e-01 1.87382308e-03 -6.09505130e-02] [ 3.20280640e-02 -2.60000291e-03 9.99483588e-01 -4.75211783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18134618399999 meters Centerline goodness [0,1] 0.808143597156969 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99960989 -0.02078138 -0.01866031 2.31688289] [ 0.02086811 0.99977226 0.00446544 -0.06188822] [ 0.01856326 -0.0048531 0.99981591 -0.48220898] [ 0. 0. 0. 1. ]] SLAMing on 111.21134618399999 meters Centerline goodness [0,1] 0.8049416708934135 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99960447 -0.02089905 -0.01881832 2.31693613] [ 0.02097743 0.99977204 0.00397753 -0.06034192] [ 0.0187309 -0.00437072 0.99981501 -0.48143433] [ 0. 0. 0. 1. ]] SLAMing on 111.241346184 meters Centerline goodness [0,1] 0.8049416708934135 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99960447 -0.02089905 -0.01881832 2.31693613] [ 0.02097743 0.99977204 0.00397753 -0.06034192] [ 0.0187309 -0.00437072 0.99981501 -0.48143433] [ 0. 0. 0. 1. ]] SLAMing on 111.271346184 meters Centerline goodness [0,1] 0.8311597353040622 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99960273 -0.02110732 -0.01867794 2.31644718] [ 0.02117946 0.99976894 0.00367267 -0.06006292] [ 0.0185961 -0.0040668 0.99981881 -0.48096074] [ 0. 0. 0. 1. ]] SLAMing on 111.301346184 meters Centerline goodness [0,1] 0.8311782302422078 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99959778 -0.02155457 -0.01843048 2.31558625] [ 0.02162186 0.99976023 0.00345971 -0.06072969] [ 0.01835149 -0.00385682 0.99982416 -0.48057718] [ 0. 0. 0. 1. ]] SLAMing on 111.331346184 meters Centerline goodness [0,1] 0.8181379293697347 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99959541 -0.02145527 -0.01867305 2.31658678] [ 0.02152872 0.99976123 0.00374126 -0.06073449] [ 0.01858832 -0.00414175 0.99981864 -0.48135534] [ 0. 0. 0. 1. ]] SLAMing on 111.361346184 meters Centerline goodness [0,1] 0.8125240755007704 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99959493 -0.02110844 -0.01908951 2.31840214] [ 0.02119332 0.99976634 0.00425535 -0.06116395] [ 0.01899522 -0.00465819 0.99980872 -0.48269598] [ 0. 0. 0. 1. ]] SLAMing on 111.391346184 meters Centerline goodness [0,1] 0.8138760942436154 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.48 [[ 0.99958754 -0.02152299 -0.01901369 2.31886148] [ 0.02161485 0.99975561 0.00463911 -0.06327865] [ 0.01890919 -0.00504817 0.99980846 -0.48432048] [ 0. 0. 0. 1. ]] SLAMing on 111.421346184 meters Centerline goodness [0,1] 0.8055789955879162 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 0.99958612 -0.0216242 -0.01897321 2.31927788] [ 0.02172218 0.99975167 0.00497356 -0.064363 ] [ 0.01886095 -0.00538364 0.99980762 -0.48528828] [ 0. 0. 0. 1. ]] SLAMing on 111.451346184 meters Centerline goodness [0,1] 0.7994083267190994 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 0.99958259 -0.02181869 -0.01893637 2.31951168] [ 0.02191921 0.99974665 0.00511725 -0.06486081] [ 0.01881992 -0.00553018 0.9998076 -0.4859088 ] [ 0. 0. 0. 1. ]] SLAMing on 111.48134618399999 meters Centerline goodness [0,1] 0.7825415963346998 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 0.99957641 -0.02221754 -0.01879848 2.31907206] [ 0.0223138 0.99973888 0.0049267 -0.06449952] [ 0.01868412 -0.00534408 0.99981115 -0.48583275] [ 0. 0. 0. 1. ]] SLAMing on 111.51134618399999 meters Centerline goodness [0,1] 0.7437617645639268 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 0.99956038 -0.02290886 -0.01882127 2.31873971] [ 0.02299481 0.99972606 0.00436309 -0.06264862] [ 0.01871616 -0.00479396 0.99981334 -0.48548415] [ 0. 0. 0. 1. ]] SLAMing on 111.54134618399999 meters Centerline goodness [0,1] 0.7569367100866786 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 0.99955729 -0.02301799 -0.01885197 2.31907604] [ 0.02310494 0.99972333 0.00440728 -0.06296562] [ 0.01874531 -0.0048409 0.99981257 -0.4859108 ] [ 0. 0. 0. 1. ]] SLAMing on 111.57134618399999 meters Centerline goodness [0,1] 0.7485262852725164 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 9.99478228e-01 -2.57858387e-02 -1.94515451e-02 2.32270096e+00] [ 2.58171208e-02 9.99665759e-01 1.35876628e-03 -6.34546523e-02] [ 1.94100067e-02 -1.86024020e-03 9.99809877e-01 -4.88227399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.601346184 meters Centerline goodness [0,1] 0.7559967114808008 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.06, Z:-0.49 [[ 9.99479349e-01 -2.56422793e-02 -1.95832720e-02 2.32355032e+00] [ 2.56792071e-02 9.99668895e-01 1.63650710e-03 -6.36461488e-02] [ 1.95348241e-02 -2.13853795e-03 9.99806890e-01 -4.89085226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.631346184 meters Centerline goodness [0,1] 0.7479060760106512 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.49 [[ 9.99482847e-01 -2.51166338e-02 -2.00796809e-02 2.32552121e+00] [ 2.51598696e-02 9.99681628e-01 1.90345518e-03 -6.26872483e-02] [ 2.00254797e-02 -2.40767295e-03 9.99796571e-01 -4.90027581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.661346184 meters Centerline goodness [0,1] 0.7521444148291737 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.49 [[ 9.99485286e-01 -2.46340870e-02 -2.05505260e-02 2.32713824e+00] [ 2.46761392e-02 9.99693886e-01 1.79518258e-03 -6.06276846e-02] [ 2.05000125e-02 -2.30136622e-03 9.99787204e-01 -4.90293768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.691346184 meters Centerline goodness [0,1] 0.7649600820332527 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.49 [[ 0.99957922 -0.02039769 -0.02062343 2.32755874] [ 0.02051468 0.99977455 0.00547715 -0.0582169 ] [ 0.02050706 -0.00589792 0.99977231 -0.49053589] [ 0. 0. 0. 1. ]] SLAMing on 111.721346184 meters Centerline goodness [0,1] 0.7753988450621513 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.06, Z:-0.49 [[ 0.99957687 -0.01988381 -0.02122987 2.32946945] [ 0.01999599 0.99978713 0.00508472 -0.05593933] [ 0.02112425 -0.00550708 0.99976169 -0.49057578] [ 0. 0. 0. 1. ]] SLAMing on 111.751346184 meters Centerline goodness [0,1] 0.8095937706603982 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:-0.49 [[ 0.9995749 -0.01909381 -0.02203294 2.33220736] [ 0.01921117 0.9998023 0.00512725 -0.05466204] [ 0.02193069 -0.00554834 0.9997441 -0.49121474] [ 0. 0. 0. 1. ]] SLAMing on 111.781346184 meters Centerline goodness [0,1] 0.8140694874441005 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.05, Z:-0.49 [[ 0.99957356 -0.01876644 -0.02237238 2.33366988] [ 0.01888692 0.99980817 0.00518639 -0.05409152] [ 0.02227076 -0.00560673 0.99973625 -0.49202086] [ 0. 0. 0. 1. ]] SLAMing on 111.811346184 meters Centerline goodness [0,1] 0.8126871900623558 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.49 [[ 0.99957168 -0.01835649 -0.02279224 2.33582962] [ 0.01848631 0.999814 0.00549818 -0.05364892] [ 0.02268707 -0.00591717 0.9997251 -0.49358197] [ 0. 0. 0. 1. ]] SLAMing on 111.84134618399999 meters Centerline goodness [0,1] 0.8053984955012538 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.49 [[ 0.99956376 -0.01844606 -0.02306598 2.33653975] [ 0.01856867 0.99981452 0.00511267 -0.05203425] [ 0.0229674 -0.00553874 0.99972087 -0.49342261] [ 0. 0. 0. 1. ]] SLAMing on 111.87134618399999 meters Centerline goodness [0,1] 0.8093124198480812 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.49 [[ 0.99955352 -0.01849152 -0.02346967 2.33757972] [ 0.01860869 0.9998154 0.00478378 -0.0501617 ] [ 0.02337688 -0.00521838 0.9997131 -0.49337076] [ 0. 0. 0. 1. ]] SLAMing on 111.90134618399999 meters Centerline goodness [0,1] 0.7918585648492051 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.49 [[ 0.99954528 -0.01894786 -0.02345653 2.33766403] [ 0.01904767 0.99981042 0.00403929 -0.04746718] [ 0.02337555 -0.00448425 0.9997167 -0.49337882] [ 0. 0. 0. 1. ]] SLAMing on 111.93134618399999 meters Centerline goodness [0,1] 0.7962595495584879 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.49 [[ 0.99954417 -0.01877121 -0.02364516 2.33904331] [ 0.01887998 0.99981214 0.00438499 -0.04801385] [ 0.02355841 -0.00482941 0.9997108 -0.49483745] [ 0. 0. 0. 1. ]] SLAMing on 111.96134618399999 meters Centerline goodness [0,1] 0.7922639644092931 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.50 [[ 0.9995414 -0.01857728 -0.02391394 2.34070893] [ 0.01869764 0.99981357 0.00481964 -0.04879108] [ 0.02381994 -0.00526457 0.9997024 -0.49653956] [ 0. 0. 0. 1. ]] SLAMing on 111.991346184 meters Centerline goodness [0,1] 0.7900069361870788 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.05, Z:-0.50 [[ 0.99953889 -0.01871907 -0.02390821 2.34124472] [ 0.01883521 0.99981183 0.00464175 -0.04818675] [ 0.02381682 -0.00508993 0.99970338 -0.49725002] [ 0. 0. 0. 1. ]] SLAMing on 112.021346184 meters Centerline goodness [0,1] 0.7758328768487626 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.50 [[ 0.99952983 -0.01899189 -0.02407144 2.34176387] [ 0.01907639 0.99981263 0.00328537 -0.04336299] [ 0.02400453 -0.00374302 0.99970484 -0.49644427] [ 0. 0. 0. 1. ]] SLAMing on 112.051346184 meters Centerline goodness [0,1] 0.7871946798669966 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.04, Z:-0.50 [[ 0.999516 -0.01894422 -0.02467568 2.34309113] [ 0.01901284 0.99981599 0.00254939 -0.04038491] [ 0.02462284 -0.00301732 0.99969226 -0.49580542] [ 0. 0. 0. 1. ]] SLAMing on 112.081346184 meters Centerline goodness [0,1] 0.785237258347979 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:-0.50 [[ 0.99950824 -0.01850361 -0.02531596 2.34516877] [ 0.01857165 0.99982452 0.00245498 -0.03841652] [ 0.02526609 -0.00292393 0.99967649 -0.49616675] [ 0. 0. 0. 1. ]] SLAMing on 112.111346184 meters Centerline goodness [0,1] 0.7739617616762555 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.04, Z:-0.50 [[ 9.99502747e-01 -1.82835774e-02 -2.56898717e-02 2.34647473e+00] [ 1.83381800e-02 9.99830052e-01 1.89145013e-03 -3.59610221e-02] [ 2.56509233e-02 -2.36161509e-03 9.99668171e-01 -4.95922515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.141346184 meters Centerline goodness [0,1] 0.7827666229442034 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:-0.50 [[ 9.99498972e-01 -1.83621677e-02 -2.57805484e-02 2.34684017e+00] [ 1.84104870e-02 9.99829171e-01 1.63813293e-03 -3.48837391e-02] [ 2.57460646e-02 -2.11194463e-03 9.99666284e-01 -4.95981208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.171346184 meters Centerline goodness [0,1] 0.7789269227858638 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:-0.50 [[ 9.99487608e-01 -1.82940809e-02 -2.62649436e-02 2.34815918e+00] [ 1.83326244e-02 9.99831190e-01 1.22742324e-03 -3.27502382e-02] [ 2.62380552e-02 -1.70829966e-03 9.99654263e-01 -4.95850579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.201346184 meters Centerline goodness [0,1] 0.7733316384898945 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.03, Z:-0.50 [[ 9.99474404e-01 -1.84479858e-02 -2.66568330e-02 2.34948417e+00] [ 1.84562491e-02 9.99829667e-01 6.39647223e-05 -2.64808357e-02] [ 2.66511124e-02 -5.55916253e-04 9.99644641e-01 -4.95564886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23134618399999 meters Centerline goodness [0,1] 0.7716639881635673 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:-0.50 [[ 9.99468385e-01 -1.81983978e-02 -2.70511771e-02 2.35111318e+00] [ 1.82039371e-02 9.99834294e-01 -4.15016359e-05 -2.47794793e-02] [ 2.70474498e-02 -4.50958352e-04 9.99634049e-01 -4.96286749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26134618399999 meters Centerline goodness [0,1] 0.76891888424132 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:-0.50 [[ 9.99466301e-01 -1.81367193e-02 -2.71693167e-02 2.35193661e+00] [ 1.81389448e-02 9.99835462e-01 -1.64561131e-04 -2.36923043e-02] [ 2.71678309e-02 -3.28349430e-04 9.99630832e-01 -4.96975174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29134618399999 meters Centerline goodness [0,1] 0.767431133888533 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.02, Z:-0.50 [[ 9.99464248e-01 -1.78250156e-02 -2.74496848e-02 2.35380635e+00] [ 1.78257270e-02 9.99841085e-01 -2.18805820e-04 -2.25916002e-02] [ 2.74492228e-02 -2.70621992e-04 9.99623162e-01 -4.98421689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32134618399999 meters Centerline goodness [0,1] 0.7647436226453832 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.50 [[ 9.99459663e-01 -1.75856114e-02 -2.77692070e-02 2.35526525e+00] [ 1.75828870e-02 9.99845350e-01 -3.42303426e-04 -2.10466786e-02] [ 2.77709321e-02 -1.46144360e-04 9.99614303e-01 -4.99118129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.351346184 meters Centerline goodness [0,1] 0.7637037418292243 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.02, Z:-0.50 [[ 9.99453349e-01 -1.72401136e-02 -2.82095877e-02 2.35715905e+00] [ 1.72356671e-02 9.99851375e-01 -4.00786679e-04 -1.90340033e-02] [ 2.82123047e-02 -8.56434751e-05 9.99601950e-01 -4.99963144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.381346184 meters Centerline goodness [0,1] 0.7581856802403896 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.01, Z:-0.50 [[ 9.99434401e-01 -1.75110953e-02 -2.87095689e-02 2.35794070e+00] [ 1.74469462e-02 9.99844706e-01 -2.48341563e-03 -1.24641002e-02] [ 2.87485978e-02 1.98111671e-03 9.99584710e-01 -4.97580184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.411346184 meters Centerline goodness [0,1] 0.756683174734877 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.50 [[ 0.99954983 -0.01846297 -0.02364862 2.37378782] [ 0.01860606 0.99980981 0.00584529 -0.01394984] [ 0.02353621 -0.00628267 0.99970324 -0.5014119 ] [ 0. 0. 0. 1. ]] SLAMing on 112.441346184 meters Centerline goodness [0,1] 0.7565181261036668 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.01, Z:-0.50 [[ 0.99954303 -0.01847934 -0.02392169 2.37438477] [ 0.01860807 0.99981349 0.00517004 -0.01248338] [ 0.02382169 -0.00561282 0.99970047 -0.50064199] [ 0. 0. 0. 1. ]] SLAMing on 112.471346184 meters Centerline goodness [0,1] 0.7577625275152143 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.99954686 -0.01804023 -0.02409624 2.37569429] [ 0.01817116 0.99982124 0.00522545 -0.01257565] [ 0.02399767 -0.00566094 0.99969599 -0.50132181] [ 0. 0. 0. 1. ]] SLAMing on 112.501346184 meters Centerline goodness [0,1] 0.7633318642573821 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.99954244 -0.01795206 -0.02434422 2.37634651] [ 0.01807456 0.99982502 0.00482133 -0.01158964] [ 0.0242534 -0.00525913 0.99969201 -0.50092059] [ 0. 0. 0. 1. ]] SLAMing on 112.531346184 meters Centerline goodness [0,1] 0.7704977657695106 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.99953506 -0.01774579 -0.02479406 2.37759215] [ 0.01785737 0.99983136 0.00428605 -0.00984258] [ 0.02471382 -0.00472681 0.99968339 -0.50040281] [ 0. 0. 0. 1. ]] SLAMing on 112.561346184 meters Centerline goodness [0,1] 0.7780840441023508 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.9995262 -0.0177681 -0.0251329 2.37835555] [ 0.01786673 0.99983351 0.00370494 -0.00755671] [ 0.02506288 -0.00415223 0.99967725 -0.49995531] [ 0. 0. 0. 1. ]] SLAMing on 112.59134618399999 meters Centerline goodness [0,1] 0.7770153926428385 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.99952293 -0.0165557 -0.02607334 2.38226699] [ 0.01667002 0.99985234 0.0041733 -0.00537802] [ 0.0260004 -0.00460595 0.99965132 -0.5015506 ] [ 0. 0. 0. 1. ]] SLAMing on 112.62134618399999 meters Centerline goodness [0,1] 0.785015946044858 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.01, Z:-0.50 [[ 0.9995243 -0.01569472 -0.02654909 2.38490169] [ 0.01583157 0.99986241 0.00495202 -0.00645652] [ 0.02646771 -0.00536998 0.99963525 -0.50344698] [ 0. 0. 0. 1. ]] SLAMing on 112.65134618399999 meters Centerline goodness [0,1] 0.7851235370611184 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:-0.50 [[ 9.99455385e-01 -1.75664740e-02 -2.79347851e-02 2.39078721e+00] [ 1.76148939e-02 9.99843738e-01 1.48816614e-03 -5.63003986e-03] [ 2.79042782e-02 -1.97942393e-03 9.99608640e-01 -5.04672016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68134618399999 meters Centerline goodness [0,1] 0.777852854803919 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.01, Z:-0.51 [[ 9.99454117e-01 -1.69866460e-02 -2.83358731e-02 2.39247033e+00] [ 1.70430741e-02 9.99853223e-01 1.75106205e-03 -6.14865451e-03] [ 2.83019693e-02 -2.23303656e-03 9.99596925e-01 -5.05220495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71134618399999 meters Centerline goodness [0,1] 0.8083272385330686 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.00, Z:-0.50 [[ 0.99950782 -0.01312522 -0.02849302 2.39191543] [ 0.01326442 0.99990097 0.004702 -0.00323635] [ 0.02842849 -0.00507763 0.99958293 -0.50338398] [ 0. 0. 0. 1. ]] SLAMing on 112.741346184 meters Centerline goodness [0,1] 0.8093589340048264 Centerline is valid? [False, False] Translation: X:2.39, Y:0.00, Z:-0.50 [[ 9.99486886e-01 -1.27833706e-02 -2.93692208e-02 2.39374598e+00] [ 1.28873777e-02 9.99911326e-01 3.35480418e-03 1.08395472e-03] [ 2.93237309e-02 -3.73157503e-03 9.99563002e-01 -5.01390090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.771346184 meters Centerline goodness [0,1] 0.821868325994674 Centerline is valid? [False, False] Translation: X:2.40, Y:0.01, Z:-0.50 [[ 9.99470477e-01 -1.19833585e-02 -3.02516839e-02 2.39624579e+00] [ 1.20534419e-02 9.99925075e-01 2.13537486e-03 5.57493538e-03] [ 3.02238284e-02 -2.49888104e-03 9.99540032e-01 -4.99683254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.801346184 meters Centerline goodness [0,1] 0.826873520904549 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.50 [[ 0.99947353 -0.0115527 -0.0303184 2.39725095] [ 0.01163412 0.99992917 0.0025106 0.00427919] [ 0.03028725 -0.002862 0.99953714 -0.50053945] [ 0. 0. 0. 1. ]] SLAMing on 112.831346184 meters Centerline goodness [0,1] 0.8289318092234923 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.50 [[ 9.99474621e-01 -1.09599967e-02 -3.05018266e-02 2.39878936e+00] [ 1.10641050e-02 9.99933521e-01 3.24649666e-03 2.06974623e-03] [ 3.04642172e-02 -3.58226643e-03 9.99529439e-01 -5.01975653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.861346184 meters Centerline goodness [0,1] 0.8311201906707525 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.50 [[ 9.99420675e-01 -1.37725680e-02 -3.11228204e-02 2.40197974e+00] [ 1.37559577e-02 9.99905103e-01 -7.47762998e-04 3.98703877e-03] [ 3.11301656e-02 3.19205598e-04 9.99515288e-01 -5.02472775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.891346184 meters Centerline goodness [0,1] 0.8348108902061585 Centerline is valid? [False, False] Translation: X:2.40, Y:0.00, Z:-0.50 [[ 9.99413531e-01 -1.35876210e-02 -3.14320102e-02 2.40308973e+00] [ 1.35720723e-02 9.99907645e-01 -7.07986768e-04 4.58040468e-03] [ 3.14387272e-02 2.80974040e-04 9.99505642e-01 -5.02795385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.921346184 meters Centerline goodness [0,1] 0.8204318062137967 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.99953807 -0.01521141 -0.02631085 2.41778514] [ 0.01543197 0.9998473 0.00820004 0.00442423] [ 0.0261821 -0.00860228 0.99962018 -0.50754983] [ 0. 0. 0. 1. ]] SLAMing on 112.951346184 meters Centerline goodness [0,1] 0.8158415319283623 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.99953019 -0.01554756 -0.02641334 2.4174736 ] [ 0.01575734 0.99984579 0.00775248 0.00475005] [ 0.02628874 -0.00816504 0.99962105 -0.50667867] [ 0. 0. 0. 1. ]] SLAMing on 112.98134618399999 meters Centerline goodness [0,1] 0.8091570840805993 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.99952765 -0.01563296 -0.02645906 2.41756167] [ 0.01584267 0.99984458 0.00773473 0.00380674] [ 0.02633403 -0.00815026 0.99961997 -0.50654254] [ 0. 0. 0. 1. ]] SLAMing on 113.01134618399999 meters Centerline goodness [0,1] 0.8041374970502635 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.99945705 -0.018987 -0.02692769 2.41989885] [ 0.0190938 0.9998108 0.00371461 0.00444951] [ 0.02685207 -0.00422675 0.99963048 -0.506948 ] [ 0. 0. 0. 1. ]] SLAMing on 113.04134618399999 meters Centerline goodness [0,1] 0.7927587563951201 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.9994543 -0.01922307 -0.02686202 2.41971612] [ 0.01933084 0.99980608 0.00375812 0.00390059] [ 0.02678456 -0.00427534 0.99963209 -0.5070679 ] [ 0. 0. 0. 1. ]] SLAMing on 113.07134618399999 meters Centerline goodness [0,1] 0.7830926752428459 Centerline is valid? [False, False] Translation: X:2.42, Y:0.00, Z:-0.51 [[ 0.99944655 -0.01941614 -0.02701119 2.41977418] [ 0.01951706 0.99980348 0.00347759 0.00431549] [ 0.02693836 -0.00400285 0.99962908 -0.50644847] [ 0. 0. 0. 1. ]] SLAMing on 113.101346184 meters Centerline goodness [0,1] 0.7731866512264449 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 0.99943663 -0.01962908 -0.02722354 2.41979148] [ 0.01971566 0.99980138 0.00291546 0.00599805] [ 0.02716091 -0.00345055 0.99962512 -0.50538124] [ 0. 0. 0. 1. ]] SLAMing on 113.131346184 meters Centerline goodness [0,1] 0.7795517912567731 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 0.99943647 -0.01933343 -0.02744001 2.42087582] [ 0.01942574 0.99980649 0.00310133 0.00599689] [ 0.02737474 -0.00363262 0.99961864 -0.50598887] [ 0. 0. 0. 1. ]] SLAMing on 113.161346184 meters Centerline goodness [0,1] 0.7795517912567731 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 0.99943647 -0.01933343 -0.02744001 2.42087582] [ 0.01942574 0.99980649 0.00310133 0.00599689] [ 0.02737474 -0.00363262 0.99961864 -0.50598887] [ 0. 0. 0. 1. ]] SLAMing on 113.191346184 meters Centerline goodness [0,1] 0.784782034346103 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 0.99943462 -0.01901069 -0.02773157 2.42199788] [ 0.01910446 0.99981262 0.00312047 0.00595431] [ 0.02766705 -0.00364851 0.99961054 -0.50621217] [ 0. 0. 0. 1. ]] SLAMing on 113.221346184 meters Centerline goodness [0,1] 0.7836998025016458 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 0.99942958 -0.01855896 -0.02821496 2.42365324] [ 0.018654 0.99982116 0.00310909 0.00609207] [ 0.02815221 -0.00363363 0.99959704 -0.50633518] [ 0. 0. 0. 1. ]] SLAMing on 113.251346184 meters Centerline goodness [0,1] 0.7927022739291381 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.51 [[ 9.99431743e-01 -1.84380099e-02 -2.82175504e-02 2.42371876e+00] [ 1.85111546e-02 9.99825932e-01 2.33312537e-03 8.54322159e-03] [ 2.81696205e-02 -2.85413899e-03 9.99599083e-01 -5.05295338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.281346184 meters Centerline goodness [0,1] 0.7948535233570864 Centerline is valid? [False, False] Translation: X:2.42, Y:0.01, Z:-0.50 [[ 9.99424772e-01 -1.81415258e-02 -2.86532717e-02 2.42484708e+00] [ 1.82087658e-02 9.99832028e-01 2.08747619e-03 9.38128649e-03] [ 2.86105887e-02 -2.60801613e-03 9.99587231e-01 -5.04827700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.311346184 meters Centerline goodness [0,1] 0.7939871076825531 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.51 [[ 9.99424687e-01 -1.78105727e-02 -2.88631139e-02 2.42590702e+00] [ 1.78818008e-02 9.99837662e-01 2.21153473e-03 9.33259091e-03] [ 2.88190396e-02 -2.72638685e-03 9.99580927e-01 -5.05262872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34134618399999 meters Centerline goodness [0,1] 0.8035355670647923 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.51 [[ 0.99942434 -0.01736092 -0.02914782 2.42722821] [ 0.01744242 0.99984463 0.00254422 0.00850953] [ 0.02909912 -0.00305116 0.99957187 -0.50591997] [ 0. 0. 0. 1. ]] SLAMing on 113.37134618399999 meters Centerline goodness [0,1] 0.8231955224668673 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.51 [[ 0.99942532 -0.01649552 -0.0296131 2.42956401] [ 0.01660106 0.99985668 0.00332163 0.00691145] [ 0.02955407 -0.00381133 0.99955592 -0.5072579 ] [ 0. 0. 0. 1. ]] SLAMing on 113.40134618399999 meters Centerline goodness [0,1] 0.8102693868944066 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.51 [[ 0.99941888 -0.01626237 -0.02995735 2.43043188] [ 0.01636498 0.99986102 0.00318321 0.00695597] [ 0.02990142 -0.00367161 0.99954611 -0.50675976] [ 0. 0. 0. 1. ]] SLAMing on 113.43134618399999 meters Centerline goodness [0,1] 0.8297417772268088 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.51 [[ 0.99941672 -0.01619444 -0.03006603 2.4307173 ] [ 0.0162908 0.99986291 0.00296257 0.00724886] [ 0.03001393 -0.00345064 0.99954352 -0.50624124] [ 0. 0. 0. 1. ]] SLAMing on 113.46134618399999 meters Centerline goodness [0,1] 0.831039029535865 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.50 [[ 0.9994111 -0.01626817 -0.03021243 2.43035058] [ 0.01635675 0.99986261 0.00268737 0.00688192] [ 0.03016457 -0.00317996 0.99953989 -0.50474552] [ 0. 0. 0. 1. ]] SLAMing on 113.491346184 meters Centerline goodness [0,1] 0.824608088525886 Centerline is valid? [False, False] Translation: X:2.43, Y:0.01, Z:-0.50 [[ 0.99940538 -0.01600796 -0.03053893 2.43119809] [ 0.0161067 0.99986581 0.00299017 0.00540957] [ 0.03048697 -0.00348027 0.99952911 -0.50461989] [ 0. 0. 0. 1. ]] SLAMing on 113.521346184 meters Centerline goodness [0,1] 0.8215799310326674 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:-0.50 [[ 0.99940511 -0.01620264 -0.03044492 2.43074448] [ 0.01630009 0.99986278 0.00295534 0.00436273] [ 0.03039286 -0.00344984 0.99953208 -0.50419951] [ 0. 0. 0. 1. ]] SLAMing on 113.551346184 meters Centerline goodness [0,1] 0.8151643857165329 Centerline is valid? [False, False] Translation: X:2.43, Y:0.00, Z:-0.50 [[ 0.99940058 -0.01579098 -0.03080774 2.43208845] [ 0.01590614 0.99986738 0.0034965 0.00247398] [ 0.03074844 -0.00398444 0.99951921 -0.50471679] [ 0. 0. 0. 1. ]] SLAMing on 113.581346184 meters Centerline goodness [0,1] 0.806108620869384 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.00, Z:-0.51 [[ 9.99335036e-01 -1.85688966e-02 -3.13796370e-02 2.43573881e+00] [ 1.86066491e-02 9.99826466e-01 9.11484378e-04 -1.03041306e-03] [ 3.13572663e-02 -1.49474817e-03 9.99507122e-01 -5.07256113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.611346184 meters Centerline goodness [0,1] 0.8116187106509184 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.00, Z:-0.51 [[ 9.99344021e-01 -1.81287694e-02 -3.13508503e-02 2.43676624e+00] [ 1.81985603e-02 9.99832506e-01 1.94219471e-03 -4.64893179e-03] [ 3.13103896e-02 -2.51146101e-03 9.99506554e-01 -5.08888254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.641346184 meters Centerline goodness [0,1] 0.809003915873551 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:-0.51 [[ 9.99342389e-01 -1.80291234e-02 -3.14601299e-02 2.43727260e+00] [ 1.81101265e-02 9.99833372e-01 2.29172065e-03 -6.27715962e-03] [ 3.14135701e-02 -2.85996053e-03 9.99502380e-01 -5.09208529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.671346184 meters Centerline goodness [0,1] 0.8036803446754393 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.01, Z:-0.51 [[ 9.99338260e-01 -1.81020238e-02 -3.15492936e-02 2.43724504e+00] [ 1.81800266e-02 9.99832337e-01 2.18728600e-03 -6.59301428e-03] [ 3.15044096e-02 -2.75940558e-03 9.99499804e-01 -5.08608457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.701346184 meters Centerline goodness [0,1] 0.7924053913945049 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.51 [[ 0.99946366 -0.01974587 -0.02612451 2.4514541 ] [ 0.02002926 0.99974287 0.01063081 -0.01047632] [ 0.02590788 -0.01114836 0.99960217 -0.51166452] [ 0. 0. 0. 1. ]] SLAMing on 113.73134618399999 meters Centerline goodness [0,1] 0.7853043073581881 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.51 [[ 0.99945745 -0.01998593 -0.02617942 2.45074655] [ 0.02026457 0.99974033 0.01042181 -0.01170993] [ 0.02596433 -0.01094667 0.99960293 -0.51028121] [ 0. 0. 0. 1. ]] SLAMing on 113.76134618399999 meters Centerline goodness [0,1] 0.788859334245797 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.51 [[ 0.99936552 -0.02381485 -0.02648414 2.45157517] [ 0.02397775 0.99969537 0.00585052 -0.01030695] [ 0.02633675 -0.00648184 0.99963211 -0.50906807] [ 0. 0. 0. 1. ]] SLAMing on 113.79134618399999 meters Centerline goodness [0,1] 0.7678815196394075 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.51 [[ 9.99253868e-01 -2.81430433e-02 -2.64514032e-02 2.45116411e+00] [ 2.82029929e-02 9.99600418e-01 1.89600325e-03 -1.24305918e-02] [ 2.63874744e-02 -2.64059732e-03 9.99648302e-01 -5.08167618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82134618399999 meters Centerline goodness [0,1] 0.7502959188924914 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.01, Z:-0.51 [[ 9.99251469e-01 -2.84393952e-02 -2.62240680e-02 2.45067964e+00] [ 2.85076215e-02 9.99591085e-01 2.23141490e-03 -1.49768124e-02] [ 2.61498845e-02 -2.97733042e-03 9.99653600e-01 -5.08492313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.851346184 meters Centerline goodness [0,1] 0.7609130546293922 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.51 [[ 0.99924263 -0.02891421 -0.02604089 2.45017817] [ 0.02899347 0.99957603 0.00267128 -0.01953292] [ 0.02595261 -0.00342427 0.99965731 -0.50897577] [ 0. 0. 0. 1. ]] SLAMing on 113.881346184 meters Centerline goodness [0,1] 0.7632802124833997 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.51 [[ 0.99924884 -0.02851264 -0.02624464 2.45140107] [ 0.0286141 0.99958441 0.00349816 -0.0222946 ] [ 0.02613399 -0.00424649 0.99964943 -0.51008625] [ 0. 0. 0. 1. ]] SLAMing on 113.911346184 meters Centerline goodness [0,1] 0.7616437657735743 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.51 [[ 0.99925387 -0.02821903 -0.02637037 2.45229865] [ 0.02833656 0.99959006 0.00409371 -0.02413616] [ 0.02624404 -0.0048379 0.99964386 -0.51088145] [ 0. 0. 0. 1. ]] SLAMing on 113.941346184 meters Centerline goodness [0,1] 0.745170099277748 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.51 [[ 0.99924601 -0.02846837 -0.02640013 2.45205058] [ 0.02858338 0.99958345 0.00398911 -0.02393672] [ 0.02627557 -0.00474071 0.9996435 -0.51037379] [ 0. 0. 0. 1. ]] SLAMing on 113.971346184 meters Centerline goodness [0,1] 0.7464102629498329 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.02, Z:-0.51 [[ 0.99924148 -0.02849107 -0.02654646 2.45245863] [ 0.02860648 0.99958284 0.0039779 -0.02380414] [ 0.02642205 -0.00473429 0.99963967 -0.5103026 ] [ 0. 0. 0. 1. ]] SLAMing on 114.001346184 meters Centerline goodness [0,1] 0.7450481185396405 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.03, Z:-0.51 [[ 0.99924082 -0.02836816 -0.02670255 2.45311661] [ 0.02849318 0.99958468 0.00431304 -0.02510523] [ 0.02656911 -0.0050706 0.99963412 -0.51074057] [ 0. 0. 0. 1. ]] SLAMing on 114.031346184 meters Centerline goodness [0,1] 0.7434177215189873 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99142642e-01 -3.13623345e-02 -2.70256249e-02 2.45548642e+00] [ 3.14055993e-02 9.99506029e-01 1.17781098e-03 -2.82825593e-02] [ 2.69753361e-02 -2.02555712e-03 9.99634047e-01 -5.11843481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.061346184 meters Centerline goodness [0,1] 0.7378731343283582 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99152617e-01 -3.11348864e-02 -2.69196266e-02 2.45576424e+00] [ 3.11943137e-02 9.99511736e-01 1.79035913e-03 -3.13289045e-02] [ 2.68507401e-02 -2.62858129e-03 9.99635998e-01 -5.12523575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09134618399999 meters Centerline goodness [0,1] 0.7510631337912986 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99156305e-01 -3.10623657e-02 -2.68664869e-02 2.45582236e+00] [ 3.11288675e-02 9.99513256e-01 2.06048391e-03 -3.26158013e-02] [ 2.67894063e-02 -2.89506880e-03 9.99636907e-01 -5.12685617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12134618399999 meters Centerline goodness [0,1] 0.7510652782330249 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99146540e-01 -3.12160684e-02 -2.70508403e-02 2.45577654e+00] [ 3.12708501e-02 9.99509660e-01 1.60437636e-03 -3.13987486e-02] [ 2.69874939e-02 -2.44890986e-03 9.99632772e-01 -5.11691770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15134618399999 meters Centerline goodness [0,1] 0.7583823195499155 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99140439e-01 -3.07088057e-02 -2.78451682e-02 2.45725141e+00] [ 3.07525512e-02 9.99526374e-01 1.14405083e-03 -2.93265066e-02] [ 2.77968475e-02 -1.99937741e-03 9.99611593e-01 -5.10019383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18134618399999 meters Centerline goodness [0,1] 0.7345730339909794 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99150413e-01 -3.01283600e-02 -2.81200030e-02 2.45840438e+00] [ 3.01843913e-02 9.99543114e-01 1.57013834e-03 -3.03361414e-02] [ 2.80598497e-02 -2.41758955e-03 9.99603321e-01 -5.10301503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21134618399999 meters Centerline goodness [0,1] 0.746254775789262 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 9.99161079e-01 -2.95290912e-02 -2.83755182e-02 2.45973576e+00] [ 2.95997092e-02 9.99559686e-01 2.07179437e-03 -3.18198334e-02] [ 2.83018458e-02 -2.90996339e-03 9.99595187e-01 -5.10886887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.241346184 meters Centerline goodness [0,1] 0.759582056563018 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 0.99917126 -0.02891554 -0.02864766 2.46109729] [ 0.02900256 0.99957589 0.0026269 -0.03326954] [ 0.02855956 -0.00345558 0.99958612 -0.51159001] [ 0. 0. 0. 1. ]] SLAMing on 114.271346184 meters Centerline goodness [0,1] 0.7851716270090013 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 0.99918161 -0.02850287 -0.02870011 2.46181073] [ 0.02859901 0.99958663 0.00294488 -0.03441946] [ 0.02860431 -0.00376326 0.99958373 -0.51197423] [ 0. 0. 0. 1. ]] SLAMing on 114.301346184 meters Centerline goodness [0,1] 0.7795721844672368 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 0.99917971 -0.02855842 -0.02871106 2.46185363] [ 0.02865075 0.99958553 0.00280945 -0.03424394] [ 0.02861893 -0.00362974 0.9995838 -0.51175998] [ 0. 0. 0. 1. ]] SLAMing on 114.331346184 meters Centerline goodness [0,1] 0.7803286915067118 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.51 [[ 0.99917949 -0.02871053 -0.02856665 2.46161397] [ 0.02879614 0.99958195 0.00259 -0.03378332] [ 0.02848035 -0.00341048 0.99958853 -0.51160921] [ 0. 0. 0. 1. ]] SLAMing on 114.361346184 meters Centerline goodness [0,1] 0.7771680573304267 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.51 [[ 0.99917992 -0.02872436 -0.02853771 2.46188902] [ 0.02881357 0.9995811 0.00271988 -0.03524593] [ 0.02844763 -0.00353993 0.99958902 -0.51182618] [ 0. 0. 0. 1. ]] SLAMing on 114.391346184 meters Centerline goodness [0,1] 0.7596920538905692 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.51 [[ 0.99918504 -0.02856881 -0.0285144 2.46240282] [ 0.02867328 0.99958352 0.00326167 -0.0377959 ] [ 0.02840934 -0.00407662 0.99958806 -0.51261856] [ 0. 0. 0. 1. ]] SLAMing on 114.421346184 meters Centerline goodness [0,1] 0.7744787114496192 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.51 [[ 0.99918783 -0.02853266 -0.02845284 2.4627863 ] [ 0.02864877 0.99958276 0.00368134 -0.03984972] [ 0.02833593 -0.00449349 0.99958836 -0.51335041] [ 0. 0. 0. 1. ]] SLAMing on 114.451346184 meters Centerline goodness [0,1] 0.752752327932696 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.51 [[ 9.99062526e-01 -3.20566265e-02 -2.90936583e-02 2.46454563e+00] [ 3.20492726e-02 9.99486031e-01 -7.19166673e-04 -3.59559069e-02] [ 2.91017591e-02 -2.13938113e-04 9.99576431e-01 -5.12190825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48134618399999 meters Centerline goodness [0,1] 0.7476999027601167 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.51 [[ 9.99058643e-01 -3.18802602e-02 -2.94189751e-02 2.46566826e+00] [ 3.18778072e-02 9.99491621e-01 -5.52507330e-04 -3.51424530e-02] [ 2.94216332e-02 -3.85825191e-04 9.99567016e-01 -5.12588161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51134618399999 meters Centerline goodness [0,1] 0.7390891366295056 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.51 [[ 9.99060249e-01 -3.17901037e-02 -2.94619769e-02 2.46627091e+00] [ 3.17982463e-02 9.99494289e-01 -1.92222214e-04 -3.57595972e-02] [ 2.94531884e-02 -7.44797625e-04 9.99565883e-01 -5.13340060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54134618399999 meters Centerline goodness [0,1] 0.7460840890354493 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.51 [[ 9.99066992e-01 -3.16704290e-02 -2.93620260e-02 2.46666289e+00] [ 3.16929662e-02 9.99497606e-01 3.02378357e-04 -3.77882857e-02] [ 2.93376983e-02 -1.23266593e-03 9.99568797e-01 -5.14224394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57134618399999 meters Centerline goodness [0,1] 0.7330845771144279 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.52 [[ 9.99077569e-01 -3.12999333e-02 -2.93994221e-02 2.46774377e+00] [ 3.13423249e-02 9.99508226e-01 9.82094989e-04 -3.98472069e-02] [ 2.93542247e-02 -1.90263531e-03 9.99567261e-01 -5.15558333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.601346184 meters Centerline goodness [0,1] 0.7348382580870956 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.51 [[ 9.99068122e-01 -3.15139061e-02 -2.94917159e-02 2.46779534e+00] [ 3.15278448e-02 9.99502874e-01 7.63101157e-06 -3.67078006e-02] [ 2.94768143e-02 -9.37434143e-04 9.99565025e-01 -5.14614207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.631346184 meters Centerline goodness [0,1] 0.7348429876141624 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.04, Z:-0.52 [[ 9.99069407e-01 -3.10296275e-02 -2.99580068e-02 2.46968670e+00] [ 3.10434854e-02 9.99518035e-01 -2.52846620e-06 -3.52311716e-02] [ 2.99436466e-02 -9.27474836e-04 9.99551158e-01 -5.15169278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.661346184 meters Centerline goodness [0,1] 0.7529550530780235 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.03, Z:-0.52 [[ 9.99082337e-01 -3.00069851e-02 -3.05624878e-02 2.47292801e+00] [ 3.00334745e-02 9.99548810e-01 4.07937039e-04 -3.42977848e-02] [ 3.05364574e-02 -1.32546039e-03 9.99532775e-01 -5.16993531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.691346184 meters Centerline goodness [0,1] 0.759282520223082 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.03, Z:-0.52 [[ 9.99086140e-01 -2.95955399e-02 -3.08381131e-02 2.47432038e+00] [ 2.96169773e-02 9.99561293e-01 2.38513865e-04 -3.29943678e-02] [ 3.08175252e-02 -1.15162759e-03 9.99524364e-01 -5.17385574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.721346184 meters Centerline goodness [0,1] 0.7805080901255104 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:-0.52 [[ 9.99086965e-01 -2.88818097e-02 -3.14813691e-02 2.47688102e+00] [ 2.89066766e-02 9.99582059e-01 3.34958929e-04 -3.11532483e-02] [ 3.14585375e-02 -1.24467485e-03 9.99504283e-01 -5.18299647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.751346184 meters Centerline goodness [0,1] 0.7496403603967392 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:-0.52 [[ 9.99085295e-01 -2.79770251e-02 -3.23397588e-02 2.48012742e+00] [ 2.80100051e-02 9.99607482e-01 5.67122238e-04 -2.94422602e-02] [ 3.23111985e-02 -1.47244030e-03 9.99476772e-01 -5.19415899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.781346184 meters Centerline goodness [0,1] 0.7856925495765076 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.03, Z:-0.52 [[ 9.99101684e-01 -2.69112203e-02 -3.27354680e-02 2.48238984e+00] [ 2.69356675e-02 9.99637122e-01 3.05964683e-04 -2.55782668e-02] [ 3.27153551e-02 -1.18744151e-03 9.99464004e-01 -5.19794909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.811346184 meters Centerline goodness [0,1] 0.7815596725549332 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.02, Z:-0.52 [[ 9.99091807e-01 -2.65776737e-02 -3.33044906e-02 2.48394307e+00] [ 2.65784585e-02 9.99646642e-01 -4.19225294e-04 -2.28514605e-02] [ 3.33038643e-02 -4.66337467e-04 9.99445164e-01 -5.19009592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84134618399999 meters Centerline goodness [0,1] 0.779793206818586 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.02, Z:-0.52 [[ 9.99087576e-01 -2.61323288e-02 -3.37804319e-02 2.48569662e+00] [ 2.61290892e-02 9.99658433e-01 -5.37423569e-04 -2.09906248e-02] [ 3.37829377e-02 -3.45718708e-04 9.99429134e-01 -5.19343598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87134618399999 meters Centerline goodness [0,1] 0.7799210090457382 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.02, Z:-0.52 [[ 9.99088925e-01 -2.57141412e-02 -3.40602972e-02 2.48716260e+00] [ 2.57109425e-02 9.99669278e-01 -5.31970485e-04 -2.02470832e-02] [ 3.40627119e-02 -3.44236524e-04 9.99419638e-01 -5.19899266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90134618399999 meters Centerline goodness [0,1] 0.800061315211282 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.02, Z:-0.52 [[ 9.99083897e-01 -2.49348549e-02 -3.47795773e-02 2.48956824e+00] [ 2.49040084e-02 9.99688976e-01 -1.31990574e-03 -1.73677935e-02] [ 3.48016717e-02 4.52545688e-04 9.99394136e-01 -5.19215095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93134618399999 meters Centerline goodness [0,1] 0.8081004372395101 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.52 [[ 9.99075437e-01 -2.43343463e-02 -3.54416618e-02 2.49157245e+00] [ 2.42809123e-02 9.99703298e-01 -1.93735799e-03 -1.48310753e-02] [ 3.54782905e-02 1.07501090e-03 9.99369869e-01 -5.18580928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96134618399999 meters Centerline goodness [0,1] 0.8179887410440123 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.01, Z:-0.52 [[ 9.99071345e-01 -2.35437599e-02 -3.60851616e-02 2.49400205e+00] [ 2.34757911e-02 9.99721746e-01 -2.30617114e-03 -1.23213814e-02] [ 3.61294167e-02 1.45690178e-03 9.99346058e-01 -5.18536112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.991346184 meters Centerline goodness [0,1] 0.8393343963787872 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 9.99165176e-01 -1.87597693e-02 -3.62908029e-02 2.49604271e+00] [ 1.88499065e-02 9.99820028e-01 2.14316093e-03 -1.13328030e-02] [ 3.62440664e-02 -2.82545001e-03 9.99338974e-01 -5.20761073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.021346184 meters Centerline goodness [0,1] 0.8406906326504316 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 0.99916146 -0.01773663 -0.03690246 2.4992171 ] [ 0.01784321 0.99983752 0.00256075 -0.00989415] [ 0.03685105 -0.00321706 0.99931559 -0.52247384] [ 0. 0. 0. 1. ]] SLAMing on 115.051346184 meters Centerline goodness [0,1] 0.8406906326504316 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 0.99916146 -0.01773663 -0.03690246 2.4992171 ] [ 0.01784321 0.99983752 0.00256075 -0.00989415] [ 0.03685105 -0.00321706 0.99931559 -0.52247384] [ 0. 0. 0. 1. ]] SLAMing on 115.081346184 meters Centerline goodness [0,1] 0.8416821273964131 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 0.99915152 -0.01694119 -0.03753974 2.50210172] [ 0.01705916 0.99985049 0.00282445 -0.00883594] [ 0.03748628 -0.00346245 0.99929114 -0.52373378] [ 0. 0. 0. 1. ]] SLAMing on 115.111346184 meters Centerline goodness [0,1] 0.8426432627774909 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 0.99914587 -0.01648561 -0.03789141 2.50391428] [ 0.01661371 0.99985727 0.00306831 -0.00813951] [ 0.03783542 -0.00369521 0.99927715 -0.52474632] [ 0. 0. 0. 1. ]] SLAMing on 115.141346184 meters Centerline goodness [0,1] 0.8389021479713604 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.01, Z:-0.52 [[ 0.99914147 -0.01671855 -0.03790538 2.50386714] [ 0.01683329 0.99985464 0.00270977 -0.00674919] [ 0.03785457 -0.00334551 0.99927766 -0.52443428] [ 0. 0. 0. 1. ]] SLAMing on 115.171346184 meters Centerline goodness [0,1] 0.8393625291526302 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.00, Z:-0.52 [[ 9.99059480e-01 -1.97681085e-02 -3.85924467e-02 2.50640342e+00] [ 1.97119739e-02 9.99804017e-01 -1.83455175e-03 -3.66618807e-03] [ 3.86211488e-02 1.07209302e-03 9.99253350e-01 -5.23317030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20134618399999 meters Centerline goodness [0,1] 0.8347135328781703 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99921633 -0.0220797 -0.03285142 2.52155963] [ 0.02226486 0.99973816 0.00528116 -0.00538904] [ 0.03272622 -0.00600846 0.99944629 -0.5274941 ] [ 0. 0. 0. 1. ]] SLAMing on 115.23134618399999 meters Centerline goodness [0,1] 0.8348180661247175 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99921015 -0.02200957 -0.03308562 2.52253739] [ 0.02219529 0.99973984 0.00525652 -0.00518424] [ 0.03296131 -0.00598671 0.9994387 -0.527894 ] [ 0. 0. 0. 1. ]] SLAMing on 115.26134618399999 meters Centerline goodness [0,1] 0.8322788092521523 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.01, Z:-0.53 [[ 0.99920574 -0.02180534 -0.03335295 2.52379303] [ 0.0219962 0.99974365 0.0053662 -0.00521435] [ 0.03322739 -0.00609557 0.99942923 -0.5284499 ] [ 0. 0. 0. 1. ]] SLAMing on 115.29134618399999 meters Centerline goodness [0,1] 0.8239582792797467 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.01, Z:-0.53 [[ 0.99920449 -0.021541 -0.03356158 2.52571345] [ 0.02175018 0.99974614 0.00588012 -0.00655655] [ 0.0334264 -0.00660541 0.99941935 -0.53055041] [ 0. 0. 0. 1. ]] SLAMing on 115.32134618399999 meters Centerline goodness [0,1] 0.8242671305792849 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.01, Z:-0.53 [[ 0.99920877 -0.02092764 -0.03382113 2.52800553] [ 0.02116436 0.99975385 0.00665612 -0.00788945] [ 0.03367351 -0.00736666 0.99940574 -0.53279427] [ 0. 0. 0. 1. ]] SLAMing on 115.351346184 meters Centerline goodness [0,1] 0.825409581086686 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.01, Z:-0.53 [[ 0.99920557 -0.02041805 -0.0342248 2.53014404] [ 0.02067011 0.99976165 0.00702733 -0.00824395] [ 0.03407316 -0.00772918 0.99938945 -0.53413731] [ 0. 0. 0. 1. ]] SLAMing on 115.381346184 meters Centerline goodness [0,1] 0.8269165778459459 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.00, Z:-0.53 [[ 0.99918607 -0.02079662 -0.03456427 2.52995006] [ 0.02099409 0.99976523 0.00535997 -0.00411659] [ 0.03444469 -0.00608125 0.9993881 -0.53141349] [ 0. 0. 0. 1. ]] SLAMing on 115.411346184 meters Centerline goodness [0,1] 0.8371243739565943 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.00, Z:-0.53 [[ 0.99917986 -0.02084679 -0.03471345 2.53027195] [ 0.02102557 0.99976745 0.00479287 -0.0029747 ] [ 0.03460546 -0.00551881 0.99938581 -0.53065086] [ 0. 0. 0. 1. ]] SLAMing on 115.441346184 meters Centerline goodness [0,1] 0.8313425456059541 Centerline is valid? [False, False] Translation: X:2.53, Y:0.00, Z:-0.53 [[ 9.99093563e-01 -2.38195442e-02 -3.52800370e-02 2.53287681e+00] [ 2.38403766e-02 9.99715763e-01 1.69870651e-04 5.59202595e-04] [ 3.52659629e-02 -1.01080604e-03 9.99377451e-01 -5.29791941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.471346184 meters Centerline goodness [0,1] 0.8310759675356872 Centerline is valid? [False, False] Translation: X:2.53, Y:0.00, Z:-0.53 [[ 9.99092651e-01 -2.35792785e-02 -3.54667897e-02 2.53366999e+00] [ 2.36013244e-02 9.99721429e-01 2.02999851e-04 3.91446688e-04] [ 3.54521231e-02 -1.03987887e-03 9.99370835e-01 -5.29785209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.501346184 meters Centerline goodness [0,1] 0.8307568186550073 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99504206e-01 -2.25482061e-02 -2.19754540e-02 2.53912479e+00] [ 2.25938772e-02 9.99743047e-01 1.83218029e-03 -1.84449727e-03] [ 2.19284950e-02 -2.32778261e-03 9.99756832e-01 -5.36643683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.531346184 meters Centerline goodness [0,1] 0.832442439571328 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99503462e-01 -2.26071455e-02 -2.19487143e-02 2.53930737e+00] [ 2.26480447e-02 9.99742193e-01 1.61657959e-03 -1.41660559e-03] [ 2.19065095e-02 -2.11287236e-03 9.99757791e-01 -5.36657118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.561346184 meters Centerline goodness [0,1] 0.8240815581571194 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99502908e-01 -2.22186097e-02 -2.23667382e-02 2.54078106e+00] [ 2.22591637e-02 9.99751008e-01 1.56577971e-03 -7.58883047e-04] [ 2.23263796e-02 -2.06286626e-03 9.99748607e-01 -5.36722095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59134618399999 meters Centerline goodness [0,1] 0.8325016329196604 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99508775e-01 -2.15012625e-02 -2.28013983e-02 2.54290667e+00] [ 2.15507493e-02 9.99765899e-01 1.92681421e-03 -7.26054518e-04] [ 2.27546315e-02 -2.41725493e-03 9.99738158e-01 -5.37665303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62134618399999 meters Centerline goodness [0,1] 0.8340650151562663 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99513424e-01 -2.10999023e-02 -2.29719177e-02 2.54419791e+00] [ 2.11592006e-02 9.99773378e-01 2.34131568e-03 -1.78984489e-03] [ 2.29173102e-02 -2.82624386e-03 9.99733369e-01 -5.38668906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65134618399999 meters Centerline goodness [0,1] 0.8344128708733807 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99515176e-01 -2.10230238e-02 -2.29661587e-02 2.54453641e+00] [ 2.10827590e-02 9.99774944e-01 2.36195803e-03 -2.09554905e-03] [ 2.29113345e-02 -2.84500289e-03 9.99733453e-01 -5.38840580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68134618399999 meters Centerline goodness [0,1] 0.8276339507301653 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99505636e-01 -2.12665138e-02 -2.31563900e-02 2.54428140e+00] [ 2.13062894e-02 9.99771911e-01 1.47229971e-03 -5.19119299e-04] [ 2.31197976e-02 -1.96494860e-03 9.99730771e-01 -5.36802059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71134618399999 meters Centerline goodness [0,1] 0.8254196141898771 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99505979e-01 -2.12324498e-02 -2.31728716e-02 2.54448073e+00] [ 2.12705553e-02 9.99772777e-01 1.39912789e-03 -8.00445659e-04] [ 2.31378993e-02 -1.89133653e-03 9.99730494e-01 -5.36555301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.741346184 meters Centerline goodness [0,1] 0.837604609328154 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.00, Z:-0.54 [[ 9.99510268e-01 -2.10548342e-02 -2.31499081e-02 2.54494591e+00] [ 2.10993692e-02 9.99775970e-01 1.68116650e-03 -2.01355400e-03] [ 2.31093251e-02 -2.16879164e-03 9.99730591e-01 -5.36973718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.771346184 meters Centerline goodness [0,1] 0.8409344871495024 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.00, Z:-0.54 [[ 9.99515229e-01 -2.06837422e-02 -2.32699171e-02 2.54592854e+00] [ 2.07399825e-02 9.99782531e-01 2.17810184e-03 -3.87678937e-03] [ 2.32198053e-02 -2.65966364e-03 9.99726846e-01 -5.37670938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.801346184 meters Centerline goodness [0,1] 0.8402154398563735 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99952096 -0.02037548 -0.02329571 2.54656872] [ 0.02044196 0.99978761 0.00261907 -0.00566323] [ 0.0232374 -0.00309403 0.99972519 -0.53822708] [ 0. 0. 0. 1. ]] SLAMing on 115.831346184 meters Centerline goodness [0,1] 0.8432541740122368 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99952836 -0.01974238 -0.02352212 2.54823693] [ 0.01982552 0.99979799 0.00330674 -0.00832029] [ 0.02345208 -0.00377152 0.99971785 -0.53931087] [ 0. 0. 0. 1. ]] SLAMing on 115.861346184 meters Centerline goodness [0,1] 0.844809253352006 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99953134 -0.01913152 -0.02389742 2.55016296] [ 0.01922708 0.99980801 0.00377545 -0.00924177] [ 0.0238206 -0.00423316 0.99970729 -0.54025771] [ 0. 0. 0. 1. ]] SLAMing on 115.891346184 meters Centerline goodness [0,1] 0.8476259815903063 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99953412 -0.0187812 -0.02405845 2.55123465] [ 0.01888313 0.99981363 0.00401659 -0.00947788] [ 0.02397853 -0.00446901 0.99970248 -0.54092861] [ 0. 0. 0. 1. ]] SLAMing on 115.921346184 meters Centerline goodness [0,1] 0.8479006443566826 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99953876 -0.01811051 -0.02437762 2.55307965] [ 0.01823104 0.99982261 0.00473117 -0.01186847] [ 0.02428761 -0.00517341 0.99969163 -0.54192484] [ 0. 0. 0. 1. ]] SLAMing on 115.95134618399999 meters Centerline goodness [0,1] 0.8486951118475559 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.01, Z:-0.54 [[ 0.99954206 -0.01753873 -0.02465913 2.55441013] [ 0.01767606 0.99982939 0.00536212 -0.01410785] [ 0.02456088 -0.00579554 0.99968154 -0.54251655] [ 0. 0. 0. 1. ]] SLAMing on 115.98134618399999 meters Centerline goodness [0,1] 0.8486391480782651 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.54 [[ 0.99954166 -0.01709251 -0.0249863 2.55563169] [ 0.01723699 0.99983587 0.00557842 -0.01541844] [ 0.02488685 -0.00600655 0.99967223 -0.5425413 ] [ 0. 0. 0. 1. ]] SLAMing on 116.01134618399999 meters Centerline goodness [0,1] 0.8552253116011506 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.54 [[ 0.99953678 -0.01697472 -0.02526017 2.55578318] [ 0.01710145 0.99984219 0.00480943 -0.01386952] [ 0.02517455 -0.00523919 0.99966934 -0.54060301] [ 0. 0. 0. 1. ]] SLAMing on 116.04134618399999 meters Centerline goodness [0,1] 0.8570688762299327 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.54 [[ 0.99953131 -0.01644327 -0.025822 2.55753053] [ 0.01656375 0.99985287 0.00445854 -0.01218787] [ 0.02574489 -0.00488416 0.99965661 -0.540126 ] [ 0. 0. 0. 1. ]] SLAMing on 116.07134618399999 meters Centerline goodness [0,1] 0.8560085113008278 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.54 [[ 0.99952694 -0.01602597 -0.02624992 2.55887619] [ 0.01614065 0.99986107 0.00416281 -0.01139191] [ 0.02617956 -0.00458453 0.99964674 -0.53974482] [ 0. 0. 0. 1. ]] SLAMing on 116.101346184 meters Centerline goodness [0,1] 0.8525541394674128 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.01, Z:-0.54 [[ 0.99953607 -0.01493261 -0.02654538 2.5613083 ] [ 0.01507433 0.99987313 0.00514684 -0.01453894] [ 0.02646516 -0.00554461 0.99963436 -0.54152654] [ 0. 0. 0. 1. ]] SLAMing on 116.131346184 meters Centerline goodness [0,1] 0.8570211887371926 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.02, Z:-0.54 [[ 0.99953853 -0.01414418 -0.02688232 2.56363794] [ 0.01430768 0.99988024 0.00589943 -0.0166853 ] [ 0.02679566 -0.00628133 0.9996212 -0.54326262] [ 0. 0. 0. 1. ]] SLAMing on 116.161346184 meters Centerline goodness [0,1] 0.8628417981357639 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:-0.54 [[ 0.99953883 -0.013703 -0.02709908 2.56523487] [ 0.01388092 0.99988325 0.00638855 -0.01787724] [ 0.02700837 -0.00676176 0.99961234 -0.54457011] [ 0. 0. 0. 1. ]] SLAMing on 116.191346184 meters Centerline goodness [0,1] 0.8654054332697562 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.54 [[ 9.99466629e-01 -1.68607373e-02 -2.79673572e-02 2.56816317e+00] [ 1.69191088e-02 9.99855147e-01 1.85179253e-03 -1.44361703e-02] [ 2.79320835e-02 -2.32398760e-03 9.99607122e-01 -5.43513793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.221346184 meters Centerline goodness [0,1] 0.8628250103177879 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.54 [[ 9.99459319e-01 -1.67520693e-02 -2.82920057e-02 2.56894231e+00] [ 1.68071316e-02 9.99857289e-01 1.70951773e-03 -1.40982330e-02] [ 2.82593302e-02 -2.18410089e-03 9.99598239e-01 -5.43019132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.251346184 meters Centerline goodness [0,1] 0.866054620006705 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.01, Z:-0.54 [[ 9.99453172e-01 -1.66940621e-02 -2.85423577e-02 2.56957620e+00] [ 1.67480853e-02 9.99858372e-01 1.65470640e-03 -1.42475647e-02] [ 2.85106916e-02 -2.13183140e-03 9.99591214e-01 -5.42720474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.281346184 meters Centerline goodness [0,1] 0.8601864181091877 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.02, Z:-0.54 [[ 9.99378059e-01 -1.90284752e-02 -2.96886021e-02 2.57410878e+00] [ 1.89871015e-02 9.99818326e-01 -1.67490687e-03 -1.54190831e-02] [ 2.97150794e-02 1.11016468e-03 9.99557793e-01 -5.43254101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.311346184 meters Centerline goodness [0,1] 0.8609217204080586 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99390596e-01 -1.85217895e-02 -2.95868060e-02 2.57537260e+00] [ 1.85115877e-02 9.99828454e-01 -6.18703992e-04 -1.89685604e-02] [ 2.95931900e-02 7.06281993e-05 9.99562023e-01 -5.45283067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34134618399999 meters Centerline goodness [0,1] 0.8628906748309734 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99397388e-01 -1.80889284e-02 -2.96251813e-02 2.57673741e+00] [ 1.81042677e-02 9.99836073e-01 2.49609151e-04 -2.15339951e-02] [ 2.96158098e-02 -7.85800947e-04 9.99561047e-01 -5.47031729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37134618399999 meters Centerline goodness [0,1] 0.8595893917673562 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99398283e-01 -1.83263188e-02 -2.94485722e-02 2.57628724e+00] [ 1.83396366e-02 9.99831798e-01 1.82184393e-04 -2.17566907e-02] [ 2.94402801e-02 -7.22150881e-04 9.99566280e-01 -5.46782387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40134618399999 meters Centerline goodness [0,1] 0.860307817963705 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99393289e-01 -1.77938631e-02 -2.99404878e-02 2.57826609e+00] [ 1.78183531e-02 9.99841089e-01 5.51330340e-04 -2.17100928e-02] [ 2.99259196e-02 -1.08448603e-03 9.99551531e-01 -5.47590697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43134618399999 meters Centerline goodness [0,1] 0.8629660865342841 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99389971e-01 -1.72405426e-02 -3.03718526e-02 2.58031336e+00] [ 1.72762020e-02 9.99850339e-01 9.12047310e-04 -2.14307569e-02] [ 3.03515829e-02 -1.43620119e-03 9.99538253e-01 -5.48640906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46134618399999 meters Centerline goodness [0,1] 0.8626714690780903 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.02, Z:-0.55 [[ 9.99387915e-01 -1.65880334e-02 -3.07998634e-02 2.58232665e+00] [ 1.66349414e-02 9.99860827e-01 1.26736431e-03 -2.13543203e-02] [ 3.07745538e-02 -1.77894250e-03 9.99524768e-01 -5.49459550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.491346184 meters Centerline goodness [0,1] 0.8638031183124427 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.55 [[ 9.99335182e-01 -1.85260516e-02 -3.14003202e-02 2.58619266e+00] [ 1.84576179e-02 9.99826598e-01 -2.46787945e-03 -1.93934431e-02] [ 3.14405954e-02 1.88666365e-03 9.99503842e-01 -5.49622142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.521346184 meters Centerline goodness [0,1] 0.8642977485066625 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.55 [[ 9.99339820e-01 -1.80599053e-02 -3.15240220e-02 2.58741286e+00] [ 1.80074807e-02 9.99835958e-01 -1.94614298e-03 -2.05145293e-02] [ 3.15539979e-02 1.37718995e-03 9.99501100e-01 -5.50597415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.551346184 meters Centerline goodness [0,1] 0.8688846398980242 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.55 [[ 9.99340471e-01 -1.75728235e-02 -3.17776331e-02 2.58905338e+00] [ 1.75394993e-02 9.99845290e-01 -1.32713892e-03 -2.15007800e-02] [ 3.17960383e-02 7.68899859e-04 9.99494082e-01 -5.51898019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.581346184 meters Centerline goodness [0,1] 0.8672661319164154 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.02, Z:-0.55 [[ 9.99338326e-01 -1.71235399e-02 -3.20888488e-02 2.59067013e+00] [ 1.71031914e-02 9.99853317e-01 -9.08526615e-04 -2.16607005e-02] [ 3.20996991e-02 3.59103745e-04 9.99484607e-01 -5.52880278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.611346184 meters Centerline goodness [0,1] 0.8700880065493246 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 0.99946875 -0.0184044 -0.02689778 2.60733062] [ 0.01858706 0.99980575 0.00655644 -0.0217033 ] [ 0.02677189 -0.00705291 0.99961669 -0.55704588] [ 0. 0. 0. 1. ]] SLAMing on 116.641346184 meters Centerline goodness [0,1] 0.8643619751565548 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 0.99946653 -0.01840859 -0.02697752 2.60779475] [ 0.01858302 0.99980791 0.0062295 -0.02105234] [ 0.02685766 -0.0067275 0.99961663 -0.55695318] [ 0. 0. 0. 1. ]] SLAMing on 116.671346184 meters Centerline goodness [0,1] 0.8676827864869703 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 9.99385444e-01 -2.14362092e-02 -2.77348709e-02 2.61085947e+00] [ 2.14977430e-02 9.99767049e-01 1.92234151e-03 -1.91689301e-02] [ 2.76872023e-02 -2.51739726e-03 9.99613466e-01 -5.56852719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70134618399999 meters Centerline goodness [0,1] 0.8676066374834572 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 9.99310235e-01 -2.45565334e-02 -2.78573264e-02 2.61304717e+00] [ 2.45177555e-02 9.99697893e-01 -1.73278269e-03 -1.96563593e-02] [ 2.78914617e-02 1.04858836e-03 9.99610408e-01 -5.57870798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73134618399999 meters Centerline goodness [0,1] 0.8668094436795676 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 9.99315678e-01 -2.44711083e-02 -2.77369711e-02 2.61338065e+00] [ 2.44450068e-02 9.99700357e-01 -1.27977488e-03 -2.08123388e-02] [ 2.77599774e-02 6.00868651e-04 9.99614437e-01 -5.58803198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76134618399999 meters Centerline goodness [0,1] 0.8658900303347014 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.02, Z:-0.56 [[ 9.99311146e-01 -2.43218771e-02 -2.80299842e-02 2.61445245e+00] [ 2.43025588e-02 9.99704119e-01 -1.02971232e-03 -2.08373326e-02] [ 2.80467352e-02 3.47802658e-04 9.99606552e-01 -5.59278454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79134618399999 meters Centerline goodness [0,1] 0.8652397129064392 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99306471e-01 -2.40443019e-02 -2.84332238e-02 2.61588553e+00] [ 2.40298303e-02 9.99710880e-01 -8.50597819e-04 -2.02494579e-02] [ 2.84454553e-02 1.66762360e-04 9.99595332e-01 -5.59763935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82134618399999 meters Centerline goodness [0,1] 0.8683517101998004 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99306987e-01 -2.35615456e-02 -2.88166651e-02 2.61766525e+00] [ 2.35591760e-02 9.99722355e-01 -4.21795644e-04 -1.95354319e-02] [ 2.88186025e-02 -2.57393549e-04 9.99584625e-01 -5.60665768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.851346184 meters Centerline goodness [0,1] 0.8666274068004916 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99310148e-01 -2.32910353e-02 -2.89267446e-02 2.61861365e+00] [ 2.32983256e-02 9.99728554e-01 -8.50344922e-05 -2.01774048e-02] [ 2.89208731e-02 -5.88968884e-04 9.99581531e-01 -5.61415432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.881346184 meters Centerline goodness [0,1] 0.8674336147743795 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99311205e-01 -2.30172380e-02 -2.91088120e-02 2.61958385e+00] [ 2.30386584e-02 9.99734495e-01 4.00656271e-04 -2.21848029e-02] [ 2.90918615e-02 -1.07100828e-03 9.99576168e-01 -5.62057425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.911346184 meters Centerline goodness [0,1] 0.8666428862617204 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99316880e-01 -2.28143578e-02 -2.90736855e-02 2.62035349e+00] [ 2.28452235e-02 9.99738747e-01 7.29869564e-04 -2.32202085e-02] [ 2.90494384e-02 -1.39356582e-03 9.99577005e-01 -5.63022175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.941346184 meters Centerline goodness [0,1] 0.8666259262088458 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99319640e-01 -2.23987034e-02 -2.93011059e-02 2.62174795e+00] [ 2.24451021e-02 9.99747289e-01 1.25552755e-03 -2.41858748e-02] [ 2.92655790e-02 -1.91233965e-03 9.99569842e-01 -5.64131796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.971346184 meters Centerline goodness [0,1] 0.8666259262088458 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99319640e-01 -2.23987034e-02 -2.93011059e-02 2.62174795e+00] [ 2.24451021e-02 9.99747289e-01 1.25552755e-03 -2.41858748e-02] [ 2.92655790e-02 -1.91233965e-03 9.99569842e-01 -5.64131796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.001346184 meters Centerline goodness [0,1] 0.864575363427697 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.56 [[ 9.99319961e-01 -2.20952998e-02 -2.95197027e-02 2.62301627e+00] [ 2.21483325e-02 9.99753614e-01 1.47071214e-03 -2.36413721e-02] [ 2.94799336e-02 -2.12352418e-03 9.99563117e-01 -5.64969546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.031346184 meters Centerline goodness [0,1] 0.8680847807789425 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.02, Z:-0.57 [[ 9.99322339e-01 -2.16194402e-02 -2.97903047e-02 2.62459451e+00] [ 2.16854023e-02 9.99763052e-01 1.89288004e-03 -2.36564269e-02] [ 2.97423230e-02 -2.53761205e-03 9.99554378e-01 -5.66088103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.061346184 meters Centerline goodness [0,1] 0.8690885914595283 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.57 [[ 9.99319202e-01 -2.08448326e-02 -3.04405265e-02 2.62721847e+00] [ 2.09285717e-02 9.99778009e-01 2.43485612e-03 -2.40215586e-02] [ 3.03830148e-02 -3.07027521e-03 9.99533614e-01 -5.67264780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09134618399999 meters Centerline goodness [0,1] 0.8702301751166169 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.57 [[ 0.99932103 -0.01990997 -0.03100112 2.62992315] [ 0.02001497 0.99979493 0.00308047 -0.02482465] [ 0.03093343 -0.00369887 0.9995146 -0.56867936] [ 0. 0. 0. 1. ]] SLAMing on 117.12134618399999 meters Centerline goodness [0,1] 0.8703429621312646 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.57 [[ 0.99931808 -0.0199577 -0.03106535 2.62991621] [ 0.02005 0.99979543 0.00266227 -0.02448458] [ 0.03100586 -0.00328332 0.99951381 -0.5679604 ] [ 0. 0. 0. 1. ]] SLAMing on 117.15134618399999 meters Centerline goodness [0,1] 0.8675694285058526 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.02, Z:-0.57 [[ 9.99229610e-01 -2.30867588e-02 -3.17362183e-02 2.63211557e+00] [ 2.30196459e-02 9.99731941e-01 -2.47850519e-03 -2.07411206e-02] [ 3.17849317e-02 1.74603927e-03 9.99493206e-01 -5.65923123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18134618399999 meters Centerline goodness [0,1] 0.8680076384468491 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.02, Z:-0.57 [[ 0.99935291 -0.02504683 -0.02581519 2.64561899] [ 0.02519917 0.99966681 0.00559284 -0.02287222] [ 0.0256665 -0.00623974 0.99965109 -0.56989213] [ 0. 0. 0. 1. ]] SLAMing on 117.21134618399999 meters Centerline goodness [0,1] 0.8627031977409754 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.02, Z:-0.57 [[ 0.99932614 -0.02632383 -0.02557988 2.64368137] [ 0.02645733 0.99963796 0.00489422 -0.02392057] [ 0.02544179 -0.0055677 0.9996608 -0.56832956] [ 0. 0. 0. 1. ]] SLAMing on 117.241346184 meters Centerline goodness [0,1] 0.8581659700275257 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 0.99931658 -0.02690668 -0.02534559 2.642899 ] [ 0.02703933 0.99962233 0.00490572 -0.02538504] [ 0.02520403 -0.00558769 0.99966671 -0.5683561 ] [ 0. 0. 0. 1. ]] SLAMing on 117.271346184 meters Centerline goodness [0,1] 0.854194238012827 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 0.99930651 -0.02752129 -0.02508157 2.64203407] [ 0.02765193 0.99960572 0.00487669 -0.0271123 ] [ 0.02493747 -0.00556687 0.99967351 -0.56830298] [ 0. 0. 0. 1. ]] SLAMing on 117.301346184 meters Centerline goodness [0,1] 0.8449484849251956 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 9.99182019e-01 -3.14737579e-02 -2.53908578e-02 2.64337819e+00] [ 3.15136344e-02 9.99502635e-01 1.17179395e-03 -2.78719291e-02] [ 2.53413485e-02 -1.97099366e-03 9.99676913e-01 -5.68667756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.331346184 meters Centerline goodness [0,1] 0.837934262796994 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 9.99182941e-01 -3.16274987e-02 -2.51625182e-02 2.64347608e+00] [ 3.16814850e-02 9.99496484e-01 1.74964896e-03 -3.00675345e-02] [ 2.50945115e-02 -2.54540533e-03 9.99681843e-01 -5.69951608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.361346184 meters Centerline goodness [0,1] 0.8341727620156412 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 9.99179027e-01 -3.19524779e-02 -2.49060309e-02 2.64303074e+00] [ 3.20130948e-02 9.99485370e-01 2.03881460e-03 -3.21736564e-02] [ 2.48280683e-02 -2.83445992e-03 9.99687718e-01 -5.70463046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.391346184 meters Centerline goodness [0,1] 0.8125518802666332 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.03, Z:-0.57 [[ 9.99042311e-01 -3.60503375e-02 -2.47958295e-02 2.64303471e+00] [ 3.60175236e-02 9.99349593e-01 -1.76885055e-03 -3.37318810e-02] [ 2.48434697e-02 8.74072168e-04 9.99690971e-01 -5.70085409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.421346184 meters Centerline goodness [0,1] 0.8131666331253773 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.57 [[ 9.99038705e-01 -3.62517688e-02 -2.46470104e-02 2.64255093e+00] [ 3.62297949e-02 9.99342590e-01 -1.33765216e-03 -3.55205537e-02] [ 2.46792995e-02 4.43410149e-04 9.99695321e-01 -5.70232126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45134618399999 meters Centerline goodness [0,1] 0.7959116966710249 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.57 [[ 9.99033610e-01 -3.62869273e-02 -2.48013235e-02 2.64293708e+00] [ 3.62742071e-02 9.99341411e-01 -9.62733522e-04 -3.64391113e-02] [ 2.48199242e-02 6.21548019e-05 9.99691936e-01 -5.70411522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48134618399999 meters Centerline goodness [0,1] 0.7918557709184825 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.57 [[ 9.99025623e-01 -3.63969097e-02 -2.49613635e-02 2.64310734e+00] [ 3.63873951e-02 9.99337410e-01 -8.35427480e-04 -3.68985889e-02] [ 2.49752314e-02 -7.36655378e-05 9.99688068e-01 -5.70201467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51134618399999 meters Centerline goodness [0,1] 0.780028108216634 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.57 [[ 9.99022788e-01 -3.63690408e-02 -2.51149828e-02 2.64347133e+00] [ 3.63712722e-02 9.99338279e-01 -3.68101474e-04 -3.80295008e-02] [ 2.51117512e-02 -5.45722113e-04 9.99684501e-01 -5.70430195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54134618399999 meters Centerline goodness [0,1] 0.7597954857214116 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.04, Z:-0.57 [[ 0.99887349 -0.04000612 -0.02551995 2.64475041] [ 0.03991619 0.99919493 -0.0040236 -0.0395527 ] [ 0.02566037 0.0030004 0.99966622 -0.56987363] [ 0. 0. 0. 1. ]] SLAMing on 117.57134618399999 meters Centerline goodness [0,1] 0.7722973811592404 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.04, Z:-0.57 [[ 9.98887367e-01 -3.96626520e-02 -2.55127990e-02 2.64575610e+00] [ 3.96036351e-02 9.99211504e-01 -2.81456353e-03 -4.38235176e-02] [ 2.56043153e-02 1.80103237e-03 9.99670533e-01 -5.71687169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.601346184 meters Centerline goodness [0,1] 0.7562649680270597 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.57 [[ 9.98908599e-01 -3.91001222e-02 -2.55497758e-02 2.64756350e+00] [ 3.90752580e-02 9.99235186e-01 -1.47189726e-03 -4.79023922e-02] [ 2.55877864e-02 4.71926744e-04 9.99672468e-01 -5.74377348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.631346184 meters Centerline goodness [0,1] 0.7720644288700357 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.58 [[ 9.98927828e-01 -3.83446052e-02 -2.59400259e-02 2.65030445e+00] [ 3.83622070e-02 9.99263883e-01 1.81071525e-04 -5.07099461e-02] [ 2.59139879e-02 -1.17599403e-03 9.99663485e-01 -5.77754867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.661346184 meters Centerline goodness [0,1] 0.7721839645843581 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.58 [[ 9.98935468e-01 -3.78531513e-02 -2.63641804e-02 2.65189619e+00] [ 3.78806138e-02 9.99282125e-01 5.42829618e-04 -5.03780515e-02] [ 2.63247064e-02 -1.54094310e-03 9.99652257e-01 -5.78414782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.691346184 meters Centerline goodness [0,1] 0.7700914814086169 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.05, Z:-0.58 [[ 9.98943878e-01 -3.73213531e-02 -2.68000812e-02 2.65345787e+00] [ 3.73592631e-02 9.99301480e-01 9.15061564e-04 -5.01163200e-02] [ 2.67472095e-02 -1.91532643e-03 9.99640394e-01 -5.79037361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.721346184 meters Centerline goodness [0,1] 0.7901437472403474 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.98962312e-01 -3.61979505e-02 -2.76406763e-02 2.65567057e+00] [ 3.62367580e-02 9.99342824e-01 9.04227379e-04 -4.95950420e-02] [ 2.75897804e-02 -1.90489757e-03 9.99617515e-01 -5.78007930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.751346184 meters Centerline goodness [0,1] 0.7868820217813506 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.98974911e-01 -3.55453605e-02 -2.80295362e-02 2.65694043e+00] [ 3.55924114e-02 9.99365691e-01 1.18133306e-03 -4.98088916e-02] [ 2.79697659e-02 -2.17776087e-03 9.99606397e-01 -5.77979551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.781346184 meters Centerline goodness [0,1] 0.812743823146944 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.98981565e-01 -3.50484399e-02 -2.84154787e-02 2.65801824e+00] [ 3.51030727e-02 9.99382680e-01 1.42593985e-03 -5.06318175e-02] [ 2.83479603e-02 -2.42195824e-03 9.99595182e-01 -5.77895157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.811346184 meters Centerline goodness [0,1] 0.8107711497542006 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.98990409e-01 -3.44266160e-02 -2.88612218e-02 2.65961777e+00] [ 3.44915904e-02 9.99403445e-01 1.75631623e-03 -5.14203785e-02] [ 2.87835405e-02 -2.75001252e-03 9.99581885e-01 -5.78179432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84134618399999 meters Centerline goodness [0,1] 0.8252717125232547 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.98999161e-01 -3.35103615e-02 -2.96265526e-02 2.66201100e+00] [ 3.35765734e-02 9.99434633e-01 1.74008932e-03 -4.98720017e-02] [ 2.95514918e-02 -2.73310589e-03 9.99559523e-01 -5.78016280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87134618399999 meters Centerline goodness [0,1] 0.8294264461192131 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.05, Z:-0.58 [[ 9.99006046e-01 -3.27666803e-02 -3.02202844e-02 2.66428342e+00] [ 3.28460135e-02 9.99458149e-01 2.13235860e-03 -4.92815613e-02] [ 3.01340393e-02 -3.12285501e-03 9.99540988e-01 -5.78965536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90134618399999 meters Centerline goodness [0,1] 0.8373265460952987 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:-0.58 [[ 0.9990142 -0.03188413 -0.03088741 2.66722915] [ 0.03198455 0.99948455 0.0027627 -0.04940125] [ 0.0307834 -0.00374789 0.99951905 -0.5806334 ] [ 0. 0. 0. 1. ]] SLAMing on 117.93134618399999 meters Centerline goodness [0,1] 0.8537583300666405 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:-0.58 [[ 0.99904544 -0.03000491 -0.03174752 2.67181738] [ 0.03015215 0.99953663 0.00416901 -0.05094547] [ 0.03160772 -0.00512228 0.99948723 -0.58361196] [ 0. 0. 0. 1. ]] SLAMing on 117.96134618399999 meters Centerline goodness [0,1] 0.8593535412988033 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.05, Z:-0.59 [[ 0.99905392 -0.02923266 -0.03219815 2.6741657 ] [ 0.02939487 0.9995574 0.00457601 -0.05080901] [ 0.03205013 -0.00551814 0.99947103 -0.58507479] [ 0. 0. 0. 1. ]] SLAMing on 117.991346184 meters Centerline goodness [0,1] 0.8684488044144696 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.59 [[ 0.99905601 -0.02819107 -0.03305067 2.67742478] [ 0.02837061 0.99958509 0.0049758 -0.04996302] [ 0.03289668 -0.00590877 0.99944129 -0.58632457] [ 0. 0. 0. 1. ]] SLAMing on 118.021346184 meters Centerline goodness [0,1] 0.8762019230769231 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.05, Z:-0.59 [[ 0.99904903 -0.02756327 -0.03378315 2.67957871] [ 0.02773514 0.99960459 0.00462953 -0.04774183] [ 0.03364218 -0.00556211 0.99941846 -0.58614351] [ 0. 0. 0. 1. ]] SLAMing on 118.051346184 meters Centerline goodness [0,1] 0.8833079155802627 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.58 [[ 9.99065075e-01 -2.56987419e-02 -3.47642092e-02 2.68258859e+00] [ 2.57627207e-02 9.99667115e-01 1.39359831e-03 -4.16358067e-02] [ 3.47168230e-02 -2.28791601e-03 9.99394571e-01 -5.79618780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.081346184 meters Centerline goodness [0,1] 0.883783450487113 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.58 [[ 9.99052321e-01 -2.54384863e-02 -3.53177460e-02 2.68343158e+00] [ 2.54846093e-02 9.99674848e-01 8.56315490e-04 -4.04131776e-02] [ 3.52844790e-02 -1.75556294e-03 9.99375767e-01 -5.78155694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.111346184 meters Centerline goodness [0,1] 0.8858010217933213 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.04, Z:-0.58 [[ 9.99042353e-01 -2.51100610e-02 -3.58310225e-02 2.68452387e+00] [ 2.51535006e-02 9.99683310e-01 7.62010246e-04 -4.05812017e-02] [ 3.58005410e-02 -1.66255616e-03 9.99357572e-01 -5.77497132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.141346184 meters Centerline goodness [0,1] 0.8807637419418336 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.04, Z:-0.58 [[ 9.99038520e-01 -2.47149441e-02 -3.62105862e-02 2.68611860e+00] [ 2.47884497e-02 9.99691467e-01 1.58233710e-03 -4.37883849e-02] [ 3.61603066e-02 -2.47842001e-03 9.99342929e-01 -5.78673147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.171346184 meters Centerline goodness [0,1] 0.8833165260594732 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.58 [[ 9.99033358e-01 -2.44116172e-02 -3.65571195e-02 2.68768928e+00] [ 2.45104492e-02 9.99697024e-01 2.25771011e-03 -4.54504420e-02] [ 3.64909293e-02 -3.15155914e-03 9.99329015e-01 -5.79926442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20134618399999 meters Centerline goodness [0,1] 0.8794907783605427 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.58 [[ 0.99902686 -0.02406115 -0.03696473 2.68938331] [ 0.02418227 0.99970355 0.00283288 -0.04635252] [ 0.03688561 -0.00372401 0.99931256 -0.58102295] [ 0. 0. 0. 1. ]] SLAMing on 118.23134618399999 meters Centerline goodness [0,1] 0.8800206988319945 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.58 [[ 0.99902239 -0.023697 -0.0373192 2.69094114] [ 0.02383204 0.99971093 0.00317762 -0.04649033] [ 0.03723312 -0.0040639 0.99929834 -0.58187936] [ 0. 0. 0. 1. ]] SLAMing on 118.26134618399999 meters Centerline goodness [0,1] 0.8807506649591174 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.05, Z:-0.58 [[ 0.99902202 -0.02267524 -0.03795827 2.69433945] [ 0.02285749 0.99972916 0.00437412 -0.04897415] [ 0.0378488 -0.00523747 0.99926975 -0.58448264] [ 0. 0. 0. 1. ]] SLAMing on 118.29134618399999 meters Centerline goodness [0,1] 0.8809207940251572 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:-0.59 [[ 0.99901615 -0.02173601 -0.03865591 2.69745413] [ 0.02195994 0.99974439 0.00537772 -0.05089409] [ 0.03852914 -0.00622131 0.99923811 -0.58641778] [ 0. 0. 0. 1. ]] SLAMing on 118.32134618399999 meters Centerline goodness [0,1] 0.8861220472440945 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:-0.59 [[ 0.99901146 -0.0213978 -0.03896444 2.69869875] [ 0.02162956 0.99975073 0.00553619 -0.05105045] [ 0.03883626 -0.0063735 0.99922526 -0.58686476] [ 0. 0. 0. 1. ]] SLAMing on 118.351346184 meters Centerline goodness [0,1] 0.8863972764949675 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.05, Z:-0.59 [[ 0.99899961 -0.02131772 -0.03931077 2.69925608] [ 0.02153424 0.99975514 0.0050925 -0.04995231] [ 0.03919258 -0.00593394 0.99921406 -0.5859376 ] [ 0. 0. 0. 1. ]] SLAMing on 118.381346184 meters Centerline goodness [0,1] 0.8844285538158057 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.05, Z:-0.59 [[ 0.99918432 -0.02187536 -0.03394342 2.71398373] [ 0.02233408 0.99966349 0.01319444 -0.05153483] [ 0.03364336 -0.01394177 0.99933666 -0.58774469] [ 0. 0. 0. 1. ]] SLAMing on 118.411346184 meters Centerline goodness [0,1] 0.8852123275840798 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.59 [[ 0.99908294 -0.02540266 -0.03446701 2.71529554] [ 0.02570077 0.99963577 0.00823377 -0.04890314] [ 0.0342453 -0.00911205 0.99937192 -0.58576453] [ 0. 0. 0. 1. ]] SLAMing on 118.441346184 meters Centerline goodness [0,1] 0.8839522546419099 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.58 [[ 0.99895678 -0.02914014 -0.03515978 2.71646317] [ 0.02928124 0.99956507 0.00350489 -0.04846244] [ 0.03504236 -0.00453075 0.99937556 -0.58320929] [ 0. 0. 0. 1. ]] SLAMing on 118.471346184 meters Centerline goodness [0,1] 0.8854417030460587 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.58 [[ 0.99895152 -0.0290956 -0.03534552 2.71713538] [ 0.02925158 0.99956446 0.00390377 -0.05070831] [ 0.03521654 -0.00493359 0.99936753 -0.58351713] [ 0. 0. 0. 1. ]] SLAMing on 118.501346184 meters Centerline goodness [0,1] 0.8826583084382194 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.58 [[ 9.98822666e-01 -3.25531263e-02 -3.59663184e-02 2.71940816e+00] [ 3.25731893e-02 9.99469352e-01 -2.81469982e-05 -5.00988144e-02] [ 3.59481493e-02 -1.14342384e-03 9.99353002e-01 -5.83519924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.531346184 meters Centerline goodness [0,1] 0.8785169988276671 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.05, Z:-0.58 [[ 9.98687319e-01 -3.60569859e-02 -3.63803899e-02 2.72153080e+00] [ 3.59627405e-02 9.99347873e-01 -3.24183911e-03 -5.20058085e-02] [ 3.64735563e-02 1.92924509e-03 9.99332756e-01 -5.84419838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.561346184 meters Centerline goodness [0,1] 0.8760306386300434 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.59 [[ 9.98699207e-01 -3.54746936e-02 -3.66256724e-02 2.72336466e+00] [ 3.54261389e-02 9.99370348e-01 -1.97402694e-03 -5.50285840e-02] [ 3.66726389e-02 6.73952988e-04 9.99327105e-01 -5.86444433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59134618399999 meters Centerline goodness [0,1] 0.8780701754385964 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.06, Z:-0.59 [[ 9.98707845e-01 -3.52211456e-02 -3.66348439e-02 2.72415931e+00] [ 3.52022311e-02 9.99379535e-01 -1.16140187e-03 -5.76841584e-02] [ 3.66530192e-02 -1.29727078e-04 9.99328044e-01 -5.87662173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62134618399999 meters Centerline goodness [0,1] 0.8775708659503088 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.59 [[ 9.98718658e-01 -3.47374645e-02 -3.68015011e-02 2.72562583e+00] [ 3.47533543e-02 9.99395898e-01 -2.08040461e-04 -6.00096412e-02] [ 3.67864961e-02 -1.07120172e-03 9.99322574e-01 -5.89201328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65134618399999 meters Centerline goodness [0,1] 0.8780446426407503 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.59 [[ 9.98719083e-01 -3.41625927e-02 -3.73243934e-02 2.72755229e+00] [ 3.42134304e-02 9.99414287e-01 7.23993362e-04 -6.18447063e-02] [ 3.72777985e-02 -2.00006152e-03 9.99302940e-01 -5.90198760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68134618399999 meters Centerline goodness [0,1] 0.8785946365355706 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.59 [[ 9.98722551e-01 -3.39831613e-02 -3.73953269e-02 2.72808299e+00] [ 3.40515851e-02 9.99419363e-01 1.19417427e-03 -6.30623456e-02] [ 3.73330319e-02 -2.46601893e-03 9.99299837e-01 -5.90658224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71134618399999 meters Centerline goodness [0,1] 0.8729544850257427 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.06, Z:-0.59 [[ 9.98581390e-01 -3.73024302e-02 -3.79965240e-02 2.73057657e+00] [ 3.72569522e-02 9.99303904e-01 -1.90451689e-03 -6.47799447e-02] [ 3.80411179e-02 4.86180449e-04 9.99276056e-01 -5.91373554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.741346184 meters Centerline goodness [0,1] 0.8674527391975309 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.59 [[ 9.98583504e-01 -3.72565263e-02 -3.79859980e-02 2.73102988e+00] [ 3.72411342e-02 9.99305689e-01 -1.11294560e-03 -6.80595955e-02] [ 3.80010884e-02 -3.03272529e-04 9.99277652e-01 -5.92236278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.771346184 meters Centerline goodness [0,1] 0.8688832218640234 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.07, Z:-0.59 [[ 9.98580419e-01 -3.74052060e-02 -3.79209271e-02 2.73099162e+00] [ 3.74055821e-02 9.99299921e-01 -6.99812439e-04 -7.07193218e-02] [ 3.79205561e-02 -7.19635352e-04 9.99280498e-01 -5.92386247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.801346184 meters Centerline goodness [0,1] 0.861787835790385 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.07, Z:-0.60 [[ 0.99866725 -0.04022136 -0.03234127 2.74525648] [ 0.04045408 0.99915977 0.00657362 -0.07434884] [ 0.0320497 -0.0078732 0.99945527 -0.59635341] [ 0. 0. 0. 1. ]] SLAMing on 118.831346184 meters Centerline goodness [0,1] 0.8567070241183818 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.59 [[ 0.99863706 -0.04121262 -0.03202415 2.74305869] [ 0.04141399 0.9991261 0.00565024 -0.07475417] [ 0.0317633 -0.00696879 0.99947112 -0.59399084] [ 0. 0. 0. 1. ]] SLAMing on 118.861346184 meters Centerline goodness [0,1] 0.8567070241183818 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.07, Z:-0.59 [[ 0.99863706 -0.04121262 -0.03202415 2.74305869] [ 0.04141399 0.9991261 0.00565024 -0.07475417] [ 0.0317633 -0.00696879 0.99947112 -0.59399084] [ 0. 0. 0. 1. ]] SLAMing on 118.891346184 meters Centerline goodness [0,1] 0.8593990015360983 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.08, Z:-0.59 [[ 0.9986371 -0.0409976 -0.03229778 2.74402398] [ 0.04120661 0.99913362 0.0058325 -0.0755651 ] [ 0.03203068 -0.00715543 0.99946127 -0.59420732] [ 0. 0. 0. 1. ]] SLAMing on 118.921346184 meters Centerline goodness [0,1] 0.8489825233421116 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99864829 -0.04050106 -0.03257687 2.7456413 ] [ 0.04073137 0.9991494 0.00643703 -0.07714023] [ 0.03228845 -0.00775523 0.9994485 -0.59540057] [ 0. 0. 0. 1. ]] SLAMing on 118.95134618399999 meters Centerline goodness [0,1] 0.8646191294387171 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99866329 -0.03957612 -0.0332471 2.74842828] [ 0.0398358 0.99918041 0.00718464 -0.07844462] [ 0.03293551 -0.00849946 0.99942134 -0.59668393] [ 0. 0. 0. 1. ]] SLAMing on 118.98134618399999 meters Centerline goodness [0,1] 0.8708528540013385 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99866504 -0.03921497 -0.03362033 2.74955197] [ 0.03947594 0.99919506 0.00713358 -0.07791604] [ 0.03331353 -0.00845126 0.99940922 -0.59662907] [ 0. 0. 0. 1. ]] SLAMing on 119.01134618399999 meters Centerline goodness [0,1] 0.8765358463557199 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99866306 -0.03880232 -0.0341537 2.75094655] [ 0.03906413 0.99921196 0.0070319 -0.07748093] [ 0.03385393 -0.00835668 0.99939185 -0.59632849] [ 0. 0. 0. 1. ]] SLAMing on 119.04134618399999 meters Centerline goodness [0,1] 0.8771762233420104 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99866516 -0.03859409 -0.03432777 2.7515584 ] [ 0.03885501 0.99922057 0.0069664 -0.07763941] [ 0.03403215 -0.00829091 0.99938635 -0.59618815] [ 0. 0. 0. 1. ]] SLAMing on 119.07134618399999 meters Centerline goodness [0,1] 0.8808008580622095 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.08, Z:-0.60 [[ 0.99868236 -0.03762714 -0.03489617 2.7538533 ] [ 0.03790037 0.99925557 0.00720136 -0.07752091] [ 0.03459923 -0.00851445 0.999365 -0.59655763] [ 0. 0. 0. 1. ]] SLAMing on 119.101346184 meters Centerline goodness [0,1] 0.8823978800105045 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.60 [[ 0.99868456 -0.0372958 -0.03518765 2.75512833] [ 0.03757095 0.99926809 0.00719073 -0.07683544] [ 0.03489371 -0.00850331 0.99935485 -0.59705834] [ 0. 0. 0. 1. ]] SLAMing on 119.131346184 meters Centerline goodness [0,1] 0.8861155564048057 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.60 [[ 0.99868522 -0.03711561 -0.03535893 2.75598166] [ 0.03738513 0.99927647 0.00699173 -0.07585817] [ 0.03507384 -0.00830443 0.99935022 -0.59730289] [ 0. 0. 0. 1. ]] SLAMing on 119.161346184 meters Centerline goodness [0,1] 0.8869317910233736 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.60 [[ 0.99868142 -0.03681023 -0.03578321 2.75713031] [ 0.03707471 0.99928966 0.00675568 -0.07514108] [ 0.03550911 -0.00807342 0.99933674 -0.59699716] [ 0. 0. 0. 1. ]] SLAMing on 119.191346184 meters Centerline goodness [0,1] 0.8892325397396246 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.60 [[ 0.99869393 -0.03627708 -0.03597778 2.75811746] [ 0.03654103 0.99930965 0.00670616 -0.07448855] [ 0.03570966 -0.00801207 0.99933009 -0.59699241] [ 0. 0. 0. 1. ]] SLAMing on 119.221346184 meters Centerline goodness [0,1] 0.8914908916586769 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.60 [[ 0.9986991 -0.03578679 -0.03632374 2.75972908] [ 0.03606053 0.99932573 0.00690882 -0.0745439 ] [ 0.036052 -0.00820968 0.99931619 -0.59779523] [ 0. 0. 0. 1. ]] SLAMing on 119.251346184 meters Centerline goodness [0,1] 0.8950370246111816 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.60 [[ 0.99870459 -0.03493126 -0.03699926 2.76234107] [ 0.03522764 0.999352 0.00738876 -0.07457513] [ 0.03671719 -0.00868259 0.99928798 -0.59885741] [ 0. 0. 0. 1. ]] SLAMing on 119.281346184 meters Centerline goodness [0,1] 0.8947469371118943 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.60 [[ 0.99871625 -0.0338848 -0.03765194 2.76496152] [ 0.03419305 0.99938656 0.0075729 -0.07278 ] [ 0.03737224 -0.00885061 0.99926222 -0.59942435] [ 0. 0. 0. 1. ]] SLAMing on 119.311346184 meters Centerline goodness [0,1] 0.8988780241693295 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.60 [[ 0.99870196 -0.03385599 -0.03805469 2.76555877] [ 0.034137 0.99939431 0.00675883 -0.07000731] [ 0.03780281 -0.00804913 0.9992528 -0.59828897] [ 0. 0. 0. 1. ]] SLAMing on 119.34134618399999 meters Centerline goodness [0,1] 0.9001566831384837 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.07, Z:-0.60 [[ 0.99869105 -0.03413842 -0.03808875 2.76496156] [ 0.03437668 0.99939316 0.00561805 -0.0668417 ] [ 0.03787385 -0.00692007 0.99925857 -0.59663305] [ 0. 0. 0. 1. ]] SLAMing on 119.37134618399999 meters Centerline goodness [0,1] 0.9005689319922222 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.06, Z:-0.60 [[ 9.98576657e-01 -3.70729799e-02 -3.83438975e-02 2.76678833e+00] [ 3.71459000e-02 9.99309143e-01 1.19082502e-03 -6.41800695e-02] [ 3.82732599e-02 -2.61344865e-03 9.99263893e-01 -5.95865233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40134618399999 meters Centerline goodness [0,1] 0.8988320329328419 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.60 [[ 9.98576419e-01 -3.78659938e-02 -3.75672958e-02 2.76785646e+00] [ 3.79025090e-02 9.99281408e-01 2.60015475e-04 -6.71072452e-02] [ 3.75304545e-02 -1.68354009e-03 9.99294066e-01 -5.98078702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43134618399999 meters Centerline goodness [0,1] 0.8986318407960199 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.60 [[ 9.98437579e-01 -4.09857003e-02 -3.79812111e-02 2.77110671e+00] [ 4.09031513e-02 9.99158766e-01 -2.94825737e-03 -6.76621701e-02] [ 3.80700964e-02 1.39009973e-03 9.99274104e-01 -6.00279549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46134618399999 meters Centerline goodness [0,1] 0.8947393625936834 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.07, Z:-0.60 [[ 9.98441021e-01 -4.10344154e-02 -3.78378593e-02 2.77171079e+00] [ 4.09826439e-02 9.99157560e-01 -2.14318549e-03 -6.99843099e-02] [ 3.78939275e-02 5.89148799e-04 9.99281594e-01 -6.02037559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.491346184 meters Centerline goodness [0,1] 0.883278719892846 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.61 [[ 0.99834861 -0.04731095 -0.03258421 2.78484323] [ 0.04747371 0.99886349 0.00423921 -0.07148436] [ 0.03234662 -0.0057791 0.99946 -0.60854181] [ 0. 0. 0. 1. ]] SLAMing on 119.521346184 meters Centerline goodness [0,1] 0.8770901609932301 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.61 [[ 0.99829423 -0.04880106 -0.03204829 2.78257148] [ 0.04893543 0.99879608 0.0034212 -0.07194414] [ 0.03184274 -0.00498366 0.99948047 -0.60749676] [ 0. 0. 0. 1. ]] SLAMing on 119.551346184 meters Centerline goodness [0,1] 0.8661389074906726 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.61 [[ 9.98226153e-01 -5.02848722e-02 -3.18744271e-02 2.78072075e+00] [ 5.03925229e-02 9.98726151e-01 2.58255479e-03 -7.29259816e-02] [ 3.17039604e-02 -4.18420653e-03 9.99488545e-01 -6.05930999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.581346184 meters Centerline goodness [0,1] 0.8388795786449605 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.60 [[ 9.97956534e-01 -5.57168827e-02 -3.12791587e-02 2.77812768e+00] [ 5.56606560e-02 9.98446184e-01 -2.66610595e-03 -7.24191870e-02] [ 3.13791038e-02 9.19639363e-04 9.99507132e-01 -6.03184445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.611346184 meters Centerline goodness [0,1] 0.8230754527643713 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.60 [[ 9.97929643e-01 -5.64602508e-02 -3.08004447e-02 2.77673897e+00] [ 5.63995524e-02 9.98404249e-01 -2.83661685e-03 -7.40876660e-02] [ 3.09114510e-02 1.09361274e-03 9.99521529e-01 -6.02836300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.641346184 meters Centerline goodness [0,1] 0.8181233473879796 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 9.97787582e-01 -6.18105736e-02 -2.44825405e-02 2.78836836e+00] [ 6.18674498e-02 9.98083137e-01 1.57181358e-03 -7.48471544e-02] [ 2.43384561e-02 -3.08300842e-03 9.99699022e-01 -6.04593718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.671346184 meters Centerline goodness [0,1] 0.8040397303670533 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 9.97756783e-01 -6.23758236e-02 -2.43034822e-02 2.78756019e+00] [ 6.24221917e-02 9.98049167e-01 1.15318299e-03 -7.38934933e-02] [ 2.41841395e-02 -2.66767278e-03 9.99703962e-01 -6.04145915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70134618399999 meters Centerline goodness [0,1] 0.7965689198539763 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 9.97729674e-01 -6.29207835e-02 -2.40098272e-02 2.78676795e+00] [ 6.29572595e-02 9.98015930e-01 7.65595017e-04 -7.32026244e-02] [ 2.39140182e-02 -2.27544979e-03 9.99711429e-01 -6.04041191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73134618399999 meters Centerline goodness [0,1] 0.7835110570385744 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 9.97735794e-01 -6.28776237e-02 -2.38681746e-02 2.78730437e+00] [ 6.29224476e-02 9.98017779e-01 1.13087071e-03 -7.37992162e-02] [ 2.37497561e-02 -2.63015415e-03 9.99714475e-01 -6.05369359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76134618399999 meters Centerline goodness [0,1] 0.7878600333253987 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:-0.61 [[ 9.97759381e-01 -6.25205139e-02 -2.38202066e-02 2.78889822e+00] [ 6.25798283e-02 9.98038424e-01 1.75211353e-03 -7.54140940e-02] [ 2.36639384e-02 -3.23885215e-03 9.99714723e-01 -6.07797944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79134618399999 meters Centerline goodness [0,1] 0.784034432739638 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 9.97764461e-01 -6.24413297e-02 -2.38151451e-02 2.78924322e+00] [ 6.24976550e-02 9.98043784e-01 1.62745293e-03 -7.49959096e-02] [ 2.36669372e-02 -3.11220542e-03 9.99715055e-01 -6.08067905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82134618399999 meters Centerline goodness [0,1] 0.7879098116711507 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 9.97754320e-01 -6.25955849e-02 -2.38350356e-02 2.78896973e+00] [ 6.26376644e-02 9.98035810e-01 1.02223634e-03 -7.33042219e-02] [ 2.37242316e-02 -2.51291169e-03 9.99715383e-01 -6.07179917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.851346184 meters Centerline goodness [0,1] 0.8108900973096738 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 0.99793215 -0.05991613 -0.0232696 2.78548776] [ 0.06001856 0.9981903 0.00372817 -0.07194037] [ 0.02300411 -0.00511707 0.99972227 -0.60471899] [ 0. 0. 0. 1. ]] SLAMing on 119.881346184 meters Centerline goodness [0,1] 0.799489357640546 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 0.99792824 -0.05995399 -0.0233399 2.78541833] [ 0.06004707 0.99819007 0.00330732 -0.07040786] [ 0.02309937 -0.00470196 0.99972212 -0.60404636] [ 0. 0. 0. 1. ]] SLAMing on 119.911346184 meters Centerline goodness [0,1] 0.8098902937450704 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 0.99792685 -0.05995199 -0.02340436 2.78553784] [ 0.06004038 0.99819116 0.00309158 -0.06972255] [ 0.02317668 -0.00449038 0.9997213 -0.60376549] [ 0. 0. 0. 1. ]] SLAMing on 119.941346184 meters Centerline goodness [0,1] 0.8071943134767728 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.60 [[ 0.99792992 -0.05988487 -0.02344533 2.78593943] [ 0.05997337 0.9981952 0.00308912 -0.06980489] [ 0.02321802 -0.00448883 0.99972035 -0.60400166] [ 0. 0. 0. 1. ]] SLAMing on 119.971346184 meters Centerline goodness [0,1] 0.8033600153381585 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 0.99794221 -0.05966878 -0.02347307 2.78690182] [ 0.05976546 0.99820653 0.00343823 -0.07108521] [ 0.02322581 -0.00483403 0.99971856 -0.6051146 ] [ 0. 0. 0. 1. ]] SLAMing on 120.001346184 meters Centerline goodness [0,1] 0.7898176073531524 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 0.99796035 -0.0593027 -0.02362906 2.78829199] [ 0.05941158 0.99822583 0.00393218 -0.07169222] [ 0.02335395 -0.005328 0.99971306 -0.60659434] [ 0. 0. 0. 1. ]] SLAMing on 120.031346184 meters Centerline goodness [0,1] 0.8035911204871267 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 0.99798151 -0.05880906 -0.02396676 2.79013169] [ 0.05893121 0.99825225 0.00442217 -0.07207548] [ 0.0236648 -0.00582563 0.99970298 -0.60812113] [ 0. 0. 0. 1. ]] SLAMing on 120.061346184 meters Centerline goodness [0,1] 0.8131153051913749 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.61 [[ 0.99803918 -0.05763391 -0.02441571 2.79347541] [ 0.05778319 0.99831426 0.00545266 -0.07183941] [ 0.0240603 -0.00685279 0.99968702 -0.61118746] [ 0. 0. 0. 1. ]] SLAMing on 120.09134618399999 meters Centerline goodness [0,1] 0.8138420799229658 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.61 [[ 0.99806404 -0.05697386 -0.02494295 2.79567022] [ 0.0571326 0.99835034 0.00569764 -0.07067196] [ 0.02457719 -0.00711167 0.99967264 -0.61235751] [ 0. 0. 0. 1. ]] SLAMing on 120.12134618399999 meters Centerline goodness [0,1] 0.8292506335223845 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.61 [[ 0.99808014 -0.05650921 -0.02535238 2.79721033] [ 0.05666806 0.99837742 0.00559128 -0.06895354] [ 0.02499529 -0.00701722 0.99966294 -0.61283616] [ 0. 0. 0. 1. ]] SLAMing on 120.15134618399999 meters Centerline goodness [0,1] 0.8290358473223356 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.61 [[ 0.99812379 -0.05553086 -0.02579202 2.79878685] [ 0.05568894 0.99843329 0.00545089 -0.06660811] [ 0.02544892 -0.006877 0.99965247 -0.61246486] [ 0. 0. 0. 1. ]] SLAMing on 120.18134618399999 meters Centerline goodness [0,1] 0.8452274214263212 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.07, Z:-0.61 [[ 0.99811959 -0.05556774 -0.02587473 2.79877284] [ 0.05571083 0.9984352 0.004842 -0.06513261] [ 0.02556518 -0.0062744 0.99965347 -0.61156466] [ 0. 0. 0. 1. ]] SLAMing on 120.21134618399999 meters Centerline goodness [0,1] 0.8424317317244554 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 0.99810707 -0.05567918 -0.02611722 2.79893278] [ 0.0558019 0.99843388 0.00399292 -0.06304873] [ 0.025854 -0.00544275 0.99965091 -0.61030547] [ 0. 0. 0. 1. ]] SLAMing on 120.241346184 meters Centerline goodness [0,1] 0.8460526636299418 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 0.99809109 -0.05606659 -0.02589802 2.79828882] [ 0.05616219 0.99841722 0.00297845 -0.06039546] [ 0.02569004 -0.00442726 0.99966015 -0.60934793] [ 0. 0. 0. 1. ]] SLAMing on 120.271346184 meters Centerline goodness [0,1] 0.8344038929440389 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 0.9980957 -0.05600165 -0.02586108 2.79884188] [ 0.05610253 0.99841991 0.0031911 -0.0612756 ] [ 0.02564152 -0.00463589 0.99966045 -0.61015284] [ 0. 0. 0. 1. ]] SLAMing on 120.301346184 meters Centerline goodness [0,1] 0.8428690289741582 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98069690e-01 -5.65820107e-02 -2.56001900e-02 2.79879861e+00] [ 5.66704311e-02 9.98389177e-01 2.74109282e-03 -5.99596442e-02] [ 2.54038561e-02 -4.18657547e-03 9.99668503e-01 -6.11105158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.331346184 meters Centerline goodness [0,1] 0.8302205055493082 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98073499e-01 -5.63891418e-02 -2.58757746e-02 2.80021458e+00] [ 5.64797328e-02 9.98399867e-01 2.78302177e-03 -5.91299830e-02] [ 2.56774377e-02 -4.23911711e-03 9.99661292e-01 -6.12027868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.361346184 meters Centerline goodness [0,1] 0.8318406499290364 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98057797e-01 -5.67491610e-02 -2.56937089e-02 2.79994482e+00] [ 5.68308871e-02 9.98380785e-01 2.46122624e-03 -5.86983296e-02] [ 2.55124328e-02 -3.91664231e-03 9.99666832e-01 -6.12145370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.391346184 meters Centerline goodness [0,1] 0.8263303268069713 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98044140e-01 -5.71555816e-02 -2.53206290e-02 2.79925736e+00] [ 5.72303121e-02 9.98358499e-01 2.23600492e-03 -5.89853410e-02] [ 2.51512650e-02 -3.68073911e-03 9.99676881e-01 -6.12212724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.421346184 meters Centerline goodness [0,1] 0.8182995991004205 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98011402e-01 -5.78997092e-02 -2.49171546e-02 2.79794206e+00] [ 5.79562513e-02 9.98317917e-01 1.55244955e-03 -5.91077672e-02] [ 2.47853555e-02 -2.99346723e-03 9.99688314e-01 -6.11268956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45134618399999 meters Centerline goodness [0,1] 0.8091311687993932 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.98001556e-01 -5.81083932e-02 -2.48255741e-02 2.79765051e+00] [ 5.81628923e-02 9.98306012e-01 1.47826377e-03 -5.88567776e-02] [ 2.46976203e-02 -2.91923673e-03 9.99690705e-01 -6.11118651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48134618399999 meters Centerline goodness [0,1] 0.8073086443959707 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.06, Z:-0.61 [[ 9.97976725e-01 -5.85550995e-02 -2.47741031e-02 2.79701433e+00] [ 5.85985920e-02 9.98281092e-01 1.03262438e-03 -5.79337554e-02] [ 2.46710532e-02 -2.48226265e-03 9.99692541e-01 -6.10270809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51134618399999 meters Centerline goodness [0,1] 0.7862333912447697 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99794317 -0.06106553 -0.01950479 2.81044203] [ 0.06123505 0.99808957 0.00821458 -0.05824822] [ 0.0189659 -0.00939206 0.99977602 -0.61252837] [ 0. 0. 0. 1. ]] SLAMing on 120.54134618399999 meters Centerline goodness [0,1] 0.7651609744154731 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99784553 -0.0628407 -0.01885045 2.80715586] [ 0.0629766 0.99799249 0.00670377 -0.05764699] [ 0.01839134 -0.00787646 0.99979984 -0.60981601] [ 0. 0. 0. 1. ]] SLAMing on 120.57134618399999 meters Centerline goodness [0,1] 0.7587005264184051 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99762802 -0.06615603 -0.01901898 2.80915341] [ 0.06622486 0.99780018 0.00301129 -0.05793749] [ 0.01877793 -0.00426368 0.99981459 -0.61054016] [ 0. 0. 0. 1. ]] SLAMing on 120.601346184 meters Centerline goodness [0,1] 0.7496232926651436 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99762954 -0.06618276 -0.01884509 2.80960446] [ 0.06626004 0.99779623 0.00350604 -0.06071507] [ 0.01857152 -0.0047464 0.99981627 -0.61175232] [ 0. 0. 0. 1. ]] SLAMing on 120.631346184 meters Centerline goodness [0,1] 0.7438861175325465 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99763352 -0.06614903 -0.01875286 2.81019538] [ 0.06622625 0.9977984 0.00352641 -0.06026634] [ 0.01847831 -0.00476 0.99981793 -0.61276624] [ 0. 0. 0. 1. ]] SLAMing on 120.661346184 meters Centerline goodness [0,1] 0.7425812414866706 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99765808 -0.06563424 -0.01924841 2.8120928 ] [ 0.0657144 0.99783212 0.00356107 -0.05837258] [ 0.01897295 -0.00481763 0.99980839 -0.61348363] [ 0. 0. 0. 1. ]] SLAMing on 120.691346184 meters Centerline goodness [0,1] 0.7604616548324915 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99766625 -0.06541156 -0.01958021 2.81316524] [ 0.06548982 0.99784751 0.00338209 -0.05657736] [ 0.01931683 -0.0046565 0.99980257 -0.61370056] [ 0. 0. 0. 1. ]] SLAMing on 120.721346184 meters Centerline goodness [0,1] 0.7691312203936124 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.61 [[ 0.99768358 -0.06505373 -0.01988698 2.81436777] [ 0.06513415 0.99787065 0.0034226 -0.05572907] [ 0.01962199 -0.00470999 0.99979638 -0.61411341] [ 0. 0. 0. 1. ]] SLAMing on 120.751346184 meters Centerline goodness [0,1] 0.7794318959616701 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.61 [[ 0.99771852 -0.06445011 -0.02009833 2.81555895] [ 0.06453653 0.99790856 0.00368079 -0.05573082] [ 0.01981907 -0.00496947 0.99979123 -0.61460146] [ 0. 0. 0. 1. ]] SLAMing on 120.781346184 meters Centerline goodness [0,1] 0.7794318959616701 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.61 [[ 0.99771852 -0.06445011 -0.02009833 2.81555895] [ 0.06453653 0.99790856 0.00368079 -0.05573082] [ 0.01981907 -0.00496947 0.99979123 -0.61460146] [ 0. 0. 0. 1. ]] SLAMing on 120.811346184 meters Centerline goodness [0,1] 0.7803061747686598 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.62 [[ 0.99774919 -0.06385144 -0.02048275 2.81737238] [ 0.06395287 0.9979435 0.00433492 -0.05714251] [ 0.02016383 -0.00563509 0.99978081 -0.6157584 ] [ 0. 0. 0. 1. ]] SLAMing on 120.84134618399999 meters Centerline goodness [0,1] 0.7980694227769111 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.62 [[ 0.9977698 -0.06345403 -0.02071244 2.81879214] [ 0.06356576 0.9979662 0.00478075 -0.05815696] [ 0.02036696 -0.00608669 0.99977404 -0.61684236] [ 0. 0. 0. 1. ]] SLAMing on 120.87134618399999 meters Centerline goodness [0,1] 0.7893927184821625 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.06, Z:-0.62 [[ 0.99777411 -0.06332607 -0.02089558 2.81938038] [ 0.06342812 0.99797733 0.0042571 -0.05519076] [ 0.02058373 -0.00557299 0.9997726 -0.61644348] [ 0. 0. 0. 1. ]] SLAMing on 120.90134618399999 meters Centerline goodness [0,1] 0.7985242927881551 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.62 [[ 0.9977801 -0.06310117 -0.02128645 2.82032091] [ 0.06319543 0.997994 0.00378461 -0.0525155 ] [ 0.02100494 -0.00512141 0.99976625 -0.6160133 ] [ 0. 0. 0. 1. ]] SLAMing on 120.93134618399999 meters Centerline goodness [0,1] 0.7943716570979931 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.62 [[ 0.99778871 -0.06286832 -0.02156984 2.82130604] [ 0.06295813 0.99801 0.00350959 -0.05074186] [ 0.02130628 -0.00485982 0.99976118 -0.61608895] [ 0. 0. 0. 1. ]] SLAMing on 120.96134618399999 meters Centerline goodness [0,1] 0.80960350471315 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.62 [[ 0.9978415 -0.0619738 -0.02171609 2.82337336] [ 0.06207575 0.99806322 0.00405181 -0.05123069] [ 0.02142293 -0.0053911 0.99975597 -0.61790696] [ 0. 0. 0. 1. ]] SLAMing on 120.991346184 meters Centerline goodness [0,1] 0.8156569997298824 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 0.99787198 -0.06140988 -0.02191655 2.82507978] [ 0.06152305 0.9980954 0.00452699 -0.05228714] [ 0.0215968 -0.00586573 0.99974955 -0.61934629] [ 0. 0. 0. 1. ]] SLAMing on 121.021346184 meters Centerline goodness [0,1] 0.7812261385748418 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 0.99789078 -0.06104662 -0.0220748 2.82633825] [ 0.06116487 0.99811651 0.00472117 -0.05218959] [ 0.02174501 -0.00606142 0.99974517 -0.6204256 ] [ 0. 0. 0. 1. ]] SLAMing on 121.051346184 meters Centerline goodness [0,1] 0.8395610913404508 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 0.99790498 -0.06056046 -0.0227616 2.82822346] [ 0.06066208 0.99815113 0.00380024 -0.04659897] [ 0.02248937 -0.00517305 0.9997337 -0.61952232] [ 0. 0. 0. 1. ]] SLAMing on 121.081346184 meters Centerline goodness [0,1] 0.8326256541917646 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 0.99789888 -0.06051017 -0.02315932 2.82905363] [ 0.06060217 0.99815657 0.00329081 -0.04402673] [ 0.0229175 -0.0046874 0.99972637 -0.61897456] [ 0. 0. 0. 1. ]] SLAMing on 121.111346184 meters Centerline goodness [0,1] 0.8346712254100391 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 0.99789242 -0.06060913 -0.02317857 2.82902775] [ 0.06069217 0.99815233 0.00289555 -0.04281877] [ 0.02296025 -0.0042962 0.99972715 -0.61846159] [ 0. 0. 0. 1. ]] SLAMing on 121.141346184 meters Centerline goodness [0,1] 0.8259542363627339 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97871742e-01 -6.11341996e-02 -2.26847245e-02 2.82772385e+00] [ 6.12073968e-02 9.98121823e-01 2.54589547e-03 -4.41477795e-02] [ 2.24864773e-02 -3.92895008e-03 9.99739427e-01 -6.17842763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.171346184 meters Centerline goodness [0,1] 0.822107294862912 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97862194e-01 -6.13855912e-02 -2.24243604e-02 2.82723335e+00] [ 6.14547520e-02 9.98106967e-01 2.40753027e-03 -4.51747950e-02] [ 2.22341227e-02 -3.78046694e-03 9.99745644e-01 -6.17689856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20134618399999 meters Centerline goodness [0,1] 0.8239372106266558 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97839052e-01 -6.18824579e-02 -2.20859183e-02 2.82616545e+00] [ 6.19399787e-02 9.98078012e-01 1.92924545e-03 -4.55135580e-02] [ 2.19240830e-02 -3.29307776e-03 9.99754215e-01 -6.16896408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23134618399999 meters Centerline goodness [0,1] 0.8063161016111495 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97593216e-01 -6.56668458e-02 -2.22629710e-02 2.82744836e+00] [ 6.56058609e-02 9.97839618e-01 -3.45949106e-03 -4.16028785e-02] [ 2.24420483e-02 1.99058344e-03 9.99746164e-01 -6.15076914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26134618399999 meters Centerline goodness [0,1] 0.8039583899582416 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97609802e-01 -6.53512109e-02 -2.24477611e-02 2.82874502e+00] [ 6.52962875e-02 9.97860879e-01 -3.17182158e-03 -4.15015724e-02] [ 2.26070250e-02 1.69848484e-03 9.99742986e-01 -6.16185666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29134618399999 meters Centerline goodness [0,1] 0.8033013397813911 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97637715e-01 -6.48137123e-02 -2.27633846e-02 2.83064691e+00] [ 6.47720558e-02 9.97896793e-01 -2.56332276e-03 -4.19794917e-02] [ 2.28816470e-02 1.08283625e-03 9.99737594e-01 -6.17784506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32134618399999 meters Centerline goodness [0,1] 0.7988248944626855 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97664653e-01 -6.43286163e-02 -2.29579868e-02 2.83230978e+00] [ 6.43025246e-02 9.97928692e-01 -1.87368463e-03 -4.28762189e-02] [ 2.30309652e-02 3.93052415e-04 9.99734675e-01 -6.19530841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.351346184 meters Centerline goodness [0,1] 0.7906821881319982 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.04, Z:-0.62 [[ 9.97679287e-01 -6.40709495e-02 -2.30424281e-02 2.83361704e+00] [ 6.40632382e-02 9.97945264e-01 -1.07344505e-03 -4.46559923e-02] [ 2.30638586e-02 -4.05218661e-04 9.99733912e-01 -6.21286623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.381346184 meters Centerline goodness [0,1] 0.7723140597669435 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97693917e-01 -6.37575719e-02 -2.32770328e-02 2.83482757e+00] [ 6.37628600e-02 9.97964945e-01 -5.15711376e-04 -4.51447322e-02] [ 2.32625432e-02 -9.69688078e-04 9.99728920e-01 -6.22243747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.411346184 meters Centerline goodness [0,1] 0.7835499975285453 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97683531e-01 -6.39480099e-02 -2.31996388e-02 2.83449569e+00] [ 6.39487869e-02 9.97952930e-01 -7.09163814e-04 -4.50983869e-02] [ 2.31974971e-02 -7.76067696e-04 9.99730601e-01 -6.21786300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.441346184 meters Centerline goodness [0,1] 0.7902704037535498 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97681755e-01 -6.39681396e-02 -2.32205102e-02 2.83449733e+00] [ 6.39680900e-02 9.97951666e-01 -7.45684629e-04 -4.56585368e-02] [ 2.32206469e-02 -7.41415737e-04 9.99730090e-01 -6.21411075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.471346184 meters Centerline goodness [0,1] 0.787200473326102 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.05, Z:-0.62 [[ 9.97681061e-01 -6.40461858e-02 -2.30344453e-02 2.83403415e+00] [ 6.40439908e-02 9.97946728e-01 -8.33745802e-04 -4.70188954e-02] [ 2.30405476e-02 -6.43405406e-04 9.99734324e-01 -6.20773379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.501346184 meters Centerline goodness [0,1] 0.7769459240531187 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.62 [[ 9.97712430e-01 -6.34422299e-02 -2.33450498e-02 2.83573676e+00] [ 6.34512072e-02 9.97984878e-01 -3.56735039e-04 -4.75204611e-02] [ 2.33206387e-02 -1.12535261e-03 9.99727404e-01 -6.21780412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.531346184 meters Centerline goodness [0,1] 0.803500888801106 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.62 [[ 9.97750186e-01 -6.26664002e-02 -2.38220064e-02 2.83789344e+00] [ 6.26826800e-02 9.98033505e-01 -6.34459710e-05 -4.62332731e-02] [ 2.37791365e-02 -1.42992397e-03 9.99716214e-01 -6.22724756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.561346184 meters Centerline goodness [0,1] 0.808993766696349 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.62 [[ 9.97938748e-01 -5.99046437e-02 -2.30149661e-02 2.83752464e+00] [ 5.99790162e-02 9.98196370e-01 2.55427187e-03 -4.68040649e-02] [ 2.28204429e-02 -3.92942190e-03 9.99731858e-01 -6.24030899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59134618399999 meters Centerline goodness [0,1] 0.8107418147569831 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.62 [[ 9.97954795e-01 -5.94793373e-02 -2.34186854e-02 2.83903078e+00] [ 5.95514103e-02 9.98222375e-01 2.39168786e-03 -4.48824973e-02] [ 2.32347997e-02 -3.78141212e-03 9.99722884e-01 -6.24389910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62134618399999 meters Centerline goodness [0,1] 0.8110255773528682 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.63 [[ 9.97981944e-01 -5.88783948e-02 -2.37776076e-02 2.84069503e+00] [ 5.89545293e-02 9.98257506e-01 2.51312949e-03 -4.41198414e-02] [ 2.35882062e-02 -3.90985551e-03 9.99714114e-01 -6.25046197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65134618399999 meters Centerline goodness [0,1] 0.8434743720340878 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.63 [[ 0.9980602 -0.05733556 -0.02425854 2.84428952] [ 0.05744394 0.99834153 0.00379383 -0.04665977] [ 0.02400078 -0.00517997 0.99969852 -0.62781691] [ 0. 0. 0. 1. ]] SLAMing on 121.68134618399999 meters Centerline goodness [0,1] 0.8464323801493019 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.63 [[ 0.99808112 -0.05693628 -0.02433818 2.84536041] [ 0.05705109 0.99836305 0.0040489 -0.04741208] [ 0.02406781 -0.00542965 0.99969558 -0.628683 ] [ 0. 0. 0. 1. ]] SLAMing on 121.71134618399999 meters Centerline goodness [0,1] 0.842716910219321 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.05, Z:-0.63 [[ 0.99808264 -0.05676445 -0.02467459 2.84614393] [ 0.05687013 0.99837509 0.00360212 -0.04633679] [ 0.02443002 -0.00499846 0.99968905 -0.62798527] [ 0. 0. 0. 1. ]] SLAMing on 121.741346184 meters Centerline goodness [0,1] 0.839710547184774 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.63 [[ 0.99807752 -0.05677365 -0.02485993 2.84616307] [ 0.05686369 0.99837765 0.00292941 -0.04434543] [ 0.02465328 -0.0043374 0.99968665 -0.626732 ] [ 0. 0. 0. 1. ]] SLAMing on 121.771346184 meters Centerline goodness [0,1] 0.8535300839668107 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.63 [[ 9.98082282e-01 -5.65870741e-02 -2.50930414e-02 2.84663987e+00] [ 5.66678012e-02 9.98389916e-01 2.51719934e-03 -4.23548583e-02] [ 2.49101986e-02 -3.93433954e-03 9.99681951e-01 -6.26010814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.801346184 meters Centerline goodness [0,1] 0.8511552795031057 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.63 [[ 9.98132111e-01 -5.52148416e-02 -2.61459585e-02 2.85025624e+00] [ 5.53065314e-02 9.98465507e-01 2.79622887e-03 -4.07286656e-02] [ 2.59514444e-02 -4.23704810e-03 9.99654225e-01 -6.26467288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.831346184 meters Centerline goodness [0,1] 0.8596473826468619 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.63 [[ 0.99815639 -0.05456524 -0.02657935 2.85224408] [ 0.05466622 0.99849991 0.00308697 -0.0404881 ] [ 0.02637103 -0.00453427 0.99964194 -0.62742512] [ 0. 0. 0. 1. ]] SLAMing on 121.861346184 meters Centerline goodness [0,1] 0.8610415064380876 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.04, Z:-0.63 [[ 0.99819464 -0.05366228 -0.02697806 2.85497258] [ 0.05378764 0.99854462 0.00394207 -0.04114639] [ 0.02672726 -0.00538604 0.99962825 -0.62970801] [ 0. 0. 0. 1. ]] SLAMing on 121.891346184 meters Centerline goodness [0,1] 0.8608512222360094 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.63 [[ 0.99821021 -0.05333221 -0.02705651 2.8561905 ] [ 0.05346972 0.99855985 0.00438404 -0.04206132] [ 0.02678373 -0.00582289 0.99962429 -0.63102495] [ 0. 0. 0. 1. ]] SLAMing on 121.921346184 meters Centerline goodness [0,1] 0.8590760384653514 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.63 [[ 0.99821785 -0.05318026 -0.02707366 2.8570515 ] [ 0.05332658 0.99856601 0.00471073 -0.04327522] [ 0.02678432 -0.00614608 0.99962234 -0.63208238] [ 0. 0. 0. 1. ]] SLAMing on 121.95134618399999 meters Centerline goodness [0,1] 0.8579694377132684 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.04, Z:-0.63 [[ 0.998223 -0.05311524 -0.02701136 2.85768863] [ 0.05327157 0.99856703 0.00510079 -0.04488421] [ 0.02670172 -0.00653067 0.99962211 -0.6330809 ] [ 0. 0. 0. 1. ]] SLAMing on 121.98134618399999 meters Centerline goodness [0,1] 0.8571428571428572 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 0.99819334 -0.05382788 -0.02669486 2.85670683] [ 0.05397143 0.99853148 0.0046861 -0.0458123 ] [ 0.02640342 -0.00611839 0.99963264 -0.63249607] [ 0. 0. 0. 1. ]] SLAMing on 122.01134618399999 meters Centerline goodness [0,1] 0.8572344570766234 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 0.99817823 -0.0541174 -0.02667447 2.85635298] [ 0.05425135 0.99851795 0.00432328 -0.04563972] [ 0.02640097 -0.00576253 0.99963482 -0.63180303] [ 0. 0. 0. 1. ]] SLAMing on 122.04134618399999 meters Centerline goodness [0,1] 0.8581840642371834 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 0.99817216 -0.05425061 -0.02663109 2.85620091] [ 0.05438121 0.9985114 0.00420394 -0.04606687] [ 0.02636338 -0.00564449 0.99963649 -0.63149251] [ 0. 0. 0. 1. ]] SLAMing on 122.07134618399999 meters Centerline goodness [0,1] 0.8562059394266905 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97982459e-01 -5.74676595e-02 -2.69903601e-02 2.85851018e+00] [ 5.74967574e-02 9.98345647e-01 3.02611597e-04 -4.61733605e-02] [ 2.69283181e-02 -1.85385925e-03 9.99635648e-01 -6.31453211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.101346184 meters Centerline goodness [0,1] 0.8520192591136877 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97985259e-01 -5.75262588e-02 -2.67610097e-02 2.85834231e+00] [ 5.75621066e-02 9.98341764e-01 5.70500813e-04 -4.74915857e-02] [ 2.66838148e-02 -2.10977149e-03 9.99641697e-01 -6.31872279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.131346184 meters Centerline goodness [0,1] 0.8532764235665646 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97972687e-01 -5.77666048e-02 -2.67120851e-02 2.85810852e+00] [ 5.77976334e-02 9.98328243e-01 3.90327747e-04 -4.74817527e-02] [ 2.66448811e-02 -1.93343173e-03 9.99643092e-01 -6.31545231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.161346184 meters Centerline goodness [0,1] 0.846790278495974 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97747401e-01 -6.13963939e-02 -2.70297410e-02 2.85968070e+00] [ 6.13159597e-02 9.98111190e-01 -3.79538810e-03 -4.54162006e-02] [ 2.72117101e-02 2.12948410e-03 9.99627425e-01 -6.30840836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.191346184 meters Centerline goodness [0,1] 0.8382850419179291 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97759376e-01 -6.11462117e-02 -2.71545309e-02 2.86071973e+00] [ 6.10882747e-02 9.98127982e-01 -2.95884698e-03 -4.79236712e-02] [ 2.72846194e-02 1.29339388e-03 9.99626869e-01 -6.32004408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.221346184 meters Centerline goodness [0,1] 0.8304835267276697 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97751177e-01 -6.14312691e-02 -2.68102232e-02 2.86036798e+00] [ 6.13835506e-02 9.98110865e-01 -2.60002971e-03 -5.05696404e-02] [ 2.69192982e-02 9.48476010e-04 9.99637160e-01 -6.32646417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.251346184 meters Centerline goodness [0,1] 0.8130470927673725 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.05, Z:-0.63 [[ 9.97672703e-01 -6.29527738e-02 -2.61940108e-02 2.85849367e+00] [ 6.28838139e-02 9.98014895e-01 -3.44893002e-03 -5.47292426e-02] [ 2.63591327e-02 1.79372404e-03 9.99650928e-01 -6.31759130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.281346184 meters Centerline goodness [0,1] 0.803807664144496 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.63 [[ 9.97680444e-01 -6.28483998e-02 -2.61497549e-02 2.85897544e+00] [ 6.27928164e-02 9.98022247e-01 -2.94214114e-03 -5.65106574e-02] [ 2.62829460e-02 1.29329992e-03 9.99653707e-01 -6.32560514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.311346184 meters Centerline goodness [0,1] 0.8037090148992538 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.63 [[ 9.97703820e-01 -6.23967076e-02 -2.63389281e-02 2.86046975e+00] [ 6.23604161e-02 9.98051275e-01 -2.19781904e-03 -5.74369174e-02] [ 2.64247375e-02 5.50265932e-04 9.99650654e-01 -6.34067831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34134618399999 meters Centerline goodness [0,1] 0.8233412293340496 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.64 [[ 9.97936204e-01 -5.84063590e-02 -2.66838948e-02 2.86112504e+00] [ 5.84912689e-02 9.98285006e-01 2.41202925e-03 -5.90306360e-02] [ 2.64972542e-02 -3.96782618e-03 9.99641012e-01 -6.35193971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37134618399999 meters Centerline goodness [0,1] 0.807260176731207 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.64 [[ 9.97954518e-01 -5.79071114e-02 -2.70840792e-02 2.86273196e+00] [ 5.80027626e-02 9.98312611e-01 2.75879665e-03 -5.91924076e-02] [ 2.68786239e-02 -4.32410500e-03 9.99629352e-01 -6.35952794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40134618399999 meters Centerline goodness [0,1] 0.8387332343419098 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.06, Z:-0.64 [[ 0.99798162 -0.05719651 -0.02759081 2.86495027] [ 0.05730948 0.99835094 0.00332079 -0.06018602] [ 0.02735538 -0.0048953 0.99961379 -0.63707941] [ 0. 0. 0. 1. ]] SLAMing on 122.43134618399999 meters Centerline goodness [0,1] 0.8317457991402892 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 0.99799662 -0.05689639 -0.02766854 2.86551622] [ 0.05700831 0.99836834 0.00327267 -0.05998871] [ 0.02743719 -0.00484345 0.9996118 -0.63695985] [ 0. 0. 0. 1. ]] SLAMing on 122.46134618399999 meters Centerline goodness [0,1] 0.8423704355907746 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 0.99799708 -0.0567945 -0.02786058 2.86610164] [ 0.05689781 0.99837571 0.00292878 -0.0583317 ] [ 0.02764899 -0.00450812 0.99960753 -0.63679227] [ 0. 0. 0. 1. ]] SLAMing on 122.491346184 meters Centerline goodness [0,1] 0.8412254901960784 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97997544e-01 -5.67191975e-02 -2.79970391e-02 2.86652087e+00] [ 5.68124753e-02 9.98381618e-01 2.54693473e-03 -5.68846843e-02] [ 2.78072691e-02 -4.13241570e-03 9.99604761e-01 -6.36498086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.521346184 meters Centerline goodness [0,1] 0.8422513757861635 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97996015e-01 -5.67623836e-02 -2.79640087e-02 2.86648834e+00] [ 5.68445208e-02 9.98380727e-01 2.15045726e-03 -5.62185404e-02] [ 2.77966622e-02 -3.73574845e-03 9.99606618e-01 -6.36068921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.551346184 meters Centerline goodness [0,1] 0.8450456179830247 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.98012659e-01 -5.64104563e-02 -2.80818905e-02 2.86758909e+00] [ 5.65013874e-02 9.98399503e-01 2.45454831e-03 -5.75528742e-02] [ 2.78984833e-02 -4.03633606e-03 9.99602612e-01 -6.36820265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.581346184 meters Centerline goodness [0,1] 0.8473516459453541 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97845391e-01 -5.92011402e-02 -2.82807471e-02 2.87027320e+00] [ 5.92066214e-02 9.98245541e-01 -6.44254987e-04 -5.92639894e-02] [ 2.82692704e-02 -1.03154062e-03 9.99599812e-01 -6.38276124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.611346184 meters Centerline goodness [0,1] 0.8490359333917616 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97853134e-01 -5.90658465e-02 -2.82904514e-02 2.87079944e+00] [ 5.90787334e-02 9.98253254e-01 -3.80844714e-04 -6.00738064e-02] [ 2.82635301e-02 -1.29133694e-03 9.99599673e-01 -6.38864422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.641346184 meters Centerline goodness [0,1] 0.8461144695787831 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97856163e-01 -5.89673512e-02 -2.83889007e-02 2.87113465e+00] [ 5.89897974e-02 9.98258585e-01 -4.69059662e-05 -6.03475192e-02] [ 2.83422298e-02 -1.62785009e-03 9.99596953e-01 -6.39025264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.671346184 meters Centerline goodness [0,1] 0.8461144695787831 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97856163e-01 -5.89673512e-02 -2.83889007e-02 2.87113465e+00] [ 5.89897974e-02 9.98258585e-01 -4.69059662e-05 -6.03475192e-02] [ 2.83422298e-02 -1.62785009e-03 9.99596953e-01 -6.39025264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70134618399999 meters Centerline goodness [0,1] 0.8458712471412584 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97867749e-01 -5.85614243e-02 -2.88186448e-02 2.87271652e+00] [ 5.85985389e-02 9.98281530e-01 4.44289855e-04 -6.02999362e-02] [ 2.87431026e-02 -2.13207300e-03 9.99584558e-01 -6.39836309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73134618399999 meters Centerline goodness [0,1] 0.8416784374847791 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97861166e-01 -5.85137706e-02 -2.91415732e-02 2.87338092e+00] [ 5.85497177e-02 9.98284421e-01 3.81038159e-04 -5.95366053e-02] [ 2.90692826e-02 -2.08645407e-03 9.99575222e-01 -6.39659695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76134618399999 meters Centerline goodness [0,1] 0.841997762972329 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.06, Z:-0.64 [[ 9.97869186e-01 -5.82696003e-02 -2.93554411e-02 2.87433848e+00] [ 5.83179144e-02 9.98297748e-01 7.91639905e-04 -6.03362039e-02] [ 2.92593422e-02 -2.50190117e-03 9.99568723e-01 -6.40293493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79134618399999 meters Centerline goodness [0,1] 0.8407464707019918 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:-0.64 [[ 9.97687113e-01 -6.12164520e-02 -2.95460892e-02 2.87702020e+00] [ 6.11769999e-02 9.98124424e-01 -2.23824784e-03 -6.31560330e-02] [ 2.96276908e-02 4.25529926e-04 9.99560913e-01 -6.41887480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82134618399999 meters Centerline goodness [0,1] 0.837247918371276 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:-0.64 [[ 9.97712408e-01 -6.07211855e-02 -2.97134446e-02 2.87845979e+00] [ 6.07103796e-02 9.98154620e-01 -1.26652531e-03 -6.58533330e-02] [ 2.97355170e-02 -5.40286489e-04 9.99557656e-01 -6.43395693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.851346184 meters Centerline goodness [0,1] 0.8340528156276378 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:-0.64 [[ 9.97709841e-01 -6.08235916e-02 -2.95899254e-02 2.87831808e+00] [ 6.08116506e-02 9.98148407e-01 -1.30411795e-03 -6.61097331e-02] [ 2.96144580e-02 -4.98280892e-04 9.99561272e-01 -6.43477999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.881346184 meters Centerline goodness [0,1] 0.8462244774676815 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:-0.64 [[ 9.97711797e-01 -6.06295307e-02 -2.99203888e-02 2.87897704e+00] [ 6.06152154e-02 9.98160245e-01 -1.38606784e-03 -6.44962253e-02] [ 2.99493792e-02 -4.30734572e-04 9.99551324e-01 -6.43091033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.911346184 meters Centerline goodness [0,1] 0.8431116274566753 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:-0.64 [[ 9.97717597e-01 -6.03300542e-02 -3.03295508e-02 2.88024201e+00] [ 6.03170954e-02 9.98178363e-01 -1.34282638e-03 -6.34613581e-02] [ 3.03553142e-02 -4.89628895e-04 9.99539051e-01 -6.43437157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.941346184 meters Centerline goodness [0,1] 0.8455347619509357 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:-0.64 [[ 9.97728733e-01 -5.99545092e-02 -3.07055728e-02 2.88161071e+00] [ 5.99497000e-02 9.98200817e-01 -1.07803932e-03 -6.33947888e-02] [ 3.07149612e-02 -7.65199076e-04 9.99527891e-01 -6.44086740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.971346184 meters Centerline goodness [0,1] 0.8478371132526629 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:-0.65 [[ 9.97761918e-01 -5.91998062e-02 -3.10892074e-02 2.88371697e+00] [ 5.92251440e-02 9.98244645e-01 -1.06029230e-04 -6.50937479e-02] [ 3.10409117e-02 -1.73547086e-03 9.99516608e-01 -6.45792765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.001346184 meters Centerline goodness [0,1] 0.8492890311094001 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:-0.65 [[ 9.97788067e-01 -5.86235218e-02 -3.13409695e-02 2.88553672e+00] [ 5.86815425e-02 9.98276317e-01 9.33902593e-04 -6.92610924e-02] [ 3.12321990e-02 -2.77097330e-03 9.99508315e-01 -6.47490740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.031346184 meters Centerline goodness [0,1] 0.8488753740708562 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:-0.65 [[ 9.97799895e-01 -5.84051902e-02 -3.13720021e-02 2.88620822e+00] [ 5.84740271e-02 9.98288109e-01 1.28048244e-03 -6.99861528e-02] [ 3.12435099e-02 -3.11211255e-03 9.99506957e-01 -6.48298271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.061346184 meters Centerline goodness [0,1] 0.8501298201750168 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:-0.65 [[ 9.97804639e-01 -5.80421209e-02 -3.18906600e-02 2.88766575e+00] [ 5.81166966e-02 9.98308792e-01 1.41577131e-03 -6.93183808e-02] [ 3.17545519e-02 -3.26604299e-03 9.99490361e-01 -6.48472359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09134618399999 meters Centerline goodness [0,1] 0.8512091519042333 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:-0.65 [[ 0.99793785 -0.05860615 -0.02617938 2.89979094] [ 0.05887284 0.99821996 0.00953454 -0.06832469] [ 0.025574 -0.01105614 0.99961179 -0.64868018] [ 0. 0. 0. 1. ]] SLAMing on 123.12134618399999 meters Centerline goodness [0,1] 0.8503140096618358 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:-0.65 [[ 0.99792383 -0.05881875 -0.02623727 2.89956033] [ 0.05907642 0.99821147 0.00915574 -0.06822602] [ 0.02565182 -0.01068674 0.99961381 -0.6478757 ] [ 0. 0. 0. 1. ]] SLAMing on 123.15134618399999 meters Centerline goodness [0,1] 0.8510833595014372 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.07, Z:-0.65 [[ 0.99793449 -0.05859977 -0.02632157 2.90041834] [ 0.05887099 0.99821896 0.00964959 -0.07044904] [ 0.02570922 -0.01117924 0.99960695 -0.64875272] [ 0. 0. 0. 1. ]] SLAMing on 123.18134618399999 meters Centerline goodness [0,1] 0.8510438714643063 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99780205 -0.06054679 -0.02692883 2.90535149] [ 0.06076366 0.99812542 0.00730853 -0.07282745] [ 0.02643585 -0.00892876 0.99961064 -0.6520429 ] [ 0. 0. 0. 1. ]] SLAMing on 123.21134618399999 meters Centerline goodness [0,1] 0.8523569023569024 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99780919 -0.06030805 -0.02719849 2.9067349 ] [ 0.06052875 0.99813928 0.00736491 -0.07212988] [ 0.02670372 -0.00899507 0.99960292 -0.65306748] [ 0. 0. 0. 1. ]] SLAMing on 123.241346184 meters Centerline goodness [0,1] 0.8564302754283235 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99780838 -0.06012321 -0.02763384 2.90795779] [ 0.06033832 0.99815332 0.00701664 -0.06970415] [ 0.02716095 -0.00866864 0.99959349 -0.65325241] [ 0. 0. 0. 1. ]] SLAMing on 123.271346184 meters Centerline goodness [0,1] 0.8579323326415368 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99779862 -0.06010787 -0.02801695 2.90860293] [ 0.0603009 0.99816163 0.00609576 -0.06597508] [ 0.02759904 -0.00777179 0.99958886 -0.65239341] [ 0. 0. 0. 1. ]] SLAMing on 123.301346184 meters Centerline goodness [0,1] 0.8567449745701139 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99781685 -0.05959892 -0.02845194 2.90929034] [ 0.0597566 0.9982018 0.00472346 -0.06151281] [ 0.02811926 -0.00641334 0.999584 -0.65017363] [ 0. 0. 0. 1. ]] SLAMing on 123.331346184 meters Centerline goodness [0,1] 0.860307139911206 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99783505 -0.05921196 -0.02862093 2.91015402] [ 0.05937527 0.99822376 0.00488937 -0.06204677] [ 0.02828059 -0.00657816 0.99957838 -0.65054273] [ 0. 0. 0. 1. ]] SLAMing on 123.361346184 meters Centerline goodness [0,1] 0.8619261053906724 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99784642 -0.05901728 -0.02862665 2.91061392] [ 0.05918429 0.99823444 0.00502153 -0.06361893] [ 0.02827975 -0.00670497 0.99957756 -0.65078762] [ 0. 0. 0. 1. ]] SLAMing on 123.391346184 meters Centerline goodness [0,1] 0.8620590075564326 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99783296 -0.05918982 -0.02873919 2.91047869] [ 0.05934858 0.99822625 0.004702 -0.06436377] [ 0.0284099 -0.00639744 0.99957589 -0.64980392] [ 0. 0. 0. 1. ]] SLAMing on 123.421346184 meters Centerline goodness [0,1] 0.8618609924971653 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99781827 -0.05932528 -0.02896903 2.91069895] [ 0.05947282 0.99822085 0.00425739 -0.0628321 ] [ 0.02866492 -0.00597097 0.99957124 -0.64921869] [ 0. 0. 0. 1. ]] SLAMing on 123.45134618399999 meters Centerline goodness [0,1] 0.8636034207856211 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99779909 -0.0595868 -0.02909284 2.91065698] [ 0.05971791 0.99820859 0.00365782 -0.06111223] [ 0.02882276 -0.00538714 0.99957002 -0.64851725] [ 0. 0. 0. 1. ]] SLAMing on 123.48134618399999 meters Centerline goodness [0,1] 0.8609766721517762 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99780264 -0.05951409 -0.02911972 2.91142183] [ 0.05965228 0.9982116 0.00389935 -0.06125068] [ 0.02883558 -0.00562784 0.99956833 -0.64959287] [ 0. 0. 0. 1. ]] SLAMing on 123.51134618399999 meters Centerline goodness [0,1] 0.8623349079340596 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.06, Z:-0.65 [[ 0.99782637 -0.05907237 -0.02920595 2.91289999] [ 0.0592316 0.99823359 0.0046163 -0.06347636] [ 0.02888166 -0.00633618 0.99956276 -0.65125013] [ 0. 0. 0. 1. ]] SLAMing on 123.54134618399999 meters Centerline goodness [0,1] 0.8605047667074899 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99785161 -0.05861463 -0.02926585 2.91424038] [ 0.05879642 0.99825544 0.00538975 -0.06646992] [ 0.02889888 -0.0070989 0.99955713 -0.65273725] [ 0. 0. 0. 1. ]] SLAMing on 123.57134618399999 meters Centerline goodness [0,1] 0.8622599438970007 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99784934 -0.05867685 -0.02921842 2.91402319] [ 0.05886187 0.99825092 0.00551212 -0.0679935 ] [ 0.02884388 -0.00722011 0.99955785 -0.65238879] [ 0. 0. 0. 1. ]] SLAMing on 123.601346184 meters Centerline goodness [0,1] 0.8659672257381428 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99783213 -0.05884948 -0.02945811 2.91379456] [ 0.05902126 0.99824423 0.00499538 -0.06652309] [ 0.02911241 -0.00672321 0.99955353 -0.65109584] [ 0. 0. 0. 1. ]] SLAMing on 123.631346184 meters Centerline goodness [0,1] 0.8644738736145099 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99782165 -0.05876188 -0.02998311 2.91458173] [ 0.05893153 0.99825046 0.00480526 -0.06595131] [ 0.02964828 -0.00656174 0.99953886 -0.65026723] [ 0. 0. 0. 1. ]] SLAMing on 123.661346184 meters Centerline goodness [0,1] 0.8644323599166327 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.07, Z:-0.65 [[ 0.99781963 -0.05875648 -0.03006087 2.91461021] [ 0.05892876 0.99825028 0.0048768 -0.06677653] [ 0.02972172 -0.00663761 0.99953617 -0.64994149] [ 0. 0. 0. 1. ]] SLAMing on 123.691346184 meters Centerline goodness [0,1] 0.8638170498084291 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.997834 -0.05844219 -0.03019638 2.91507577] [ 0.0586302 0.99826528 0.00537804 -0.06938859] [ 0.0298297 -0.00713681 0.99952952 -0.64987466] [ 0. 0. 0. 1. ]] SLAMing on 123.721346184 meters Centerline goodness [0,1] 0.8666395365538373 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99785179 -0.05802666 -0.03040904 2.9161216 ] [ 0.05822328 0.99828777 0.00562024 -0.06975034] [ 0.03003085 -0.00737868 0.99952174 -0.65034831] [ 0. 0. 0. 1. ]] SLAMing on 123.751346184 meters Centerline goodness [0,1] 0.868811168681635 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99786892 -0.05758365 -0.0306879 2.91725315] [ 0.05778689 0.99831223 0.00577695 -0.07008618] [ 0.03030345 -0.007538 0.99951232 -0.65070184] [ 0. 0. 0. 1. ]] SLAMing on 123.781346184 meters Centerline goodness [0,1] 0.8733464340490797 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99789424 -0.05700098 -0.03095124 2.9186385 ] [ 0.05722259 0.99834143 0.00632139 -0.07168376] [ 0.03053958 -0.00807918 0.99950091 -0.65151167] [ 0. 0. 0. 1. ]] SLAMing on 123.811346184 meters Centerline goodness [0,1] 0.8764593757445794 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99791179 -0.05662725 -0.03107104 2.91920922] [ 0.05685982 0.99836001 0.00665247 -0.07376348] [ 0.03064337 -0.00840527 0.99949504 -0.65149234] [ 0. 0. 0. 1. ]] SLAMing on 123.84134618399999 meters Centerline goodness [0,1] 0.8793087031041706 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99791413 -0.05644372 -0.03132881 2.9199658 ] [ 0.05667929 0.99837008 0.0066821 -0.0739613 ] [ 0.03090058 -0.00844386 0.9994868 -0.65143009] [ 0. 0. 0. 1. ]] SLAMing on 123.87134618399999 meters Centerline goodness [0,1] 0.8801085378335277 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.07, Z:-0.65 [[ 0.99791534 -0.05633533 -0.0314849 2.92055983] [ 0.05657723 0.99837476 0.00684508 -0.07457661] [ 0.03104811 -0.00861214 0.99948079 -0.65167518] [ 0. 0. 0. 1. ]] SLAMing on 123.90134618399999 meters Centerline goodness [0,1] 0.8778781627184558 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:-0.65 [[ 0.99791599 -0.05627206 -0.03157727 2.92094673] [ 0.05653289 0.9983731 0.00742824 -0.07779571] [ 0.03110789 -0.00919791 0.99947371 -0.65184432] [ 0. 0. 0. 1. ]] SLAMing on 123.93134618399999 meters Centerline goodness [0,1] 0.8813908350691158 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:-0.65 [[ 0.99790879 -0.05637726 -0.03161717 2.92080675] [ 0.05664323 0.99836571 0.00757994 -0.07990606] [ 0.03113816 -0.00935499 0.99947131 -0.65131809] [ 0. 0. 0. 1. ]] SLAMing on 123.96134618399999 meters Centerline goodness [0,1] 0.8802218550861458 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:-0.65 [[ 0.99788524 -0.05689802 -0.03142707 2.91968762] [ 0.05715682 0.9983378 0.00739817 -0.08206807] [ 0.0309539 -0.00917879 0.99947867 -0.65022304] [ 0. 0. 0. 1. ]] SLAMing on 123.991346184 meters Centerline goodness [0,1] 0.8768076751240388 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.08, Z:-0.65 [[ 0.99785163 -0.05759464 -0.03122481 2.91848889] [ 0.0578456 0.99829962 0.00719352 -0.08488095] [ 0.03075741 -0.00898428 0.9994865 -0.64912413] [ 0. 0. 0. 1. ]] SLAMing on 124.021346184 meters Centerline goodness [0,1] 0.8743593943790513 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.09, Z:-0.65 [[ 0.99759171 -0.06207619 -0.03094085 2.91750636] [ 0.06221417 0.99805663 0.00351611 -0.08948572] [ 0.03066245 -0.0054326 0.99951503 -0.64777614] [ 0. 0. 0. 1. ]] SLAMing on 124.051346184 meters Centerline goodness [0,1] 0.8725405732647217 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.09, Z:-0.65 [[ 0.99756738 -0.06249613 -0.03087967 2.91737665] [ 0.06264542 0.99802826 0.00389013 -0.09344158] [ 0.03057567 -0.00581513 0.99951554 -0.64782317] [ 0. 0. 0. 1. ]] SLAMing on 124.081346184 meters Centerline goodness [0,1] 0.8699145457923091 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.10, Z:-0.65 [[ 0.99754931 -0.06280614 -0.03083448 2.91727311] [ 0.06297174 0.99800549 0.00442818 -0.09680818] [ 0.03049486 -0.00635903 0.9995147 -0.64805564] [ 0. 0. 0. 1. ]] SLAMing on 124.111346184 meters Centerline goodness [0,1] 0.8677032882997706 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.10, Z:-0.65 [[ 0.99749094 -0.063939 -0.03039138 2.91505472] [ 0.06409811 0.99793438 0.00428926 -0.10016671] [ 0.03005435 -0.00622652 0.99952887 -0.64663371] [ 0. 0. 0. 1. ]] SLAMing on 124.141346184 meters Centerline goodness [0,1] 0.8699734073303272 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.10, Z:-0.65 [[ 0.99748939 -0.06393162 -0.0304577 2.91494931] [ 0.06409 0.99793507 0.00425149 -0.10047904] [ 0.030123 -0.00619285 0.99952701 -0.64599546] [ 0. 0. 0. 1. ]] SLAMing on 124.171346184 meters Centerline goodness [0,1] 0.8689149831260691 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.10, Z:-0.65 [[ 0.99750029 -0.06370847 -0.03056792 2.91533118] [ 0.0638726 0.99794826 0.00442242 -0.10109435] [ 0.03022345 -0.00636381 0.99952291 -0.64589535] [ 0. 0. 0. 1. ]] SLAMing on 124.20134618399999 meters Centerline goodness [0,1] 0.8730990121755111 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99754033 -0.06301908 -0.0306901 2.91658525] [ 0.06321503 0.99798502 0.00545613 -0.1055948 ] [ 0.03028442 -0.00738278 0.99951406 -0.64691507] [ 0. 0. 0. 1. ]] SLAMing on 124.23134618399999 meters Centerline goodness [0,1] 0.8734729294636129 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.9975659 -0.06255144 -0.03081532 2.91776537] [ 0.06277254 0.99800823 0.00625974 -0.10834101] [ 0.03036239 -0.00817885 0.99950549 -0.64801123] [ 0. 0. 0. 1. ]] SLAMing on 124.26134618399999 meters Centerline goodness [0,1] 0.876116122533083 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99757099 -0.06251563 -0.03072319 2.91767538] [ 0.06273937 0.9980096 0.00637208 -0.10952662] [ 0.03026368 -0.00828416 0.99950762 -0.64789195] [ 0. 0. 0. 1. ]] SLAMing on 124.29134618399999 meters Centerline goodness [0,1] 0.875048541471549 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99756669 -0.06248457 -0.03092537 2.9180416 ] [ 0.06270732 0.99801217 0.00628539 -0.10950216] [ 0.03047116 -0.00820934 0.99950193 -0.64750547] [ 0. 0. 0. 1. ]] SLAMing on 124.32134618399999 meters Centerline goodness [0,1] 0.8725559697226097 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99754666 -0.062756 -0.03102156 2.91694436] [ 0.06296405 0.99799909 0.00577498 -0.1087083 ] [ 0.03059707 -0.00771406 0.99950203 -0.64531416] [ 0. 0. 0. 1. ]] SLAMing on 124.351346184 meters Centerline goodness [0,1] 0.8762255182028018 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99755077 -0.06268139 -0.03104034 2.91723549] [ 0.06289575 0.9980022 0.00597738 -0.10965246] [ 0.03060366 -0.00791504 0.99950026 -0.64548015] [ 0. 0. 0. 1. ]] SLAMing on 124.381346184 meters Centerline goodness [0,1] 0.8731557377049181 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.11, Z:-0.65 [[ 0.99756236 -0.06247337 -0.03108731 2.91798436] [ 0.0627048 0.99801079 0.00652499 -0.11207085] [ 0.03061783 -0.00845841 0.99949537 -0.64616542] [ 0. 0. 0. 1. ]] SLAMing on 124.411346184 meters Centerline goodness [0,1] 0.8762088098743064 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.65 [[ 0.99733872 -0.06591408 -0.0311579 2.9198857 ] [ 0.06606879 0.99780721 0.00396112 -0.11684387] [ 0.03082848 -0.00600915 0.99950663 -0.64778815] [ 0. 0. 0. 1. ]] SLAMing on 124.441346184 meters Centerline goodness [0,1] 0.8675921948131232 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.65 [[ 0.99733176 -0.06599798 -0.03120296 2.92066858] [ 0.06617687 0.99779668 0.00473447 -0.11982468] [ 0.03082174 -0.00678675 0.99950186 -0.64899839] [ 0. 0. 0. 1. ]] SLAMing on 124.471346184 meters Centerline goodness [0,1] 0.862484185794325 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.65 [[ 0.99732677 -0.06601223 -0.03133194 2.92149387] [ 0.06621042 0.99779145 0.00532942 -0.12159743] [ 0.03091094 -0.00738968 0.99949483 -0.64987428] [ 0. 0. 0. 1. ]] SLAMing on 124.501346184 meters Centerline goodness [0,1] 0.8545286339636265 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.65 [[ 0.99732218 -0.06603804 -0.03142368 2.92203941] [ 0.06624921 0.99778668 0.00572587 -0.12279332] [ 0.03097601 -0.00779234 0.99948975 -0.65030719] [ 0. 0. 0. 1. ]] SLAMing on 124.531346184 meters Centerline goodness [0,1] 0.8477070422535211 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.12, Z:-0.65 [[ 0.99729372 -0.06659157 -0.03115772 2.9209123 ] [ 0.06679527 0.99775131 0.00554187 -0.12435389] [ 0.03071861 -0.00760806 0.99949912 -0.64937456] [ 0. 0. 0. 1. ]] SLAMing on 124.561346184 meters Centerline goodness [0,1] 0.8472466117339817 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.99729597 -0.06654513 -0.03118497 2.92104988] [ 0.06675535 0.99775282 0.00574792 -0.12593602] [ 0.03073239 -0.00781414 0.9994971 -0.64929091] [ 0. 0. 0. 1. ]] SLAMing on 124.59134618399999 meters Centerline goodness [0,1] 0.8472466117339817 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.99729597 -0.06654513 -0.03118497 2.92104988] [ 0.06675535 0.99775282 0.00574792 -0.12593602] [ 0.03073239 -0.00781414 0.9994971 -0.64929091] [ 0. 0. 0. 1. ]] SLAMing on 124.62134618399999 meters Centerline goodness [0,1] 0.8591134113411341 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.99730381 -0.06641726 -0.03120686 2.92158565] [ 0.06663529 0.99775937 0.00599846 -0.12743542] [ 0.03073853 -0.00806177 0.99949495 -0.64975753] [ 0. 0. 0. 1. ]] SLAMing on 124.65134618399999 meters Centerline goodness [0,1] 0.8433510160043158 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.9973188 -0.06614105 -0.03131418 2.92278291] [ 0.06637863 0.99777263 0.00660798 -0.12935528] [ 0.03080737 -0.00866885 0.99948775 -0.65093283] [ 0. 0. 0. 1. ]] SLAMing on 124.68134618399999 meters Centerline goodness [0,1] 0.8367484800720558 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.99731822 -0.06608742 -0.03144566 2.9234667 ] [ 0.06633256 0.99777429 0.00681621 -0.12976374] [ 0.0309252 -0.0088838 0.99948222 -0.65148085] [ 0. 0. 0. 1. ]] SLAMing on 124.71134618399999 meters Centerline goodness [0,1] 0.830243792832266 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.9973285 -0.06576184 -0.03180004 2.92523153] [ 0.0660281 0.99779036 0.00739548 -0.1304589 ] [ 0.03124344 -0.00947542 0.99946689 -0.65281073] [ 0. 0. 0. 1. ]] SLAMing on 124.741346184 meters Centerline goodness [0,1] 0.8119860313168863 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.13, Z:-0.65 [[ 0.99729674 -0.06636318 -0.031546 2.92466784] [ 0.06662086 0.99775247 0.00718754 -0.13111008] [ 0.03099811 -0.00926974 0.99947646 -0.65275755] [ 0. 0. 0. 1. ]] SLAMing on 124.771346184 meters Centerline goodness [0,1] 0.8464391691394659 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.99728621 -0.06647365 -0.03164614 2.92509095] [ 0.06673396 0.99774453 0.00724067 -0.13200342] [ 0.03109344 -0.00933289 0.99947291 -0.65292218] [ 0. 0. 0. 1. ]] SLAMing on 124.801346184 meters Centerline goodness [0,1] 0.8391613106207021 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.99728213 -0.06658456 -0.03154121 2.92532028] [ 0.06684843 0.99773581 0.00738533 -0.13338655] [ 0.03097805 -0.00947374 0.99947517 -0.65339329] [ 0. 0. 0. 1. ]] SLAMing on 124.831346184 meters Centerline goodness [0,1] 0.8323087278438411 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.99702631 -0.07039999 -0.03134282 2.92622773] [ 0.07053815 0.99750355 0.00332318 -0.13204165] [ 0.03103062 -0.00552416 0.99950317 -0.65368522] [ 0. 0. 0. 1. ]] SLAMing on 124.861346184 meters Centerline goodness [0,1] 0.8118068780105299 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.99700715 -0.07067367 -0.0313366 2.92645097] [ 0.07080596 0.9974852 0.00313061 -0.13154256] [ 0.03103654 -0.00534006 0.99950399 -0.65383242] [ 0. 0. 0. 1. ]] SLAMing on 124.891346184 meters Centerline goodness [0,1] 0.8048189527527259 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.65 [[ 0.99699164 -0.07097737 -0.03114304 2.92628846] [ 0.07110786 0.99746381 0.00310139 -0.13167257] [ 0.03084393 -0.00530658 0.99951013 -0.65407985] [ 0. 0. 0. 1. ]] SLAMing on 124.921346184 meters Centerline goodness [0,1] 0.7780834171978084 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96694581e-01 -7.50260425e-02 -3.11609579e-02 2.92787411e+00] [ 7.50370705e-02 9.97180410e-01 -8.16994072e-04 -1.30028543e-01] [ 3.11343926e-02 -1.52393343e-03 9.99514046e-01 -6.55011822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95134618399999 meters Centerline goodness [0,1] 0.7733038051137507 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96673044e-01 -7.53508545e-02 -3.10659362e-02 2.92807821e+00] [ 7.53623315e-02 9.97155893e-01 -8.02946386e-04 -1.30167153e-01] [ 3.10380840e-02 -1.54092636e-03 9.99517015e-01 -6.55652219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98134618399999 meters Centerline goodness [0,1] 0.7655757141898392 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96661586e-01 -7.55423230e-02 -3.09683721e-02 2.92817708e+00] [ 7.55562080e-02 9.97141282e-01 -7.23276422e-04 -1.30356575e-01] [ 3.09344803e-02 -1.61899094e-03 9.99520103e-01 -6.56024161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01134618399999 meters Centerline goodness [0,1] 0.7574183145589322 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96652232e-01 -7.57307194e-02 -3.08088806e-02 2.92828231e+00] [ 7.57472606e-02 9.97126849e-01 -6.31549458e-04 -1.30842054e-01] [ 3.07681898e-02 -1.70425313e-03 9.99525094e-01 -6.56599785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04134618399999 meters Centerline goodness [0,1] 0.7541078893832018 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96623425e-01 -7.61102063e-02 -3.08055919e-02 2.92900238e+00] [ 7.61335528e-02 9.97097542e-01 -4.16076675e-04 -1.32063329e-01] [ 3.07478476e-02 -1.93066739e-03 9.99525309e-01 -6.57635063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07134618399999 meters Centerline goodness [0,1] 0.7515476589563079 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96620013e-01 -7.61441262e-02 -3.08321571e-02 2.92954061e+00] [ 7.61684568e-02 9.97094889e-01 -3.86307016e-04 -1.31959107e-01] [ 3.07720013e-02 -1.96343653e-03 9.99524501e-01 -6.58223414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.101346184 meters Centerline goodness [0,1] 0.7364226550257443 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96626341e-01 -7.60576387e-02 -3.08410920e-02 2.93023229e+00] [ 7.60853852e-02 9.97101268e-01 -2.74599985e-04 -1.31575277e-01] [ 3.07725774e-02 -2.07288279e-03 9.99524263e-01 -6.58956410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.131346184 meters Centerline goodness [0,1] 0.7344426255241854 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 9.96639549e-01 -7.57937240e-02 -3.10631808e-02 2.93191203e+00] [ 7.58111729e-02 9.97122001e-01 -6.17341960e-04 -1.27836605e-01] [ 3.10205716e-02 -1.73966876e-03 9.99517232e-01 -6.59821411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.161346184 meters Centerline goodness [0,1] 0.732883817427386 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 0.99689144 -0.07238506 -0.03111035 2.93158461] [ 0.07251597 0.99736244 0.00309888 -0.12822106] [ 0.03080398 -0.00534524 0.99951115 -0.66031198] [ 0. 0. 0. 1. ]] SLAMing on 125.191346184 meters Centerline goodness [0,1] 0.7317678934296681 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 0.99690448 -0.072127 -0.0312914 2.93284423] [ 0.07225894 0.99738107 0.00310487 -0.127055 ] [ 0.0309855 -0.00535634 0.99950548 -0.66129982] [ 0. 0. 0. 1. ]] SLAMing on 125.221346184 meters Centerline goodness [0,1] 0.7524517557734894 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.13, Z:-0.66 [[ 0.99691946 -0.07187629 -0.03139094 2.9340083 ] [ 0.07201389 0.99739826 0.00327369 -0.12693976] [ 0.03107397 -0.00552419 0.99950182 -0.66241709] [ 0. 0. 0. 1. ]] SLAMing on 125.251346184 meters Centerline goodness [0,1] 0.7396330565798701 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.13, Z:-0.66 [[ 0.99695646 -0.07136205 -0.03138923 2.935386 ] [ 0.07150125 0.99743494 0.00333331 -0.1253071 ] [ 0.03107084 -0.00556753 0.99950168 -0.66362987] [ 0. 0. 0. 1. ]] SLAMing on 125.281346184 meters Centerline goodness [0,1] 0.7674234364743431 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.66 [[ 0.99697404 -0.07095034 -0.0317619 2.93698643] [ 0.07108824 0.99746479 0.00323224 -0.12266257] [ 0.03145205 -0.00548036 0.99949024 -0.66431303] [ 0. 0. 0. 1. ]] SLAMing on 125.311346184 meters Centerline goodness [0,1] 0.756979176138947 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.66 [[ 0.99720811 -0.06759245 -0.0317371 2.93608888] [ 0.06783772 0.99767377 0.0067148 -0.12191476] [ 0.0312094 -0.00884903 0.9994737 -0.66414134] [ 0. 0. 0. 1. ]] SLAMing on 125.34134618399999 meters Centerline goodness [0,1] 0.7306830651060716 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.66 [[ 0.99722479 -0.06732944 -0.031772 2.9368186 ] [ 0.06755555 0.99769689 0.00609637 -0.11728249] [ 0.03128836 -0.00822583 0.99947655 -0.66417281] [ 0. 0. 0. 1. ]] SLAMing on 125.37134618399999 meters Centerline goodness [0,1] 0.7526822684327317 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.66 [[ 0.99722369 -0.06733232 -0.03180036 2.93747274] [ 0.06755145 0.99769855 0.00586611 -0.11660525] [ 0.0313322 -0.00799799 0.99947703 -0.66463522] [ 0. 0. 0. 1. ]] SLAMing on 125.40134618399999 meters Centerline goodness [0,1] 0.7435312371651531 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.67 [[ 0.99723936 -0.06703619 -0.03193454 2.9388021 ] [ 0.06726123 0.99771721 0.00602446 -0.11671535] [ 0.03145779 -0.00815578 0.99947181 -0.6657427 ] [ 0. 0. 0. 1. ]] SLAMing on 125.43134618399999 meters Centerline goodness [0,1] 0.7733973260198834 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.12, Z:-0.67 [[ 0.99724016 -0.0670325 -0.03191713 2.93924624] [ 0.0672488 0.99771966 0.00575106 -0.11632998] [ 0.03145884 -0.00788158 0.99947397 -0.66606671] [ 0. 0. 0. 1. ]] SLAMing on 125.46134618399999 meters Centerline goodness [0,1] 0.7719366771592031 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.11, Z:-0.67 [[ 0.99728579 -0.06636521 -0.03188588 2.94065781] [ 0.06657236 0.99776656 0.0054782 -0.11313356] [ 0.0314511 -0.00758605 0.9994765 -0.66705029] [ 0. 0. 0. 1. ]] SLAMing on 125.491346184 meters Centerline goodness [0,1] 0.7379493087557604 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.11, Z:-0.67 [[ 0.99729982 -0.06591724 -0.03237252 2.94260537] [ 0.06612426 0.99779697 0.00536542 -0.11080718] [ 0.03194753 -0.00749154 0.99946147 -0.66789921] [ 0. 0. 0. 1. ]] SLAMing on 125.521346184 meters Centerline goodness [0,1] 0.7886612275171518 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:-0.67 [[ 0.99733098 -0.06517431 -0.03291236 2.94507513] [ 0.0653907 0.99784435 0.00554084 -0.10818588] [ 0.03248029 -0.00767821 0.99944288 -0.66939025] [ 0. 0. 0. 1. ]] SLAMing on 125.551346184 meters Centerline goodness [0,1] 0.8127038106773502 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.11, Z:-0.67 [[ 0.99763131 -0.06008005 -0.03349865 2.94788128] [ 0.06044203 0.99812262 0.00989925 -0.10541793] [ 0.03284102 -0.01190053 0.99938974 -0.67167671] [ 0. 0. 0. 1. ]] SLAMing on 125.581346184 meters Centerline goodness [0,1] 0.8288517103178301 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.67 [[ 0.99765923 -0.0592901 -0.03406961 2.95015839] [ 0.05965157 0.99817221 0.00969203 -0.10310618] [ 0.03343269 -0.01170165 0.99937247 -0.67227038] [ 0. 0. 0. 1. ]] SLAMing on 125.611346184 meters Centerline goodness [0,1] 0.8406716417910448 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.67 [[ 0.99767298 -0.05878003 -0.03454748 2.95174233] [ 0.05913626 0.99820584 0.00938068 -0.10129972] [ 0.0339341 -0.01140186 0.99935903 -0.67228537] [ 0. 0. 0. 1. ]] SLAMing on 125.641346184 meters Centerline goodness [0,1] 0.8489112619995317 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.67 [[ 0.99770932 -0.05795784 -0.03488569 2.95334543] [ 0.05830222 0.99825898 0.00893596 -0.09898452] [ 0.03430704 -0.01094941 0.99935136 -0.67199014] [ 0. 0. 0. 1. ]] SLAMing on 125.671346184 meters Centerline goodness [0,1] 0.8553198463988012 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.10, Z:-0.67 [[ 0.99771692 -0.05754928 -0.03534151 2.95490248] [ 0.05789499 0.99828357 0.00883684 -0.0983633 ] [ 0.0347723 -0.01086276 0.99933622 -0.67228222] [ 0. 0. 0. 1. ]] SLAMing on 125.70134618399999 meters Centerline goodness [0,1] 0.8548387096774194 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.67 [[ 0.99772522 -0.05718082 -0.03570341 2.95638507] [ 0.05753318 0.99830374 0.00892007 -0.09820563] [ 0.0351328 -0.01095391 0.99932262 -0.67288185] [ 0. 0. 0. 1. ]] SLAMing on 125.73134618399999 meters Centerline goodness [0,1] 0.8543183205748368 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.67 [[ 0.99772188 -0.05727287 -0.03564933 2.95724051] [ 0.0576214 0.99829949 0.00882645 -0.09680617] [ 0.03508319 -0.01086051 0.99932538 -0.67406321] [ 0. 0. 0. 1. ]] SLAMing on 125.76134618399999 meters Centerline goodness [0,1] 0.8555691266970451 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.67 [[ 0.99771492 -0.0572981 -0.0358032 2.95829148] [ 0.05764726 0.99829826 0.00879646 -0.09579189] [ 0.03523825 -0.01084032 0.99932015 -0.67496212] [ 0. 0. 0. 1. ]] SLAMing on 125.79134618399999 meters Centerline goodness [0,1] 0.8539254597120781 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 0.99770213 -0.05739297 -0.03600691 2.95922366] [ 0.05774407 0.99829275 0.0087873 -0.09558613] [ 0.0354411 -0.01084629 0.99931291 -0.67559196] [ 0. 0. 0. 1. ]] SLAMing on 125.82134618399999 meters Centerline goodness [0,1] 0.8392379522312421 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 0.99747643 -0.06122895 -0.03594137 2.96047555] [ 0.06144467 0.99809833 0.00492724 -0.09582337] [ 0.03557133 -0.00712321 0.99934175 -0.67626266] [ 0. 0. 0. 1. ]] SLAMing on 125.851346184 meters Centerline goodness [0,1] 0.8354569214972464 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 9.97258133e-01 -6.44770534e-02 -3.63170261e-02 2.96306060e+00] [ 6.45663263e-02 9.97912585e-01 1.28950280e-03 -9.52210842e-02] [ 3.61580740e-02 -3.63082411e-03 9.99339487e-01 -6.77262368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.881346184 meters Centerline goodness [0,1] 0.8354771929008398 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 9.97257621e-01 -6.45849643e-02 -3.61388956e-02 2.96321128e+00] [ 6.46823139e-02 9.97904734e-01 1.52990183e-03 -9.71272279e-02] [ 3.59643664e-02 -3.86325365e-03 9.99345606e-01 -6.77838419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.911346184 meters Centerline goodness [0,1] 0.8270778103344031 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 9.97229918e-01 -6.52718605e-02 -3.56661580e-02 2.96190553e+00] [ 6.53546674e-02 9.97861425e-01 1.15958374e-03 -9.79167967e-02] [ 3.55141950e-02 -3.48732148e-03 9.99363087e-01 -6.77152724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.941346184 meters Centerline goodness [0,1] 0.8151325143936039 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.10, Z:-0.68 [[ 9.97225912e-01 -6.52840574e-02 -3.57557323e-02 2.96240359e+00] [ 6.53641716e-02 9.97860897e-01 1.07500408e-03 -9.63572537e-02] [ 3.56090665e-02 -3.40916575e-03 9.99359981e-01 -6.77388677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.971346184 meters Centerline goodness [0,1] 0.8206353275689282 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.09, Z:-0.68 [[ 9.97226190e-01 -6.50197077e-02 -3.62265593e-02 2.96401156e+00] [ 6.51028974e-02 9.97877927e-01 1.12026021e-03 -9.44061450e-02] [ 3.60768449e-02 -3.47560679e-03 9.99342975e-01 -6.78006838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.001346184 meters Centerline goodness [0,1] 0.8148303602658272 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.09, Z:-0.68 [[ 9.97237615e-01 -6.46678374e-02 -3.65405312e-02 2.96566733e+00] [ 6.47641343e-02 9.97899537e-01 1.45662536e-03 -9.40162066e-02] [ 3.63695823e-02 -3.81911747e-03 9.99331110e-01 -6.79218533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.031346184 meters Centerline goodness [0,1] 0.7680687134843229 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:-0.68 [[ 9.97028283e-01 -6.76276434e-02 -3.68931509e-02 2.96922581e+00] [ 6.76261468e-02 9.97709898e-01 -1.28989129e-03 -9.62781313e-02] [ 3.68958942e-02 -1.20888354e-03 9.99318383e-01 -6.81949507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.061346184 meters Centerline goodness [0,1] 0.8086869718636828 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.10, Z:-0.68 [[ 9.97045215e-01 -6.73577390e-02 -3.69293189e-02 2.97040566e+00] [ 6.73813238e-02 9.97727111e-01 -6.06995762e-04 -9.83358503e-02] [ 3.68862685e-02 -1.88314417e-03 9.99317696e-01 -6.83458086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09134618399999 meters Centerline goodness [0,1] 0.8027845457709711 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:-0.69 [[ 0.9971025 -0.06931634 -0.03133447 2.98439444] [ 0.06956091 0.99755465 0.00678235 -0.09851828] [ 0.03078772 -0.00894236 0.99948594 -0.68641412] [ 0. 0. 0. 1. ]] SLAMing on 126.12134618399999 meters Centerline goodness [0,1] 0.7969579800614925 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:-0.69 [[ 0.99707762 -0.06960558 -0.03148479 2.98418167] [ 0.06983029 0.99754027 0.00609348 -0.09658483] [ 0.0309832 -0.00827426 0.99948566 -0.68534065] [ 0. 0. 0. 1. ]] SLAMing on 126.15134618399999 meters Centerline goodness [0,1] 0.7898101015735769 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:-0.68 [[ 0.99706289 -0.06973819 -0.03165727 2.98428517] [ 0.06995091 0.99753437 0.00566113 -0.09571074] [ 0.03118442 -0.00785895 0.99948275 -0.6845674 ] [ 0. 0. 0. 1. ]] SLAMing on 126.18134618399999 meters Centerline goodness [0,1] 0.7993027309703661 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:-0.68 [[ 0.9970581 -0.06978184 -0.03171174 2.98449145] [ 0.06998908 0.99753275 0.00547169 -0.09587416] [ 0.03125167 -0.00767507 0.99948208 -0.68431608] [ 0. 0. 0. 1. ]] SLAMing on 126.21134618399999 meters Centerline goodness [0,1] 0.7866047591410331 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.10, Z:-0.68 [[ 0.99707 -0.06964297 -0.03164272 2.98494712] [ 0.06985826 0.99754036 0.00574863 -0.09713866] [ 0.03116454 -0.0079423 0.99948271 -0.68497457] [ 0. 0. 0. 1. ]] SLAMing on 126.241346184 meters Centerline goodness [0,1] 0.8240141122948726 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.69 [[ 0.99710761 -0.06895733 -0.03195775 2.98717591] [ 0.06919662 0.99758224 0.00644188 -0.09841879] [ 0.03143627 -0.00863462 0.99946846 -0.68686623] [ 0. 0. 0. 1. ]] SLAMing on 126.271346184 meters Centerline goodness [0,1] 0.8074153231426846 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.69 [[ 0.9971172 -0.06864132 -0.03233675 2.98867993] [ 0.06888369 0.99760391 0.00644028 -0.09730348] [ 0.0318172 -0.00864919 0.99945628 -0.68760496] [ 0. 0. 0. 1. ]] SLAMing on 126.301346184 meters Centerline goodness [0,1] 0.8128988680299996 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.69 [[ 0.99712913 -0.06829844 -0.03269273 2.99012178] [ 0.06853975 0.99762839 0.00631709 -0.09555589] [ 0.03218374 -0.00853971 0.99944549 -0.6882137 ] [ 0. 0. 0. 1. ]] SLAMing on 126.331346184 meters Centerline goodness [0,1] 0.8282776469491011 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.09, Z:-0.69 [[ 0.99714042 -0.06795826 -0.03305539 2.99141809] [ 0.06819892 0.99765243 0.00620723 -0.09425122] [ 0.03255595 -0.00844382 0.99943425 -0.68865639] [ 0. 0. 0. 1. ]] SLAMing on 126.361346184 meters Centerline goodness [0,1] 0.8309557608619766 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.10, Z:-0.69 [[ 0.99719874 -0.06677947 -0.03369241 2.99459258] [ 0.06705574 0.99772371 0.00713646 -0.09531745] [ 0.03313915 -0.00937574 0.99940677 -0.69062962] [ 0. 0. 0. 1. ]] SLAMing on 126.391346184 meters Centerline goodness [0,1] 0.8393347290067458 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.69 [[ 0.99722432 -0.06623971 -0.03399925 2.99641597] [ 0.06654014 0.99775341 0.00778107 -0.09669856] [ 0.03340745 -0.01002179 0.99939157 -0.69209415] [ 0. 0. 0. 1. ]] SLAMing on 126.421346184 meters Centerline goodness [0,1] 0.8392675718112127 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.69 [[ 0.99723682 -0.06586586 -0.03435706 2.99786371] [ 0.0661725 0.9977772 0.00786455 -0.09652696] [ 0.03376269 -0.01011631 0.99937868 -0.69241893] [ 0. 0. 0. 1. ]] SLAMing on 126.45134618399999 meters Centerline goodness [0,1] 0.8436519191872225 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.69 [[ 0.9972201 -0.06607959 -0.03443204 2.99758121] [ 0.06636276 0.99776997 0.00714589 -0.09452281] [ 0.03388306 -0.00941103 0.99938149 -0.6913611 ] [ 0. 0. 0. 1. ]] SLAMing on 126.48134618399999 meters Centerline goodness [0,1] 0.8436519191872225 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.69 [[ 0.9972201 -0.06607959 -0.03443204 2.99758121] [ 0.06636276 0.99776997 0.00714589 -0.09452281] [ 0.03388306 -0.00941103 0.99938149 -0.6913611 ] [ 0. 0. 0. 1. ]] SLAMing on 126.51134618399999 meters Centerline goodness [0,1] 0.845571852952098 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.69 [[ 0.99721693 -0.06596039 -0.03475074 2.99820688] [ 0.06623185 0.99778164 0.00671801 -0.09295982] [ 0.03423053 -0.00900092 0.99937343 -0.69069357] [ 0. 0. 0. 1. ]] SLAMing on 126.54134618399999 meters Centerline goodness [0,1] 0.8470064969843747 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.69 [[ 0.9972208 -0.06584828 -0.03485231 2.99865672] [ 0.06611618 0.99779017 0.00658969 -0.0924622 ] [ 0.03434137 -0.00887568 0.99937075 -0.69067024] [ 0. 0. 0. 1. ]] SLAMing on 126.57134618399999 meters Centerline goodness [0,1] 0.8475727477844199 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.09, Z:-0.69 [[ 0.99723128 -0.06555157 -0.03511071 2.99979019] [ 0.06582997 0.99780747 0.00683148 -0.09334089] [ 0.03458591 -0.0091239 0.99936008 -0.69125415] [ 0. 0. 0. 1. ]] SLAMing on 126.601346184 meters Centerline goodness [0,1] 0.8498044874778885 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.69 [[ 0.99726563 -0.0647483 -0.03562191 3.00298694] [ 0.06506435 0.9978507 0.00778481 -0.09535073] [ 0.0350413 -0.01008124 0.99933502 -0.69387858] [ 0. 0. 0. 1. ]] SLAMing on 126.631346184 meters Centerline goodness [0,1] 0.8451307851769035 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.10, Z:-0.70 [[ 0.99726871 -0.06456506 -0.03586738 3.00453455] [ 0.06489289 0.99785976 0.00805098 -0.09544422] [ 0.03527081 -0.01035653 0.99932413 -0.69519826] [ 0. 0. 0. 1. ]] SLAMing on 126.661346184 meters Centerline goodness [0,1] 0.8422082915802475 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.10, Z:-0.70 [[ 0.99725702 -0.06465329 -0.03603329 3.00546391] [ 0.06498269 0.99785396 0.00804531 -0.09524125] [ 0.0354358 -0.01036478 0.99931821 -0.69597843] [ 0. 0. 0. 1. ]] SLAMing on 126.691346184 meters Centerline goodness [0,1] 0.8232084139828828 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 0.99721307 -0.06538959 -0.03592056 3.00510361] [ 0.06569335 0.99781286 0.00734094 -0.0938535 ] [ 0.03536198 -0.00968023 0.99932769 -0.69573176] [ 0. 0. 0. 1. ]] SLAMing on 126.721346184 meters Centerline goodness [0,1] 0.8249674358020097 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 0.99697853 -0.06859515 -0.03644894 3.00778627] [ 0.06875535 0.99762855 0.00315868 -0.09087103] [ 0.03614584 -0.00565519 0.99933052 -0.69602178] [ 0. 0. 0. 1. ]] SLAMing on 126.751346184 meters Centerline goodness [0,1] 0.8141277784242988 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96963854e-01 -6.88744987e-02 -3.63232257e-02 3.00757200e+00] [ 6.90269627e-02 9.97610407e-01 2.95871602e-03 -9.12377824e-02] [ 3.60326479e-02 -5.45701488e-03 9.99335714e-01 -6.95943599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.781346184 meters Centerline goodness [0,1] 0.808319359046022 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96930935e-01 -6.95165959e-02 -3.60021354e-02 3.00683693e+00] [ 6.96463023e-02 9.97568957e-01 2.35972851e-03 -9.11876869e-02] [ 3.57505724e-02 -4.85990196e-03 9.99348927e-01 -6.95480028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.811346184 meters Centerline goodness [0,1] 0.8056771609538003 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96925778e-01 -6.95301155e-02 -3.61186457e-02 3.00743127e+00] [ 6.96591144e-02 9.97568147e-01 2.32396296e-03 -9.11516794e-02] [ 3.58692250e-02 -4.83281145e-03 9.99344807e-01 -6.95741354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84134618399999 meters Centerline goodness [0,1] 0.7919964614954838 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96915514e-01 -6.96227808e-02 -3.62232769e-02 3.00800205e+00] [ 6.97466248e-02 9.97562389e-01 2.16503870e-03 -9.05577242e-02] [ 3.59842427e-02 -4.68481198e-03 9.99341377e-01 -6.96007051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87134618399999 meters Centerline goodness [0,1] 0.7933162552398696 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96913879e-01 -6.95983773e-02 -3.63150520e-02 3.00868506e+00] [ 6.97252792e-02 9.97563720e-01 2.23825520e-03 -9.05806750e-02] [ 3.60707994e-02 -4.76342481e-03 9.99337884e-01 -6.96540144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90134618399999 meters Centerline goodness [0,1] 0.8115827237571636 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96883470e-01 -7.00842643e-02 -3.62152251e-02 3.00860025e+00] [ 7.02037887e-02 9.97530589e-01 2.03778995e-03 -9.09150456e-02] [ 3.59829778e-02 -4.57388513e-03 9.99341936e-01 -6.96674154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93134618399999 meters Centerline goodness [0,1] 0.802572811017028 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96894766e-01 -6.97815879e-02 -3.64877346e-02 3.01016601e+00] [ 6.99189460e-02 9.97549542e-01 2.50057577e-03 -9.12680525e-02] [ 3.62238288e-02 -5.04399485e-03 9.99330972e-01 -6.97972867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96134618399999 meters Centerline goodness [0,1] 0.7984396533601177 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96871847e-01 -7.00264567e-02 -3.66444579e-02 3.01103506e+00] [ 7.01612452e-02 9.97532767e-01 2.40377200e-03 -9.00396691e-02] [ 3.63857198e-02 -4.96727342e-03 9.99325475e-01 -6.98783504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.991346184 meters Centerline goodness [0,1] 0.788511444135319 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96856562e-01 -7.02084687e-02 -3.67119188e-02 3.01140586e+00] [ 7.03322039e-02 9.97521438e-01 2.08832084e-03 -8.92030903e-02] [ 3.64743082e-02 -4.66378649e-03 9.99323708e-01 -6.98904260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.021346184 meters Centerline goodness [0,1] 0.7870750840493089 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96855914e-01 -7.01579409e-02 -3.68259402e-02 3.01222602e+00] [ 7.02781105e-02 9.97525477e-01 1.97731922e-03 -8.85688170e-02] [ 3.65960890e-02 -4.55915986e-03 9.99319739e-01 -6.99402419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.051346184 meters Centerline goodness [0,1] 0.7927236001503194 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.09, Z:-0.70 [[ 9.96844092e-01 -7.04235150e-02 -3.66385635e-02 3.01175641e+00] [ 7.05116428e-02 9.97510331e-01 1.11714937e-03 -8.59957288e-02] [ 3.64686720e-02 -3.69706905e-03 9.99327958e-01 -6.98808859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.081346184 meters Centerline goodness [0,1] 0.800384913277161 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.70 [[ 9.96853934e-01 -7.00661807e-02 -3.70535238e-02 3.01345374e+00] [ 7.01565497e-02 9.97535339e-01 1.14270466e-03 -8.49303949e-02] [ 3.68821345e-02 -3.73865702e-03 9.99312629e-01 -6.99589273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.111346184 meters Centerline goodness [0,1] 0.7951753458764945 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.08, Z:-0.70 [[ 9.96851846e-01 -6.99457233e-02 -3.73362089e-02 3.01468849e+00] [ 7.00320450e-02 9.97544233e-01 1.00761172e-03 -8.38187243e-02] [ 3.71740418e-02 -3.61917067e-03 9.99302253e-01 -7.00193352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.141346184 meters Centerline goodness [0,1] 0.7986811116344795 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.70 [[ 9.96856957e-01 -6.97998020e-02 -3.74725767e-02 3.01578509e+00] [ 6.98889362e-02 9.97554202e-01 1.07242340e-03 -8.32400622e-02] [ 3.73060714e-02 -3.68797125e-03 9.99297081e-01 -7.01182876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.171346184 meters Centerline goodness [0,1] 0.7921179941002949 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.70 [[ 9.96871213e-01 -6.92386695e-02 -3.81286163e-02 3.01866630e+00] [ 6.93408796e-02 9.97592093e-01 1.36321548e-03 -8.12421372e-02] [ 3.79424189e-02 -4.00282206e-03 9.99271910e-01 -7.02972054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20134618399999 meters Centerline goodness [0,1] 0.792706879008022 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.70 [[ 9.96866198e-01 -6.91668176e-02 -3.83892518e-02 3.01961836e+00] [ 6.92590129e-02 9.97598132e-01 1.07532249e-03 -7.94356451e-02] [ 3.82226693e-02 -3.73075433e-03 9.99262282e-01 -7.03227302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23134618399999 meters Centerline goodness [0,1] 0.7975310397118757 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.70 [[ 9.96867776e-01 -6.89924128e-02 -3.86611491e-02 3.02090152e+00] [ 6.90811728e-02 9.97610577e-01 9.63094766e-04 -7.78703766e-02] [ 3.85023250e-02 -3.63083566e-03 9.99251914e-01 -7.03953527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26134618399999 meters Centerline goodness [0,1] 0.7932115626707203 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.71 [[ 9.96902792e-01 -6.82969742e-02 -3.89916336e-02 3.02324710e+00] [ 6.84070817e-02 9.97656372e-01 1.49517371e-03 -7.70274801e-02] [ 3.87981359e-02 -4.15784671e-03 9.99238418e-01 -7.05979773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29134618399999 meters Centerline goodness [0,1] 0.7958315509292266 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.08, Z:-0.71 [[ 9.96902315e-01 -6.82537628e-02 -3.90793722e-02 3.02370518e+00] [ 6.83513011e-02 9.97660636e-01 1.16372990e-03 -7.59056780e-02] [ 3.89085224e-02 -3.83125096e-03 9.99235432e-01 -7.05885845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32134618399999 meters Centerline goodness [0,1] 0.8022137241395692 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.07, Z:-0.71 [[ 9.96902037e-01 -6.79882427e-02 -3.95465283e-02 3.02507450e+00] [ 6.80703920e-02 9.97680252e-01 7.32942276e-04 -7.42578191e-02] [ 3.94049588e-02 -3.42261933e-03 9.99217461e-01 -7.05660271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.351346184 meters Centerline goodness [0,1] 0.8121374173371213 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.07, Z:-0.71 [[ 9.96937968e-01 -6.72524780e-02 -3.98972675e-02 3.02665573e+00] [ 6.73259043e-02 9.97730913e-01 4.98129928e-04 -7.05619370e-02] [ 3.97732367e-02 -3.18272425e-03 9.99203663e-01 -7.05904567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.381346184 meters Centerline goodness [0,1] 0.8183101624751741 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.07, Z:-0.71 [[ 9.96947635e-01 -6.68397777e-02 -4.03467038e-02 3.02828161e+00] [ 6.69069038e-02 9.97759173e-01 3.14231881e-04 -6.85925841e-02] [ 4.02352907e-02 -3.01274576e-03 9.99185691e-01 -7.06279022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.411346184 meters Centerline goodness [0,1] 0.8224910179640719 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.07, Z:-0.71 [[ 9.96957408e-01 -6.64609363e-02 -4.07292428e-02 3.02970722e+00] [ 6.65231931e-02 9.97784864e-01 1.73679778e-04 -6.68690454e-02] [ 4.06274790e-02 -2.88259062e-03 9.99170205e-01 -7.06685904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.441346184 meters Centerline goodness [0,1] 0.8183716576256541 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.07, Z:-0.71 [[ 9.96956779e-01 -6.63062716e-02 -4.09958417e-02 3.03082937e+00] [ 6.63601406e-02 9.97795735e-01 -4.69076483e-05 -6.53753754e-02] [ 4.09085862e-02 -2.67372492e-03 9.99159316e-01 -7.07101075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.471346184 meters Centerline goodness [0,1] 0.8138053692888216 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.06, Z:-0.71 [[ 9.96963812e-01 -6.58272712e-02 -4.15923904e-02 3.03366562e+00] [ 6.58988799e-02 9.97826244e-01 3.51500141e-04 -6.45179057e-02] [ 4.14788404e-02 -3.09132486e-03 9.99134600e-01 -7.09087829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.501346184 meters Centerline goodness [0,1] 0.8045888734219747 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.07, Z:-0.71 [[ 9.96968945e-01 -6.56292748e-02 -4.17818307e-02 3.03511644e+00] [ 6.57155908e-02 9.97838153e-01 6.94294181e-04 -6.50738142e-02] [ 4.16459387e-02 -3.43790743e-03 9.99126517e-01 -7.10399894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.531346184 meters Centerline goodness [0,1] 0.7998655688119644 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.07, Z:-0.71 [[ 9.96967557e-01 -6.56298284e-02 -4.18140544e-02 3.03602108e+00] [ 6.57297678e-02 9.97836941e-01 1.01828929e-03 -6.62002771e-02] [ 4.16567780e-02 -3.76362947e-03 9.99124891e-01 -7.11547671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.561346184 meters Centerline goodness [0,1] 0.7893019908851043 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.07, Z:-0.71 [[ 9.96964849e-01 -6.56343947e-02 -4.18714137e-02 3.03692461e+00] [ 6.57460119e-02 9.97835553e-01 1.29277562e-03 -6.72166114e-02] [ 4.16959347e-02 -4.04173032e-03 9.99122171e-01 -7.12572196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59134618399999 meters Centerline goodness [0,1] 0.790325684321932 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.06, Z:-0.71 [[ 9.96716883e-01 -6.89485492e-02 -4.24447119e-02 3.03926229e+00] [ 6.88861612e-02 9.97620217e-01 -2.93244435e-03 -6.27914271e-02] [ 4.25458905e-02 -1.03647445e-06 9.99094514e-01 -7.12139101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62134618399999 meters Centerline goodness [0,1] 0.7835411351273287 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.06, Z:-0.71 [[ 9.96716710e-01 -6.88091974e-02 -4.26742774e-02 3.04012612e+00] [ 6.87484261e-02 9.97629837e-01 -2.89174823e-03 -6.20710725e-02] [ 4.27721113e-02 -5.15356264e-05 9.99084853e-01 -7.12415787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65134618399999 meters Centerline goodness [0,1] 0.7759898013181316 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.06, Z:-0.71 [[ 9.96731333e-01 -6.84550922e-02 -4.29016224e-02 3.04144841e+00] [ 6.84123918e-02 9.97654084e-01 -2.46442285e-03 -6.27055653e-02] [ 4.29696811e-02 -4.78635130e-04 9.99076262e-01 -7.13301805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68134618399999 meters Centerline goodness [0,1] 0.7710041106757374 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.07, Z:-0.72 [[ 9.96761615e-01 -6.78604141e-02 -4.31421794e-02 3.04346700e+00] [ 6.78589210e-02 9.97693798e-01 -1.50077221e-03 -6.50749300e-02] [ 4.31445278e-02 -1.43166961e-03 9.99067816e-01 -7.15227883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71134618399999 meters Centerline goodness [0,1] 0.7725423157489225 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.06, Z:-0.72 [[ 9.96774317e-01 -6.74562266e-02 -4.34812320e-02 3.04483745e+00] [ 6.74621386e-02 9.97720944e-01 -1.33305573e-03 -6.47486714e-02] [ 4.34720588e-02 -1.60458118e-03 9.99053355e-01 -7.15657825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.741346184 meters Centerline goodness [0,1] 0.7611846857693234 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96771628e-01 -6.72277577e-02 -4.38947725e-02 3.04597595e+00] [ 6.72244923e-02 9.97736668e-01 -1.55217432e-03 -6.30794385e-02] [ 4.38997732e-02 -1.40364047e-03 9.99034954e-01 -7.15491870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.771346184 meters Centerline goodness [0,1] 0.7718653250773994 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96782163e-01 -6.67567008e-02 -4.43718624e-02 3.04765235e+00] [ 6.67598878e-02 9.97768072e-01 -1.41168786e-03 -6.13279982e-02] [ 4.43670672e-02 -1.55511528e-03 9.99014086e-01 -7.15917368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.801346184 meters Centerline goodness [0,1] 0.7680917874396136 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96806320e-01 -6.62744975e-02 -4.45516652e-02 3.04912610e+00] [ 6.62990451e-02 9.97799366e-01 -9.28012867e-04 -6.25905519e-02] [ 4.45151268e-02 -2.02868376e-03 9.99006651e-01 -7.17010561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.831346184 meters Centerline goodness [0,1] 0.768926321886237 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96822945e-01 -6.59146643e-02 -4.47132257e-02 3.05015590e+00] [ 6.59534387e-02 9.97822516e-01 -6.09108060e-04 -6.38481866e-02] [ 4.46560125e-02 -2.34181810e-03 9.98999678e-01 -7.17566280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.861346184 meters Centerline goodness [0,1] 0.772905379256966 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96823196e-01 -6.59858591e-02 -4.46024887e-02 3.04987268e+00] [ 6.59940433e-02 9.97819182e-01 -1.29057384e-03 -6.19979083e-02] [ 4.45903784e-02 -1.65702463e-03 9.99003980e-01 -7.16694252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.891346184 meters Centerline goodness [0,1] 0.778479786976519 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.06, Z:-0.72 [[ 9.96849107e-01 -6.51640998e-02 -4.52271768e-02 3.05240991e+00] [ 6.51842890e-02 9.97872711e-01 -1.02983718e-03 -6.08045128e-02] [ 4.51980739e-02 -1.92150909e-03 9.98976197e-01 -7.17658308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.921346184 meters Centerline goodness [0,1] 0.7980228726497383 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96877300e-01 -6.42520041e-02 -4.59056476e-02 3.05535085e+00] [ 6.42910885e-02 9.97930992e-01 -6.26055165e-04 -5.99740814e-02] [ 4.58508937e-02 -2.32722387e-03 9.98945584e-01 -7.19118590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95134618399999 meters Centerline goodness [0,1] 0.8015761054628594 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96946653e-01 -6.27300784e-02 -4.65006220e-02 3.05872861e+00] [ 6.28050277e-02 9.98025804e-01 1.51079075e-04 -5.88527039e-02] [ 4.63993435e-02 -3.07109063e-03 9.98918250e-01 -7.21023200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98134618399999 meters Centerline goodness [0,1] 0.8176250425314733 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96968430e-01 -6.21062535e-02 -4.68696450e-02 3.06058572e+00] [ 6.22015060e-02 9.98063446e-01 5.75135316e-04 -5.91246591e-02] [ 4.67431599e-02 -3.48875426e-03 9.98900849e-01 -7.22039200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.011346184 meters Centerline goodness [0,1] 0.8157254730288438 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96979988e-01 -6.16600677e-02 -4.72116570e-02 3.06219838e+00] [ 6.17712837e-02 9.98089926e-01 8.98956821e-04 -5.94126570e-02] [ 4.70660495e-02 -3.81256662e-03 9.98884503e-01 -7.22850870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.041346184 meters Centerline goodness [0,1] 0.815421241861821 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96987551e-01 -6.14182722e-02 -4.73668600e-02 3.06307026e+00] [ 6.15351001e-02 9.98104408e-01 1.01084260e-03 -5.92040912e-02] [ 4.72149876e-02 -3.92252196e-03 9.98877049e-01 -7.23254456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.071346184 meters Centerline goodness [0,1] 0.8195871269292565 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.06, Z:-0.72 [[ 9.96972888e-01 -6.14248250e-02 -4.76660481e-02 3.06366978e+00] [ 6.15244025e-02 9.98105385e-01 6.23349627e-04 -5.78542124e-02] [ 4.75374501e-02 -3.55408781e-03 9.98863133e-01 -7.22501031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.101346184 meters Centerline goodness [0,1] 0.8164384891737062 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.72 [[ 9.96751916e-01 -6.44919956e-02 -4.82327814e-02 3.06646990e+00] [ 6.44075518e-02 9.97918207e-01 -3.30451518e-03 -5.64033909e-02] [ 4.83454855e-02 1.87226473e-04 9.98830656e-01 -7.22516213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.131346184 meters Centerline goodness [0,1] 0.8149844871049059 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.72 [[ 9.96765235e-01 -6.43689769e-02 -4.81217393e-02 3.06663662e+00] [ 6.43067073e-02 9.97926133e-01 -2.84266382e-03 -5.92918926e-02] [ 4.82049205e-02 -2.61082136e-04 9.98837433e-01 -7.22799120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.161346184 meters Centerline goodness [0,1] 0.8183311591051843 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.72 [[ 9.96778010e-01 -6.42107954e-02 -4.80684094e-02 3.06721712e+00] [ 6.41754661e-02 9.97936027e-01 -2.27951474e-03 -6.23140800e-02] [ 4.81155669e-02 -8.12642413e-04 9.98841445e-01 -7.23437686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.191346184 meters Centerline goodness [0,1] 0.8165390950489294 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.72 [[ 9.96791359e-01 -6.37663487e-02 -4.83822230e-02 3.06875250e+00] [ 6.37507375e-02 9.97964106e-01 -1.86727479e-03 -6.23049897e-02] [ 4.84027912e-02 -1.22311902e-03 9.98827149e-01 -7.24374146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.221346184 meters Centerline goodness [0,1] 0.8200624228787109 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.73 [[ 9.96810290e-01 -6.30739521e-02 -4.88970525e-02 3.07100675e+00] [ 6.30880701e-02 9.98007173e-01 -1.25609067e-03 -6.20809919e-02] [ 4.88788357e-02 -1.83273658e-03 9.98803034e-01 -7.25659333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.251346184 meters Centerline goodness [0,1] 0.8216523527277126 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.73 [[ 9.96827592e-01 -6.25449079e-02 -4.92228152e-02 3.07256793e+00] [ 6.25693775e-02 9.98040070e-01 -1.04509046e-03 -6.13981434e-02] [ 4.91917070e-02 -2.03806590e-03 9.98787276e-01 -7.26345053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.281346184 meters Centerline goodness [0,1] 0.8361705223337699 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.06, Z:-0.73 [[ 9.96870691e-01 -6.14295587e-02 -4.97517344e-02 3.07490659e+00] [ 6.14765984e-02 9.98108353e-01 -5.85638507e-04 -6.12016870e-02] [ 4.96935972e-02 -2.47476153e-03 9.98761444e-01 -7.26869462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.311346184 meters Centerline goodness [0,1] 0.8391051995163241 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.06, Z:-0.73 [[ 9.96900910e-01 -6.07548771e-02 -4.99741889e-02 3.07677821e+00] [ 6.08305914e-02 9.98148105e-01 -5.87208326e-06 -6.23397033e-02] [ 4.98819987e-02 -3.03410558e-03 9.98750510e-01 -7.28216871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.341346184 meters Centerline goodness [0,1] 0.8433577595588768 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.06, Z:-0.73 [[ 9.96920353e-01 -6.03035606e-02 -5.01327246e-02 3.07806933e+00] [ 6.03958482e-02 9.98174451e-01 3.26669379e-04 -6.31128612e-02] [ 5.00215055e-02 -3.35347178e-03 9.98742511e-01 -7.28970795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.371346184 meters Centerline goodness [0,1] 0.8476036097065299 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.06, Z:-0.73 [[ 9.96926100e-01 -6.01629444e-02 -5.01873525e-02 3.07834151e+00] [ 6.02472296e-02 9.98183472e-01 1.66953807e-04 -6.30261829e-02] [ 5.00861413e-02 -3.19008956e-03 9.98739807e-01 -7.28398467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.401346184 meters Centerline goodness [0,1] 0.8410373132521368 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.06, Z:-0.73 [[ 9.96934357e-01 -6.00939339e-02 -5.01059652e-02 3.07860286e+00] [ 6.01862070e-02 9.98187111e-01 3.33439961e-04 -6.39734778e-02] [ 4.99950910e-02 -3.34810575e-03 9.98743852e-01 -7.28705504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.431346184 meters Centerline goodness [0,1] 0.8410373132521368 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.06, Z:-0.73 [[ 9.96934357e-01 -6.00939339e-02 -5.01059652e-02 3.07860286e+00] [ 6.01862070e-02 9.98187111e-01 3.33439961e-04 -6.39734778e-02] [ 4.99950910e-02 -3.34810575e-03 9.98743852e-01 -7.28705504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.461346184 meters Centerline goodness [0,1] 0.8386623007656377 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.07, Z:-0.73 [[ 9.96952179e-01 -5.94515607e-02 -5.05159761e-02 3.08067358e+00] [ 5.95881733e-02 9.98222323e-01 1.20128717e-03 -6.61335403e-02] [ 5.03547566e-02 -4.20778060e-03 9.98722531e-01 -7.29994799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.491346184 meters Centerline goodness [0,1] 0.840316719212534 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.07, Z:-0.73 [[ 9.96958836e-01 -5.92832013e-02 -5.05824238e-02 3.08152702e+00] [ 5.94506422e-02 9.98229604e-01 1.81083733e-03 -6.79068204e-02] [ 5.03855206e-02 -4.81248786e-03 9.98718248e-01 -7.30919527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52134618399998 meters Centerline goodness [0,1] 0.835745070185154 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.07, Z:-0.73 [[ 9.96962966e-01 -5.89437891e-02 -5.08966969e-02 3.08283658e+00] [ 5.91233116e-02 9.98248628e-01 2.02754861e-03 -6.77961135e-02] [ 5.06880464e-02 -5.03057215e-03 9.98701865e-01 -7.31366034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55134618399998 meters Centerline goodness [0,1] 0.8420215458029066 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.07, Z:-0.73 [[ 9.96968336e-01 -5.85586168e-02 -5.12350111e-02 3.08423721e+00] [ 5.87529599e-02 9.98269917e-01 2.29403969e-03 -6.79793593e-02] [ 5.10120344e-02 -5.29729348e-03 9.98683990e-01 -7.31843934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58134618399998 meters Centerline goodness [0,1] 0.84465131942941 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.73 [[ 9.96986047e-01 -5.80494057e-02 -5.14692912e-02 3.08586496e+00] [ 5.82819736e-02 9.98295569e-01 3.02801953e-03 -7.02741111e-02] [ 5.12057906e-02 -6.01862509e-03 9.98669987e-01 -7.33058510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61134618399998 meters Centerline goodness [0,1] 0.8444005872584177 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.73 [[ 0.9970028 -0.05749176 -0.0517699 3.08775489] [ 0.05775721 0.99832401 0.0036449 -0.07193848] [ 0.05147358 -0.00662407 0.99865239 -0.73435983] [ 0. 0. 0. 1. ]] SLAMing on 128.64134618399999 meters Centerline goodness [0,1] 0.8568404339772426 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.74 [[ 0.99701735 -0.05684275 -0.05220439 3.08995213] [ 0.05713469 0.998358 0.00411569 -0.07259669] [ 0.05188472 -0.0070861 0.99862794 -0.73557517] [ 0. 0. 0. 1. ]] SLAMing on 128.671346184 meters Centerline goodness [0,1] 0.8564880366699466 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.07, Z:-0.74 [[ 0.9970253 -0.05580687 -0.0531615 3.09356341] [ 0.05613903 0.99841155 0.00477423 -0.07258004] [ 0.05281062 -0.00774447 0.99857452 -0.73697569] [ 0. 0. 0. 1. ]] SLAMing on 128.701346184 meters Centerline goodness [0,1] 0.856507738152456 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.74 [[ 0.99703034 -0.05522614 -0.05367106 3.09580842] [ 0.05557069 0.9984425 0.0049476 -0.07153476] [ 0.05331423 -0.00791544 0.99854641 -0.73794712] [ 0. 0. 0. 1. ]] SLAMing on 128.731346184 meters Centerline goodness [0,1] 0.8587694381589717 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.74 [[ 0.99704639 -0.05423286 -0.05438094 3.09896804] [ 0.05459872 0.9984945 0.00526382 -0.06971169] [ 0.0540136 -0.0082174 0.99850639 -0.7391971 ] [ 0. 0. 0. 1. ]] SLAMing on 128.761346184 meters Centerline goodness [0,1] 0.8599339902189886 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.74 [[ 0.99704103 -0.05384113 -0.05486636 3.10081939] [ 0.05420147 0.998517 0.00509967 -0.0685888 ] [ 0.05451042 -0.00805842 0.99848068 -0.73953464] [ 0. 0. 0. 1. ]] SLAMing on 128.791346184 meters Centerline goodness [0,1] 0.8675091822926735 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.07, Z:-0.74 [[ 0.99703005 -0.05372557 -0.05517827 3.10181894] [ 0.0540736 0.99852526 0.00483289 -0.0675455 ] [ 0.05483725 -0.00780222 0.99846482 -0.73948547] [ 0. 0. 0. 1. ]] SLAMing on 128.821346184 meters Centerline goodness [0,1] 0.8683854770181537 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.74 [[ 9.96872186e-01 -5.58681174e-02 -5.58981123e-02 3.10587425e+00] [ 5.60209164e-02 9.98428911e-01 1.16908751e-03 -6.49242827e-02] [ 5.57449766e-02 -4.29689430e-03 9.98435794e-01 -7.39898043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.851346184 meters Centerline goodness [0,1] 0.8704635761589404 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.07, Z:-0.74 [[ 9.96879097e-01 -5.52617489e-02 -5.63755789e-02 3.10820762e+00] [ 5.54319163e-02 9.98461405e-01 1.45799330e-03 -6.53282604e-02] [ 5.62082685e-02 -4.57844941e-03 9.98408568e-01 -7.41030898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.881346184 meters Centerline goodness [0,1] 0.8760806222457678 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.74 [[ 9.96877649e-01 -5.45620208e-02 -5.70783504e-02 3.11081879e+00] [ 5.47410246e-02 9.98499342e-01 1.57611392e-03 -6.46942272e-02] [ 5.69066994e-02 -4.69572012e-03 9.98368458e-01 -7.41651489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.911346184 meters Centerline goodness [0,1] 0.8795139979226552 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.06, Z:-0.74 [[ 9.96867209e-01 -5.37657389e-02 -5.80087387e-02 3.11353540e+00] [ 5.39068352e-02 9.98545591e-01 8.69089507e-04 -6.01099977e-02] [ 5.78776431e-02 -3.99343435e-03 9.98315697e-01 -7.40890234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.941346184 meters Centerline goodness [0,1] 0.880604960677556 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:-0.74 [[ 9.96860737e-01 -5.31158847e-02 -5.87143447e-02 3.11598993e+00] [ 5.32565000e-02 9.98580519e-01 8.31587283e-04 -5.86820288e-02] [ 5.85868304e-02 -3.95589721e-03 9.98274478e-01 -7.41274581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.971346184 meters Centerline goodness [0,1] 0.8846414236665217 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:-0.74 [[ 9.96854698e-01 -5.24821511e-02 -5.93829437e-02 3.11818216e+00] [ 5.26195965e-02 9.98614346e-01 7.52118384e-04 -5.78980526e-02] [ 5.92611867e-02 -3.87445928e-03 9.98234993e-01 -7.41359952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.001346184 meters Centerline goodness [0,1] 0.8876657311526178 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:-0.74 [[ 9.96846040e-01 -5.19633133e-02 -5.99815563e-02 3.12011758e+00] [ 5.20917547e-02 9.98642135e-01 5.78598985e-04 -5.69754609e-02] [ 5.98700436e-02 -3.70131863e-03 9.98199318e-01 -7.41317952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.031346184 meters Centerline goodness [0,1] 0.889519439748853 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:-0.74 [[ 9.96842334e-01 -5.12033006e-02 -6.06925289e-02 3.12262722e+00] [ 5.13323168e-02 9.98681466e-01 5.67436466e-04 -5.54897901e-02] [ 6.05834491e-02 -3.68113281e-03 9.98156348e-01 -7.41466312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.061346184 meters Centerline goodness [0,1] 0.8886306411001356 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.06, Z:-0.74 [[ 9.96836106e-01 -5.09890867e-02 -6.09745110e-02 3.12386340e+00] [ 5.11248726e-02 9.98692045e-01 6.67879054e-04 -5.56007643e-02] [ 6.08607046e-02 -3.78308006e-03 9.98139100e-01 -7.41832125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.091346184 meters Centerline goodness [0,1] 0.8863597881038194 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.05, Z:-0.74 [[ 9.96622795e-01 -5.42817565e-02 -6.16157052e-02 3.12653722e+00] [ 5.41554514e-02 9.98525590e-01 -3.71927234e-03 -5.26511180e-02] [ 6.17267470e-02 3.69885263e-04 9.98093018e-01 -7.41343965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.121346184 meters Centerline goodness [0,1] 0.886024686567888 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.75 [[ 0.99685527 -0.0562072 -0.0558599 3.14093369] [ 0.05652711 0.99839239 0.00416233 -0.05439986] [ 0.05553615 -0.00730684 0.99842994 -0.74587765] [ 0. 0. 0. 1. ]] SLAMing on 129.151346184 meters Centerline goodness [0,1] 0.8881860105753676 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.74 [[ 9.96615354e-01 -5.95810446e-02 -5.66386439e-02 3.14346854e+00] [ 5.96226157e-02 9.98220531e-01 -9.57079895e-04 -5.07790807e-02] [ 5.65948810e-02 -2.42310358e-03 9.98394285e-01 -7.43831827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.181346184 meters Centerline goodness [0,1] 0.883756418951652 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.05, Z:-0.74 [[ 9.96614600e-01 -5.95442796e-02 -5.66905404e-02 3.14405483e+00] [ 5.95911845e-02 9.98222492e-01 -8.64247283e-04 -5.14233291e-02] [ 5.66412335e-02 -2.51693499e-03 9.98391424e-01 -7.44241291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.211346184 meters Centerline goodness [0,1] 0.8850619101638869 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:-0.75 [[ 9.96428103e-01 -6.21180119e-02 -5.72047917e-02 3.14738633e+00] [ 6.19747884e-02 9.98068555e-01 -4.27610351e-03 -4.97796583e-02] [ 5.73599269e-02 7.15574849e-04 9.98353308e-01 -7.45115626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.241346184 meters Centerline goodness [0,1] 0.8905664935378669 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:-0.75 [[ 9.96455523e-01 -6.16329472e-02 -5.72518243e-02 3.14895331e+00] [ 6.15368213e-02 9.98098878e-01 -3.44216224e-03 -5.12219099e-02] [ 5.73551323e-02 -9.31337099e-05 9.98353835e-01 -7.46976192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27134618399998 meters Centerline goodness [0,1] 0.8881877961512427 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:-0.75 [[ 9.96467711e-01 -6.09938581e-02 -5.77221752e-02 3.15133650e+00] [ 6.09322077e-02 9.98137897e-01 -2.82913463e-03 -5.11282730e-02] [ 5.77872504e-02 -6.97998256e-04 9.98328677e-01 -7.48543985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30134618399998 meters Centerline goodness [0,1] 0.889001864090832 Centerline is valid? [False, False] Translation: X:3.15, Y:-0.05, Z:-0.75 [[ 9.96476023e-01 -6.04093010e-02 -5.81915032e-02 3.15352408e+00] [ 6.03832673e-02 9.98172825e-01 -2.20727283e-03 -5.12582280e-02] [ 5.82185170e-02 -1.31429864e-03 9.98302999e-01 -7.49956796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33134618399998 meters Centerline goodness [0,1] 0.8906204626851224 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.05, Z:-0.75 [[ 9.96502157e-01 -5.93792733e-02 -5.88009666e-02 3.15671800e+00] [ 5.94317457e-02 9.98232003e-01 -8.57609007e-04 -5.39779894e-02] [ 5.87479309e-02 -2.64003487e-03 9.98269358e-01 -7.52136578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36134618399998 meters Centerline goodness [0,1] 0.8917203600472985 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.75 [[ 9.96517226e-01 -5.90939360e-02 -5.88330213e-02 3.15768798e+00] [ 5.91779951e-02 9.98247397e-01 -3.14045047e-04 -5.57393953e-02] [ 5.87484685e-02 -3.16866895e-03 9.98267788e-01 -7.53180992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39134618399999 meters Centerline goodness [0,1] 0.8943907902025481 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.75 [[ 9.96521748e-01 -5.87150101e-02 -5.91350424e-02 3.15918281e+00] [ 5.88264556e-02 9.98268214e-01 1.43977479e-04 -5.69953324e-02] [ 5.90241795e-02 -3.62218164e-03 9.98249982e-01 -7.53940033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.421346184 meters Centerline goodness [0,1] 0.8951546937400761 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.75 [[ 9.96506049e-01 -5.85440855e-02 -5.95674807e-02 3.16007235e+00] [ 5.86558418e-02 9.98278256e-01 1.27814202e-04 -5.72456589e-02] [ 5.94574379e-02 -3.62134835e-03 9.98224273e-01 -7.53131197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.451346184 meters Centerline goodness [0,1] 0.8944900069746747 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.75 [[ 9.96494488e-01 -5.84677899e-02 -5.98352092e-02 3.16068925e+00] [ 5.85782266e-02 9.98282817e-01 9.17520537e-05 -5.75628798e-02] [ 5.97270967e-02 -3.59647086e-03 9.98208265e-01 -7.52669165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.481346184 meters Centerline goodness [0,1] 0.8949432255581217 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.75 [[ 9.96499823e-01 -5.84567665e-02 -5.97570915e-02 3.16105209e+00] [ 5.85796801e-02 9.98282689e-01 3.05616245e-04 -5.89940491e-02] [ 5.96366047e-02 -3.80509784e-03 9.98212901e-01 -7.53085210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.511346184 meters Centerline goodness [0,1] 0.8942374505810471 Centerline is valid? [False, False] Translation: X:3.16, Y:-0.06, Z:-0.76 [[ 9.96309003e-01 -6.11796937e-02 -6.02114301e-02 3.16455123e+00] [ 6.11568782e-02 9.98125690e-01 -2.22342562e-03 -6.17029815e-02] [ 6.02346037e-02 -1.46712414e-03 9.98183170e-01 -7.55001509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.541346184 meters Centerline goodness [0,1] 0.8941906238816653 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.06, Z:-0.76 [[ 9.96315254e-01 -6.07986785e-02 -6.04932628e-02 3.16636647e+00] [ 6.08287734e-02 9.98147309e-01 -1.34564545e-03 -6.43873240e-02] [ 6.04630009e-02 -2.33904389e-03 9.98167699e-01 -7.56586448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.571346184 meters Centerline goodness [0,1] 0.8932532016884882 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.07, Z:-0.76 [[ 9.96328115e-01 -6.03674711e-02 -6.07128909e-02 3.16807379e+00] [ 6.04563035e-02 9.98170775e-01 -3.74393339e-04 -6.68869849e-02] [ 6.06244345e-02 -3.29745835e-03 9.98155201e-01 -7.58285181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.601346184 meters Centerline goodness [0,1] 0.896636216576268 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.07, Z:-0.76 [[ 9.96329904e-01 -6.00670444e-02 -6.09809170e-02 3.16942954e+00] [ 6.01925355e-02 9.98186761e-01 2.21292509e-04 -6.82673007e-02] [ 6.08570516e-02 -3.89107635e-03 9.98138908e-01 -7.59261688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.631346184 meters Centerline goodness [0,1] 0.8951398767188241 Centerline is valid? [False, False] Translation: X:3.17, Y:-0.07, Z:-0.76 [[ 9.96098080e-01 -6.32413186e-02 -6.15560749e-02 3.17168170e+00] [ 6.31452591e-02 9.97998187e-01 -3.50655667e-03 -6.76641404e-02] [ 6.16546104e-02 -3.94099935e-04 9.98097467e-01 -7.58512960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.661346184 meters Centerline goodness [0,1] 0.8960437013739447 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.76 [[ 0.99630099 -0.06505612 -0.05614296 3.1861026 ] [ 0.06539713 0.99785024 0.00425639 -0.07016016] [ 0.05574536 -0.00791223 0.99841367 -0.76177049] [ 0. 0. 0. 1. ]] SLAMing on 129.691346184 meters Centerline goodness [0,1] 0.8933248389608551 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.76 [[ 9.96054554e-01 -6.83116340e-02 -5.66466796e-02 3.18823951e+00] [ 6.84237950e-02 9.97656345e-01 4.05582750e-05 -6.86993259e-02] [ 5.65111488e-02 -3.91637905e-03 9.98394287e-01 -7.60861323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.721346184 meters Centerline goodness [0,1] 0.8912701948554411 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.76 [[ 9.95792338e-01 -7.19476869e-02 -5.67551718e-02 3.18922650e+00] [ 7.18432000e-02 9.97408384e-01 -3.88190241e-03 -7.02085196e-02] [ 5.68873781e-02 -2.11904482e-04 9.98380579e-01 -7.59697798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.751346184 meters Centerline goodness [0,1] 0.8914125481948826 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.76 [[ 9.95794411e-01 -7.16541074e-02 -5.70892347e-02 3.19063020e+00] [ 7.15956117e-02 9.97429011e-01 -3.07195343e-03 -7.30401484e-02] [ 5.71625770e-02 -1.02830463e-03 9.98364354e-01 -7.60536238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.781346184 meters Centerline goodness [0,1] 0.8900637210279392 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.07, Z:-0.76 [[ 9.95792992e-01 -7.15859486e-02 -5.71993756e-02 3.19124536e+00] [ 7.15511833e-02 9.97433387e-01 -2.65821531e-03 -7.47498920e-02] [ 5.72428578e-02 -1.44565084e-03 9.98359237e-01 -7.61006563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.811346184 meters Centerline goodness [0,1] 0.8888475317545247 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.76 [[ 9.95805591e-01 -7.13380279e-02 -5.72897148e-02 3.19214964e+00] [ 7.13540407e-02 9.97449484e-01 -1.76866613e-03 -7.74582719e-02] [ 5.72697696e-02 -2.32660503e-03 9.98356029e-01 -7.61889815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.841346184 meters Centerline goodness [0,1] 0.8929077519920088 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.76 [[ 9.95820828e-01 -7.09242488e-02 -5.75380744e-02 3.19328729e+00] [ 7.09695714e-02 9.97477688e-01 -1.25792077e-03 -7.88291245e-02] [ 5.74821625e-02 -2.83078878e-03 9.98342520e-01 -7.62448339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.871346184 meters Centerline goodness [0,1] 0.8953722800268811 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.08, Z:-0.76 [[ 9.95838950e-01 -7.03814139e-02 -5.78899198e-02 3.19473397e+00] [ 7.04695047e-02 9.97513798e-01 -5.20885728e-04 -8.10275553e-02] [ 5.77826544e-02 -3.56075568e-03 9.98322836e-01 -7.63158843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.901346184 meters Centerline goodness [0,1] 0.8975626660505949 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.08, Z:-0.76 [[ 9.95864653e-01 -6.98122539e-02 -5.81364017e-02 3.19621471e+00] [ 6.99474353e-02 9.97550636e-01 2.91041993e-04 -8.34448287e-02] [ 5.79736862e-02 -4.35633063e-03 9.98308607e-01 -7.64177043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.931346184 meters Centerline goodness [0,1] 0.9019675447064772 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.76 [[ 9.95891086e-01 -6.90674395e-02 -5.85716029e-02 3.19778398e+00] [ 6.92583450e-02 9.97597996e-01 1.23317903e-03 -8.57824268e-02] [ 5.83457411e-02 -5.28468429e-03 9.98282448e-01 -7.64601821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.961346184 meters Centerline goodness [0,1] 0.904396387286558 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.76 [[ 9.95892850e-01 -6.87917150e-02 -5.88653732e-02 3.19858951e+00] [ 6.90020452e-02 9.97615321e-01 1.54546834e-03 -8.64985331e-02] [ 5.86186828e-02 -5.60095202e-03 9.98264734e-01 -7.64590929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.991346184 meters Centerline goodness [0,1] 0.9045727928010652 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.76 [[ 9.95889616e-01 -6.87053565e-02 -5.90207237e-02 3.19904550e+00] [ 6.89350137e-02 9.97619416e-01 1.86149556e-03 -8.80109754e-02] [ 5.87523252e-02 -5.92243850e-03 9.98255022e-01 -7.64570826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02134618399998 meters Centerline goodness [0,1] 0.8993329983096533 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.77 [[ 9.95645226e-01 -7.18288250e-02 -5.94239374e-02 3.20154143e+00] [ 7.19066335e-02 9.97411022e-01 -8.30732385e-04 -9.08010625e-02] [ 5.93297606e-02 -3.44586055e-03 9.98232491e-01 -7.65362897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05134618399998 meters Centerline goodness [0,1] 0.8975001138381676 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.09, Z:-0.77 [[ 9.95631520e-01 -7.18085943e-02 -5.96774864e-02 3.20252730e+00] [ 7.19272103e-02 9.97409871e-01 -1.60916080e-04 -9.36048976e-02] [ 5.95344692e-02 -4.13222200e-03 9.98217698e-01 -7.66029967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08134618399998 meters Centerline goodness [0,1] 0.8898430559668344 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.10, Z:-0.77 [[ 9.95613780e-01 -7.18493551e-02 -5.99238742e-02 3.20335205e+00] [ 7.20016154e-02 9.97404442e-01 3.82727402e-04 -9.60353229e-02] [ 5.97408395e-02 -4.69566441e-03 9.98202877e-01 -7.66522363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11134618399998 meters Centerline goodness [0,1] 0.8869594902139281 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.10, Z:-0.77 [[ 9.95588975e-01 -7.19007373e-02 -6.02733558e-02 3.20434172e+00] [ 7.20837153e-02 9.97398211e-01 8.64153653e-04 -9.83813196e-02] [ 6.00544039e-02 -5.20506927e-03 9.98181535e-01 -7.66917513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14134618399999 meters Centerline goodness [0,1] 0.8875133452967767 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.10, Z:-0.77 [[ 9.95319992e-01 -7.54962459e-02 -6.03194038e-02 3.20555346e+00] [ 7.54851489e-02 9.97143877e-01 -2.46589818e-03 -1.00867222e-01] [ 6.03332902e-02 -2.09886142e-03 9.98176081e-01 -7.66925803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.171346184 meters Centerline goodness [0,1] 0.8895765324628219 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.10, Z:-0.77 [[ 9.95337717e-01 -7.49375548e-02 -6.07222538e-02 3.20729465e+00] [ 7.49819175e-02 9.97183688e-01 -1.55094131e-03 -1.03477958e-01] [ 6.06674647e-02 -3.00936064e-03 9.98153496e-01 -7.68012242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.201346184 meters Centerline goodness [0,1] 0.8921601958251173 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.11, Z:-0.77 [[ 9.95354006e-01 -7.42915777e-02 -6.12467426e-02 3.20920775e+00] [ 7.43877736e-02 9.97229138e-01 -7.11180981e-04 -1.05156439e-01] [ 6.11298711e-02 -3.84813198e-03 9.98122403e-01 -7.68949441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.231346184 meters Centerline goodness [0,1] 0.8915153023140084 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.11, Z:-0.77 [[ 9.95372258e-01 -7.35492898e-02 -6.18431103e-02 3.21148887e+00] [ 7.36998636e-02 9.97280455e-01 1.54107303e-04 -1.06315734e-01] [ 6.16635907e-02 -4.71122293e-03 9.98085871e-01 -7.70098036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.261346184 meters Centerline goodness [0,1] 0.8948906101372469 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.11, Z:-0.77 [[ 9.95387533e-01 -7.30399668e-02 -6.21998523e-02 3.21253314e+00] [ 7.32279240e-02 9.97314954e-01 7.44559672e-04 -1.07199182e-01] [ 6.19784602e-02 -5.29589147e-03 9.98063437e-01 -7.70247851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.291346184 meters Centerline goodness [0,1] 0.8948906101372469 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.11, Z:-0.77 [[ 9.95387533e-01 -7.30399668e-02 -6.21998523e-02 3.21253314e+00] [ 7.32279240e-02 9.97314954e-01 7.44559672e-04 -1.07199182e-01] [ 6.19784602e-02 -5.29589147e-03 9.98063437e-01 -7.70247851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.321346184 meters Centerline goodness [0,1] 0.894919168591224 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.11, Z:-0.77 [[ 9.95401205e-01 -7.24926055e-02 -6.26199853e-02 3.21414927e+00] [ 7.27204035e-02 9.97351435e-01 1.36335414e-03 -1.08178465e-01] [ 6.23552991e-02 -5.91083495e-03 9.98036512e-01 -7.71006020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.351346184 meters Centerline goodness [0,1] 0.8976641214476122 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.95406576e-01 -7.19571307e-02 -6.31499748e-02 3.21591246e+00] [ 7.22224043e-02 9.97386694e-01 1.92512153e-03 -1.09257875e-01] [ 6.28464184e-02 -6.47712164e-03 9.98002192e-01 -7.71650027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.381346184 meters Centerline goodness [0,1] 0.8945618993781798 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.95401884e-01 -7.17011659e-02 -6.35140271e-02 3.21666587e+00] [ 7.19831267e-02 9.97403513e-01 2.15928897e-03 -1.10250140e-01] [ 6.31942902e-02 -6.72129856e-03 9.97978610e-01 -7.71232098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.411346184 meters Centerline goodness [0,1] 0.8927765746255188 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.95402405e-01 -7.12314025e-02 -6.40323306e-02 3.21846256e+00] [ 7.15586885e-02 9.97432377e-01 2.82956359e-03 -1.11773983e-01] [ 6.36663660e-02 -7.39862400e-03 9.97943813e-01 -7.72032823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.441346184 meters Centerline goodness [0,1] 0.8890497737556561 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.95388511e-01 -7.12308376e-02 -6.42485717e-02 3.21915348e+00] [ 7.15763134e-02 9.97430344e-01 3.08864721e-03 -1.13475128e-01] [ 6.38634680e-02 -7.67307985e-03 9.97929146e-01 -7.72227091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.471346184 meters Centerline goodness [0,1] 0.8805022923865664 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.95110832e-01 -7.46217188e-02 -6.46995480e-02 3.22167143e+00] [ 7.47722594e-02 9.97200632e-01 -9.48983830e-05 -1.14581461e-01] [ 6.45255116e-02 -4.74329698e-03 9.97904785e-01 -7.72986994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.501346184 meters Centerline goodness [0,1] 0.8722617033276931 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.11, Z:-0.77 [[ 9.94812905e-01 -7.80093277e-02 -6.52826816e-02 3.22437545e+00] [ 7.79289351e-02 9.96951747e-01 -3.78086860e-03 -1.13331307e-01] [ 6.53786265e-02 -1.32615298e-03 9.97859648e-01 -7.73518134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.531346184 meters Centerline goodness [0,1] 0.8718775362972315 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.12, Z:-0.77 [[ 9.94801132e-01 -7.76333055e-02 -6.59073464e-02 3.22655493e+00] [ 7.76147867e-02 9.96979362e-01 -2.84529315e-03 -1.15687639e-01] [ 6.59291537e-02 -2.28488379e-03 9.97821690e-01 -7.74694693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.561346184 meters Centerline goodness [0,1] 0.8680693069306931 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.12, Z:-0.78 [[ 9.94801379e-01 -7.71698368e-02 -6.64457076e-02 3.22868271e+00] [ 7.72217753e-02 9.97012333e-01 -1.79018988e-03 -1.18355369e-01] [ 6.63853387e-02 -3.35017215e-03 9.97788436e-01 -7.76081541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.591346184 meters Centerline goodness [0,1] 0.8645103121830271 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.12, Z:-0.78 [[ 9.94811904e-01 -7.62752774e-02 -6.73153639e-02 3.23192039e+00] [ 7.64368419e-02 9.97074410e-01 -1.75991258e-04 -1.21390175e-01] [ 6.71318505e-02 -4.97029563e-03 9.97731733e-01 -7.78220776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.621346184 meters Centerline goodness [0,1] 0.8552844796543032 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.12, Z:-0.78 [[ 9.94811258e-01 -7.56038380e-02 -6.80780476e-02 3.23443474e+00] [ 7.58166339e-02 9.97121629e-01 5.43770921e-04 -1.21903171e-01] [ 6.78409826e-02 -5.70239785e-03 9.97679850e-01 -7.79263262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.651346184 meters Centerline goodness [0,1] 0.8594589712324436 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.12, Z:-0.78 [[ 9.94807747e-01 -7.53996149e-02 -6.83552842e-02 3.23534230e+00] [ 7.56407298e-02 9.97134691e-01 9.42316215e-04 -1.23009187e-01] [ 6.80883750e-02 -6.10786705e-03 9.97660597e-01 -7.79616188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.681346184 meters Centerline goodness [0,1] 0.8574482929354309 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.13, Z:-0.78 [[ 9.94534474e-01 -7.84070215e-02 -6.89457721e-02 3.23810325e+00] [ 7.84554791e-02 9.96915594e-01 -2.00888027e-03 -1.25316540e-01] [ 6.88906256e-02 -3.41127290e-03 9.97618386e-01 -7.80037024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.711346184 meters Centerline goodness [0,1] 0.8562112080597284 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.13, Z:-0.78 [[ 9.94267737e-01 -8.12373444e-02 -6.95137516e-02 3.24119172e+00] [ 8.10727301e-02 9.96694672e-01 -5.19074956e-03 -1.25421279e-01] [ 6.97056686e-02 -4.74674804e-04 9.97567489e-01 -7.80848753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.741346184 meters Centerline goodness [0,1] 0.8630940343781598 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.12, Z:-0.78 [[ 9.94006012e-01 -8.37773537e-02 -7.02381901e-02 3.24467932e+00] [ 8.33968426e-02 9.96481535e-01 -8.33767331e-03 -1.24620600e-01] [ 7.06895677e-02 2.43005411e-03 9.97495403e-01 -7.81605042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77134618399998 meters Centerline goodness [0,1] 0.8661573033707866 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.13, Z:-0.78 [[ 9.94345278e-01 -8.35830732e-02 -6.55083102e-02 3.25976819e+00] [ 8.38223359e-02 9.96480302e-01 9.07637351e-04 -1.26019113e-01] [ 6.52018776e-02 -6.39356450e-03 9.97851611e-01 -7.84331801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80134618399998 meters Centerline goodness [0,1] 0.8685298346513299 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.12, Z:-0.78 [[ 9.94347368e-01 -8.29797271e-02 -6.62395452e-02 3.26165122e+00] [ 8.32380127e-02 9.96529038e-01 1.14419931e-03 -1.24768445e-01] [ 6.59146849e-02 -6.65137967e-03 9.97803094e-01 -7.84512294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83134618399998 meters Centerline goodness [0,1] 0.8675572519083969 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.12, Z:-0.79 [[ 9.94360518e-01 -8.23814155e-02 -6.67866931e-02 3.26350583e+00] [ 8.26720754e-02 9.96575528e-01 1.59530289e-03 -1.24434243e-01] [ 6.64265607e-02 -7.10770074e-03 9.97766001e-01 -7.85238689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86134618399998 meters Centerline goodness [0,1] 0.8726995925312317 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.13, Z:-0.79 [[ 9.94144056e-01 -8.44039663e-02 -6.74801233e-02 3.26803516e+00] [ 8.45436534e-02 9.96419465e-01 -7.88149939e-04 -1.26134536e-01] [ 6.73050313e-02 -4.92148158e-03 9.97720307e-01 -7.87428569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89134618399999 meters Centerline goodness [0,1] 0.8731651988257272 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.13, Z:-0.79 [[ 9.93878845e-01 -8.69439926e-02 -6.81585207e-02 3.27229191e+00] [ 8.69045914e-02 9.96210319e-01 -3.54860566e-03 -1.27376298e-01] [ 6.82087515e-02 -2.39640429e-03 9.97668193e-01 -7.89473246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.921346184 meters Centerline goodness [0,1] 0.8743789131258216 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.13, Z:-0.79 [[ 9.93887863e-01 -8.66628956e-02 -6.83846394e-02 3.27344235e+00] [ 8.66712234e-02 9.96232890e-01 -2.85078650e-03 -1.30074949e-01] [ 6.83740844e-02 -3.09361826e-03 9.97654957e-01 -7.90334697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.951346184 meters Centerline goodness [0,1] 0.8773318510283491 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.99416427 -0.08729655 -0.06337758 3.28795375] [ 0.08781806 0.99612143 0.0054848 -0.13067231] [ 0.06265296 -0.01101849 0.99797455 -0.7927794 ] [ 0. 0. 0. 1. ]] SLAMing on 130.981346184 meters Centerline goodness [0,1] 0.878481351098436 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.99413946 -0.08745142 -0.06355296 3.28762538] [ 0.08793506 0.99611441 0.00484787 -0.12827876] [ 0.06288207 -0.01040799 0.99796669 -0.79162504] [ 0. 0. 0. 1. ]] SLAMing on 131.011346184 meters Centerline goodness [0,1] 0.8785025928646146 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.9941231 -0.08727652 -0.06404746 3.28848443] [ 0.08775117 0.99613167 0.00463022 -0.12692309] [ 0.0633956 -0.01022324 0.99793611 -0.7911496 ] [ 0. 0. 0. 1. ]] SLAMing on 131.041346184 meters Centerline goodness [0,1] 0.8799255764502625 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.99412372 -0.087074 -0.06431297 3.28952458] [ 0.0875778 0.99614488 0.00505107 -0.129145 ] [ 0.06362522 -0.01065377 0.99791699 -0.79152772] [ 0. 0. 0. 1. ]] SLAMing on 131.071346184 meters Centerline goodness [0,1] 0.8846434494195689 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.99410935 -0.08712713 -0.06446291 3.28992442] [ 0.08764857 0.99613736 0.00530044 -0.13158771] [ 0.0637521 -0.0109193 0.99790603 -0.79152718] [ 0. 0. 0. 1. ]] SLAMing on 131.101346184 meters Centerline goodness [0,1] 0.8832656484506047 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 0.99408529 -0.08731378 -0.06458127 3.29010657] [ 0.08785145 0.99611825 0.00552758 -0.13401114] [ 0.06384794 -0.01116844 0.99789714 -0.79141412] [ 0. 0. 0. 1. ]] SLAMing on 131.131346184 meters Centerline goodness [0,1] 0.8800456550846155 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 9.93764548e-01 -9.06088317e-02 -6.49774014e-02 3.29261204e+00] [ 9.09338440e-02 9.95854813e-01 2.05593345e-03 -1.33399225e-01] [ 6.45217722e-02 -7.95175865e-03 9.97884618e-01 -7.92257741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.161346184 meters Centerline goodness [0,1] 0.8750329265080341 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.13, Z:-0.79 [[ 9.93744519e-01 -9.07583658e-02 -6.50749582e-02 3.29303103e+00] [ 9.11041674e-02 9.95838571e-01 2.36013426e-03 -1.34693720e-01] [ 6.45899515e-02 -8.27397037e-03 9.97877587e-01 -7.92632732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.191346184 meters Centerline goodness [0,1] 0.8643381145297273 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.14, Z:-0.79 [[ 9.93713605e-01 -9.07841004e-02 -6.55096755e-02 3.29427574e+00] [ 9.11785549e-02 9.95829887e-01 3.05069452e-03 -1.36631361e-01] [ 6.49595382e-02 -9.00459419e-03 9.97847271e-01 -7.93366413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.221346184 meters Centerline goodness [0,1] 0.8653442852149598 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.9937131 -0.09066346 -0.06568412 3.29508169] [ 0.09108644 0.99583695 0.00346756 -0.13805067] [ 0.06509629 -0.0094287 0.99783444 -0.79396527] [ 0. 0. 0. 1. ]] SLAMing on 131.251346184 meters Centerline goodness [0,1] 0.8659499302163294 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.14, Z:-0.79 [[ 0.99371401 -0.0906808 -0.06564641 3.29483543] [ 0.0911209 0.99583283 0.0037351 -0.13996496] [ 0.06503415 -0.00969338 0.99783596 -0.79359938] [ 0. 0. 0. 1. ]] SLAMing on 131.281346184 meters Centerline goodness [0,1] 0.8672574078509068 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99370447 -0.09062344 -0.06586963 3.29510183] [ 0.09106103 0.99583857 0.00366534 -0.14021536] [ 0.06526335 -0.00964042 0.99782151 -0.79309414] [ 0. 0. 0. 1. ]] SLAMing on 131.311346184 meters Centerline goodness [0,1] 0.8712167333449296 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99370175 -0.0905338 -0.06603376 3.29507499] [ 0.09096338 0.99584801 0.00352191 -0.13994035] [ 0.06544074 -0.00950638 0.99781117 -0.79241406] [ 0. 0. 0. 1. ]] SLAMing on 131.341346184 meters Centerline goodness [0,1] 0.8869055374592834 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99370688 -0.09033202 -0.06623271 3.29544134] [ 0.09075558 0.99586736 0.00340824 -0.13911331] [ 0.06565112 -0.00939778 0.99779838 -0.79215901] [ 0. 0. 0. 1. ]] SLAMing on 131.371346184 meters Centerline goodness [0,1] 0.8922632116693116 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.9937562 -0.08959006 -0.06649996 3.29622286] [ 0.09001355 0.99593476 0.00339362 -0.13702549] [ 0.06592559 -0.00935832 0.99778066 -0.79204542] [ 0. 0. 0. 1. ]] SLAMing on 131.401346184 meters Centerline goodness [0,1] 0.8871213109053766 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99376111 -0.0893978 -0.06668504 3.29672782] [ 0.08982888 0.99595111 0.00348821 -0.13686163] [ 0.0661032 -0.00945669 0.99776798 -0.79212234] [ 0. 0. 0. 1. ]] SLAMing on 131.431346184 meters Centerline goodness [0,1] 0.8934344312157817 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99376392 -0.08921572 -0.06688666 3.29763412] [ 0.08967553 0.99596341 0.00389778 -0.1382719 ] [ 0.06626893 -0.00987157 0.99775297 -0.79273786] [ 0. 0. 0. 1. ]] SLAMing on 131.461346184 meters Centerline goodness [0,1] 0.8925017883852507 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 0.99374908 -0.08917772 -0.06715732 3.2986651 ] [ 0.08967279 0.99596162 0.00438771 -0.14091158] [ 0.06649483 -0.01038247 0.99773275 -0.79337616] [ 0. 0. 0. 1. ]] SLAMing on 131.491346184 meters Centerline goodness [0,1] 0.8683210228499849 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 9.93395598e-01 -9.31685756e-02 -6.69686678e-02 3.29974215e+00] [ 9.34514202e-02 9.95623237e-01 1.09649156e-03 -1.43347048e-01] [ 6.65734032e-02 -7.34756700e-03 9.97754476e-01 -7.94173578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52134618399998 meters Centerline goodness [0,1] 0.8715558542348631 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 9.93352896e-01 -9.36950202e-02 -6.68675299e-02 3.29910712e+00] [ 9.39729237e-02 9.95574235e-01 1.01585855e-03 -1.44049193e-01] [ 6.64764091e-02 -7.29284332e-03 9.97761345e-01 -7.93768839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55134618399998 meters Centerline goodness [0,1] 0.8674126236661338 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 9.93331719e-01 -9.37103271e-02 -6.71600400e-02 3.29969572e+00] [ 9.40067486e-02 9.95570763e-01 1.26002390e-03 -1.44312196e-01] [ 6.67444950e-02 -7.56511870e-03 9.97741420e-01 -7.93801322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58134618399998 meters Centerline goodness [0,1] 0.855681450307543 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.14, Z:-0.79 [[ 9.93314554e-01 -9.37628294e-02 -6.73403947e-02 3.29986052e+00] [ 9.40839358e-02 9.95562973e-01 1.60589412e-03 -1.44948843e-01] [ 6.68910304e-02 -7.93080737e-03 9.97728767e-01 -7.93639466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61134618399998 meters Centerline goodness [0,1] 0.85358013505059 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.15, Z:-0.79 [[ 9.93324490e-01 -9.35877200e-02 -6.74373431e-02 3.30033692e+00] [ 9.39399851e-02 9.95575721e-01 2.06452428e-03 -1.46920475e-01] [ 6.69457674e-02 -8.38580554e-03 9.97721375e-01 -7.93906582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64134618399999 meters Centerline goodness [0,1] 0.8575212092502476 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.15, Z:-0.79 [[ 9.93329026e-01 -9.35087884e-02 -6.74800122e-02 3.30080501e+00] [ 9.38957860e-02 9.95578690e-01 2.57932120e-03 -1.49744169e-01] [ 6.69404730e-02 -8.89820340e-03 9.97717292e-01 -7.94337743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.671346184 meters Centerline goodness [0,1] 0.8569254511938955 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.15, Z:-0.80 [[ 9.93007777e-01 -9.68232844e-02 -6.75337492e-02 3.30252080e+00] [ 9.70237925e-02 9.95282013e-01 -3.12331380e-04 -1.52157188e-01] [ 6.72453669e-02 -6.24223298e-03 9.97716941e-01 -7.95045520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.701346184 meters Centerline goodness [0,1] 0.8436004720523549 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.15, Z:-0.79 [[ 9.92990029e-01 -9.69748270e-02 -6.75772472e-02 3.30241073e+00] [ 9.71827221e-02 9.95266534e-01 -2.11992311e-04 -1.52737236e-01] [ 6.72779305e-02 -6.35683459e-03 9.97714023e-01 -7.94828058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.731346184 meters Centerline goodness [0,1] 0.8500203980847272 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.15, Z:-0.79 [[ 9.92969805e-01 -9.71027577e-02 -6.76906273e-02 3.30231005e+00] [ 9.73080348e-02 9.95254277e-01 -2.65835365e-04 -1.52430733e-01] [ 6.73951997e-02 -6.32287543e-03 9.97706324e-01 -7.94392992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.761346184 meters Centerline goodness [0,1] 0.842423982133654 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.15, Z:-0.80 [[ 0.99311177 -0.09985061 -0.0613096 3.31359044] [ 0.10046097 0.99491674 0.00694728 -0.1528156 ] [ 0.06030426 -0.01305864 0.99809462 -0.79692105] [ 0. 0. 0. 1. ]] SLAMing on 131.791346184 meters Centerline goodness [0,1] 0.8331941857726971 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.15, Z:-0.80 [[ 0.99309237 -0.10004688 -0.06130385 3.31357188] [ 0.10066274 0.99489574 0.00703353 -0.15426603] [ 0.06028726 -0.01315596 0.99809437 -0.79680787] [ 0. 0. 0. 1. ]] SLAMing on 131.821346184 meters Centerline goodness [0,1] 0.8207262533969572 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.16, Z:-0.80 [[ 0.99306454 -0.10035317 -0.06125408 3.31366959] [ 0.10097667 0.99486302 0.0071618 -0.15670366] [ 0.06022071 -0.01329737 0.99809651 -0.79698858] [ 0. 0. 0. 1. ]] SLAMing on 131.851346184 meters Centerline goodness [0,1] 0.8129849530586873 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.16, Z:-0.80 [[ 0.99264801 -0.10459449 -0.06090909 3.31452599] [ 0.10499414 0.99446706 0.00338948 -0.1580823 ] [ 0.06021757 -0.00975966 0.99813756 -0.79782549] [ 0. 0. 0. 1. ]] SLAMing on 131.881346184 meters Centerline goodness [0,1] 0.8021266560905544 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.16, Z:-0.80 [[ 0.9926239 -0.10474799 -0.06103819 3.31514069] [ 0.10516131 0.9944487 0.00359006 -0.15866288] [ 0.0603233 -0.00998243 0.99812897 -0.79836532] [ 0. 0. 0. 1. ]] SLAMing on 131.911346184 meters Centerline goodness [0,1] 0.7919785522788204 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.16, Z:-0.80 [[ 0.9925872 -0.10509523 -0.06103806 3.31516211] [ 0.10549674 0.99441389 0.00338413 -0.15785586] [ 0.06034144 -0.00979836 0.9981297 -0.79850319] [ 0. 0. 0. 1. ]] SLAMing on 131.941346184 meters Centerline goodness [0,1] 0.776462768808559 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.16, Z:-0.80 [[ 0.99267987 -0.10736419 -0.05531369 3.32783535] [ 0.10810356 0.99408372 0.01054405 -0.15639864] [ 0.05385438 -0.01644647 0.99841335 -0.80108496] [ 0. 0. 0. 1. ]] SLAMing on 131.971346184 meters Centerline goodness [0,1] 0.7912808061709031 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.16, Z:-0.80 [[ 0.99263444 -0.10777295 -0.05533411 3.32747021] [ 0.10848626 0.9940472 0.01004437 -0.15576217] [ 0.0539222 -0.01597337 0.99841737 -0.80049167] [ 0. 0. 0. 1. ]] SLAMing on 132.001346184 meters Centerline goodness [0,1] 0.7715681652595037 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.16, Z:-0.80 [[ 0.99261435 -0.10794294 -0.05536305 3.32779629] [ 0.1086541 0.9940294 0.00999162 -0.15648055] [ 0.05395398 -0.01593325 0.9984163 -0.80076276] [ 0. 0. 0. 1. ]] SLAMing on 132.031346184 meters Centerline goodness [0,1] 0.7817864979992255 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.16, Z:-0.80 [[ 0.99258768 -0.10815493 -0.05542748 3.32814093] [ 0.1088679 0.99400592 0.01000039 -0.15786823] [ 0.05401365 -0.01596054 0.99841263 -0.80097192] [ 0. 0. 0. 1. ]] SLAMing on 132.061346184 meters Centerline goodness [0,1] 0.7679117001592151 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.16, Z:-0.80 [[ 0.99216306 -0.11210561 -0.05517965 3.32909626] [ 0.11259109 0.99362472 0.00575955 -0.15620923] [ 0.05418218 -0.01192715 0.99845983 -0.80139441] [ 0. 0. 0. 1. ]] SLAMing on 132.091346184 meters Centerline goodness [0,1] 0.7608868797761275 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.9921261 -0.11246014 -0.0551228 3.32872812] [ 0.11291598 0.99359085 0.00521613 -0.15449432] [ 0.0541829 -0.0113993 0.99846596 -0.80101467] [ 0. 0. 0. 1. ]] SLAMing on 132.121346184 meters Centerline goodness [0,1] 0.7567841580741188 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.99208551 -0.11277566 -0.05520865 3.32856853] [ 0.11319428 0.99356266 0.00450511 -0.15161392] [ 0.05434518 -0.01071876 0.99846468 -0.80059503] [ 0. 0. 0. 1. ]] SLAMing on 132.151346184 meters Centerline goodness [0,1] 0.7494646217742109 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.99208987 -0.11260381 -0.0554803 3.32957926] [ 0.11300672 0.99358548 0.00416923 -0.14803217] [ 0.05465495 -0.0104059 0.99845108 -0.80116906] [ 0. 0. 0. 1. ]] SLAMing on 132.181346184 meters Centerline goodness [0,1] 0.7505430060816681 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.99208395 -0.11261238 -0.05556883 3.33004403] [ 0.11301045 0.99358549 0.00406395 -0.14767911] [ 0.05475473 -0.01031163 0.99844659 -0.80152076] [ 0. 0. 0. 1. ]] SLAMing on 132.211346184 meters Centerline goodness [0,1] 0.7535091912563556 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.99207921 -0.11264128 -0.05559476 3.33032568] [ 0.11302668 0.99358458 0.00382747 -0.14710905] [ 0.05480697 -0.01008085 0.99844608 -0.80169786] [ 0. 0. 0. 1. ]] SLAMing on 132.241346184 meters Centerline goodness [0,1] 0.7535091912563556 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.15, Z:-0.80 [[ 0.99207921 -0.11264128 -0.05559476 3.33032568] [ 0.11302668 0.99358458 0.00382747 -0.14710905] [ 0.05480697 -0.01008085 0.99844608 -0.80169786] [ 0. 0. 0. 1. ]] SLAMing on 132.27134618399998 meters Centerline goodness [0,1] 0.7529306468161279 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.14, Z:-0.80 [[ 9.92014502e-01 -1.13368121e-01 -5.52711185e-02 3.32859345e+00] [ 1.13660999e-01 9.93517211e-01 2.17436366e-03 -1.42890815e-01] [ 5.46663040e-02 -8.43917083e-03 9.98469016e-01 -7.99975755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30134618399998 meters Centerline goodness [0,1] 0.7508029803133263 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.14, Z:-0.80 [[ 9.92012405e-01 -1.13305825e-01 -5.54362525e-02 3.32910026e+00] [ 1.13582277e-01 9.93526868e-01 1.85161383e-03 -1.40914184e-01] [ 5.48676077e-02 -8.13339967e-03 9.98460512e-01 -8.00088077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33134618399998 meters Centerline goodness [0,1] 0.7481697426680111 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.14, Z:-0.80 [[ 9.91998821e-01 -1.13355145e-01 -5.55783271e-02 3.32962568e+00] [ 1.13613931e-01 9.93523829e-01 1.50865298e-03 -1.39240188e-01] [ 5.50473787e-02 -7.81105420e-03 9.98453190e-01 -8.00348261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36134618399998 meters Centerline goodness [0,1] 0.7461188818866515 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.14, Z:-0.80 [[ 9.91982361e-01 -1.13432943e-01 -5.57132232e-02 3.33007241e+00] [ 1.13677120e-01 9.93516994e-01 1.22308175e-03 -1.37934047e-01] [ 5.52132963e-02 -7.54659429e-03 9.98446063e-01 -8.00526142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39134618399999 meters Centerline goodness [0,1] 0.7409750077136686 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.14, Z:-0.80 [[ 9.91984145e-01 -1.13447431e-01 -5.56519132e-02 3.33037532e+00] [ 1.13671362e-01 9.93518029e-01 8.64679157e-04 -1.35424985e-01] [ 5.51930835e-02 -7.18377681e-03 9.98449857e-01 -8.01099192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.421346184 meters Centerline goodness [0,1] 0.7414964485816384 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 9.91987690e-01 -1.13350616e-01 -5.57858427e-02 3.33108968e+00] [ 1.13567207e-01 9.93530057e-01 7.17520833e-04 -1.34180992e-01] [ 5.53435801e-02 -7.04721418e-03 9.98442500e-01 -8.01621294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.451346184 meters Centerline goodness [0,1] 0.7428250479064338 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 9.92007108e-01 -1.13099312e-01 -5.59503721e-02 3.33213064e+00] [ 1.13318840e-01 9.93558387e-01 7.56479114e-04 -1.33063392e-01] [ 5.55044042e-02 -7.09066394e-03 9.98433264e-01 -8.02495261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.481346184 meters Centerline goodness [0,1] 0.7698030731190392 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 9.92002734e-01 -1.13049738e-01 -5.61278220e-02 3.33273783e+00] [ 1.13252785e-01 9.93566109e-01 4.39795151e-04 -1.31219819e-01] [ 5.57169830e-02 -6.79291016e-03 9.98423494e-01 -8.02731078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.511346184 meters Centerline goodness [0,1] 0.7432001417560025 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 0.99235975 -0.10980048 -0.0562671 3.33177787] [ 0.1101724 0.99390618 0.00354157 -0.129477 ] [ 0.05553535 -0.00971359 0.99840947 -0.80254726] [ 0. 0. 0. 1. ]] SLAMing on 132.541346184 meters Centerline goodness [0,1] 0.7776839672947031 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 9.92329912e-01 -1.10040898e-01 -5.63235872e-02 3.33171613e+00] [ 1.10378947e-01 9.93885295e-01 2.91706510e-03 -1.27416415e-01] [ 5.56581886e-02 -9.11162918e-03 9.98408305e-01 -8.02216054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.571346184 meters Centerline goodness [0,1] 0.7374869598028988 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.80 [[ 9.92307557e-01 -1.10236873e-01 -5.63342144e-02 3.33159259e+00] [ 1.10547633e-01 9.93867879e-01 2.42062900e-03 -1.25833156e-01] [ 5.57219236e-02 -8.62962251e-03 9.98409033e-01 -8.01925585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.601346184 meters Centerline goodness [0,1] 0.7364530923015272 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.12, Z:-0.80 [[ 9.92293987e-01 -1.10413334e-01 -5.62275678e-02 3.33176668e+00] [ 1.10698127e-01 9.93852131e-01 1.96626526e-03 -1.24280350e-01] [ 5.56647862e-02 -8.17539963e-03 9.98416043e-01 -8.02413408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.631346184 meters Centerline goodness [0,1] 0.73708376053136 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.12, Z:-0.80 [[ 9.92282209e-01 -1.10527239e-01 -5.62116341e-02 3.33203206e+00] [ 1.10797555e-01 9.93841533e-01 1.70574333e-03 -1.23416243e-01] [ 5.56769255e-02 -7.92069040e-03 9.98417419e-01 -8.02773960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.661346184 meters Centerline goodness [0,1] 0.7722454080835583 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.12, Z:-0.80 [[ 9.92251684e-01 -1.10803438e-01 -5.62067097e-02 3.33204015e+00] [ 1.11044746e-01 9.93814709e-01 1.17868501e-03 -1.21300967e-01] [ 5.57284525e-02 -7.41101198e-03 9.98418458e-01 -8.02841048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.691346184 meters Centerline goodness [0,1] 0.7591480431336652 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.12, Z:-0.80 [[ 9.92229640e-01 -1.10909914e-01 -5.63855628e-02 3.33252497e+00] [ 1.11120187e-01 9.93806795e-01 5.97966445e-04 -1.18253731e-01] [ 5.59700351e-02 -6.85889432e-03 9.98408890e-01 -8.02987674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.721346184 meters Centerline goodness [0,1] 0.7724465879383395 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.12, Z:-0.80 [[ 0.99260706 -0.10744728 -0.05644741 3.3317113 ] [ 0.10783554 0.99416122 0.00386903 -0.11643185] [ 0.05570211 -0.00992747 0.99839808 -0.80327901] [ 0. 0. 0. 1. ]] SLAMing on 132.751346184 meters Centerline goodness [0,1] 0.7834782804107958 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.11, Z:-0.80 [[ 0.99261096 -0.10734879 -0.05656607 3.33236079] [ 0.10771415 0.99417595 0.00344131 -0.11431353] [ 0.05586721 -0.00950885 0.99839293 -0.80363947] [ 0. 0. 0. 1. ]] SLAMing on 132.781346184 meters Centerline goodness [0,1] 0.7693727352524138 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.11, Z:-0.80 [[ 9.92616493e-01 -1.07203258e-01 -5.67446887e-02 3.33290424e+00] [ 1.07535681e-01 9.94197202e-01 2.82866754e-03 -1.11584391e-01] [ 5.61121683e-02 -8.90986079e-03 9.98384715e-01 -8.03572725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.811346184 meters Centerline goodness [0,1] 0.8007845082170473 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.11, Z:-0.80 [[ 0.99297851 -0.10372866 -0.05686865 3.33212355] [ 0.10422871 0.99453591 0.00589059 -0.10954785] [ 0.05594689 -0.01177658 0.99836429 -0.803541 ] [ 0. 0. 0. 1. ]] SLAMing on 132.841346184 meters Centerline goodness [0,1] 0.7953606967980684 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.11, Z:-0.80 [[ 0.99293597 -0.10417877 -0.05678861 3.33172287] [ 0.10463464 0.99449762 0.00510596 -0.10742121] [ 0.0559442 -0.01101195 0.99837317 -0.80316622] [ 0. 0. 0. 1. ]] SLAMing on 132.871346184 meters Centerline goodness [0,1] 0.7940690061394169 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.10, Z:-0.80 [[ 0.99287393 -0.10480847 -0.0567145 3.33108071] [ 0.10521103 0.99444125 0.0041509 -0.10466403] [ 0.05596419 -0.01008831 0.99838181 -0.80260072] [ 0. 0. 0. 1. ]] SLAMing on 132.901346184 meters Centerline goodness [0,1] 0.7619371822803196 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.10, Z:-0.80 [[ 0.99282338 -0.10525333 -0.05677563 3.33102744] [ 0.10561424 0.99440141 0.00338571 -0.1017362 ] [ 0.05610141 -0.00935773 0.99838122 -0.8024516 ] [ 0. 0. 0. 1. ]] SLAMing on 132.931346184 meters Centerline goodness [0,1] 0.7800880737276978 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.10, Z:-0.80 [[ 9.92772285e-01 -1.05801173e-01 -5.66506997e-02 3.33133503e+00] [ 1.06127119e-01 9.94348718e-01 2.76787128e-03 -9.99073205e-02] [ 5.60377066e-02 -8.76004145e-03 9.98390223e-01 -8.03354838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.961346184 meters Centerline goodness [0,1] 0.7757406397673573 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.10, Z:-0.80 [[ 9.92770126e-01 -1.05831420e-01 -5.66320445e-02 3.33190475e+00] [ 1.06154543e-01 9.94345924e-01 2.71963163e-03 -1.00110202e-01] [ 5.60240201e-02 -8.71171785e-03 9.98391414e-01 -8.04086048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.991346184 meters Centerline goodness [0,1] 0.780178092771796 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.10, Z:-0.80 [[ 9.92761407e-01 -1.05903154e-01 -5.66507741e-02 3.33233785e+00] [ 1.06210233e-01 9.94340730e-01 2.42893098e-03 -9.89748880e-02] [ 5.60729406e-02 -8.42824085e-03 9.98391101e-01 -8.04559559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02134618399998 meters Centerline goodness [0,1] 0.7785222662837868 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:-0.80 [[ 0.9930833 -0.10293006 -0.05648863 3.33019451] [ 0.10336198 0.99463236 0.00477074 -0.09488894] [ 0.05569437 -0.01057652 0.99839184 -0.8034612 ] [ 0. 0. 0. 1. ]] SLAMing on 133.05134618399998 meters Centerline goodness [0,1] 0.7850433113157955 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:-0.80 [[ 0.99342572 -0.09962656 -0.05639042 3.32839453] [ 0.10022538 0.99493351 0.00788559 -0.09352276] [ 0.05531911 -0.0134855 0.99837765 -0.80265602] [ 0. 0. 0. 1. ]] SLAMing on 133.08134618399998 meters Centerline goodness [0,1] 0.7826634892992989 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:-0.80 [[ 0.99341428 -0.09963978 -0.05656836 3.32868755] [ 0.10018987 0.99494395 0.00696599 -0.0895718 ] [ 0.05558826 -0.01258769 0.99837443 -0.80225203] [ 0. 0. 0. 1. ]] SLAMing on 133.11134618399998 meters Centerline goodness [0,1] 0.7948983585422567 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:-0.80 [[ 0.99340298 -0.09958908 -0.05685542 3.32934701] [ 0.10010323 0.99495736 0.00626074 -0.08663526] [ 0.05594522 -0.01191085 0.99836279 -0.80206562] [ 0. 0. 0. 1. ]] SLAMing on 133.14134618399999 meters Centerline goodness [0,1] 0.8227894931557529 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.80 [[ 0.99342015 -0.09925511 -0.05713867 3.3305026 ] [ 0.09972715 0.99499982 0.00546297 -0.08240268] [ 0.05631074 -0.0111253 0.99835131 -0.80232119] [ 0. 0. 0. 1. ]] SLAMing on 133.171346184 meters Centerline goodness [0,1] 0.7903020483740308 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.80 [[ 0.99339857 -0.0993908 -0.0572779 3.3308974 ] [ 0.09982337 0.99499391 0.00473396 -0.07968735] [ 0.05652065 -0.01042039 0.99834705 -0.80226961] [ 0. 0. 0. 1. ]] SLAMing on 133.201346184 meters Centerline goodness [0,1] 0.791875813348206 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.08, Z:-0.80 [[ 0.99337472 -0.09959067 -0.05734424 3.33100435] [ 0.09998377 0.99498095 0.00401998 -0.07721527] [ 0.05665608 -0.00972684 0.99834637 -0.80203648] [ 0. 0. 0. 1. ]] SLAMing on 133.231346184 meters Centerline goodness [0,1] 0.819827385117798 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.80 [[ 9.93335855e-01 -1.00088316e-01 -5.71507454e-02 3.33025147e+00] [ 1.00405464e-01 9.94942945e-01 2.69782899e-03 -7.30646027e-02] [ 5.65917098e-02 -8.41809735e-03 9.98361915e-01 -8.01185849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.261346184 meters Centerline goodness [0,1] 0.8209573273441887 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.80 [[ 9.93301448e-01 -1.00455921e-01 -5.71037734e-02 3.32987520e+00] [ 1.00726733e-01 9.94912359e-01 1.87679131e-03 -7.05018857e-02] [ 5.66247151e-02 -7.61609606e-03 9.98366484e-01 -8.00689902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.291346184 meters Centerline goodness [0,1] 0.8145491084990536 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.07, Z:-0.80 [[ 9.93273351e-01 -1.00679649e-01 -5.71984143e-02 3.32996968e+00] [ 1.00909651e-01 9.94894941e-01 1.13979277e-03 -6.77058703e-02] [ 5.67916591e-02 -6.90399782e-03 9.98362180e-01 -8.00335942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.321346184 meters Centerline goodness [0,1] 0.8145952431364246 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.80 [[ 9.93249082e-01 -1.00928064e-01 -5.71820518e-02 3.33011223e+00] [ 1.01116311e-01 9.94874530e-01 4.00871953e-04 -6.49830150e-02] [ 5.68485077e-02 -6.18020382e-03 9.98363687e-01 -8.00434588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.351346184 meters Centerline goodness [0,1] 0.8173773509214904 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.80 [[ 9.93245600e-01 -1.00910410e-01 -5.72736153e-02 3.33064561e+00] [ 1.01084108e-01 9.94877874e-01 1.36388916e-04 -6.40061012e-02] [ 5.69664896e-02 -5.92492002e-03 9.98358510e-01 -8.00717205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.381346184 meters Centerline goodness [0,1] 0.821281210949473 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.80 [[ 9.93241846e-01 -1.00817822e-01 -5.75013193e-02 3.33150437e+00] [ 1.00973190e-01 9.94889126e-01 -2.04465134e-04 -6.20098029e-02] [ 5.72280510e-02 -5.60300833e-03 9.98345409e-01 -8.01074222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.411346184 meters Centerline goodness [0,1] 0.8229314756895081 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.80 [[ 0.99359244 -0.09723204 -0.05761933 3.33080354] [ 0.0975954 0.99521995 0.00351934 -0.06166589] [ 0.05700171 -0.00912017 0.99833242 -0.80135601] [ 0. 0. 0. 1. ]] SLAMing on 133.441346184 meters Centerline goodness [0,1] 0.8276930409914204 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.06, Z:-0.80 [[ 0.99392537 -0.09375027 -0.05764764 3.32969718] [ 0.09426996 0.99552638 0.00635653 -0.0578882 ] [ 0.05679382 -0.01175236 0.99831676 -0.80087734] [ 0. 0. 0. 1. ]] SLAMing on 133.471346184 meters Centerline goodness [0,1] 0.827478327323096 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 0.99389677 -0.09393278 -0.05784323 3.32981699] [ 0.09439932 0.99551987 0.0053806 -0.05475599] [ 0.05707867 -0.01080812 0.99831118 -0.80004614] [ 0. 0. 0. 1. ]] SLAMing on 133.501346184 meters Centerline goodness [0,1] 0.8401829764812951 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 0.99388451 -0.09398685 -0.05796601 3.33004393] [ 0.09441628 0.99552167 0.00470853 -0.05252605] [ 0.05726388 -0.01015267 0.99830745 -0.7996269 ] [ 0. 0. 0. 1. ]] SLAMing on 133.531346184 meters Centerline goodness [0,1] 0.8375382995021065 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 0.99389302 -0.09385182 -0.05803872 3.33062003] [ 0.0942462 0.99554052 0.00408963 -0.05024571] [ 0.05739608 -0.00953459 0.99830596 -0.79964247] [ 0. 0. 0. 1. ]] SLAMing on 133.561346184 meters Centerline goodness [0,1] 0.8419540229885057 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 0.99389544 -0.09383347 -0.05802693 3.33082035] [ 0.09421295 0.99554469 0.00383287 -0.04954737] [ 0.05740875 -0.00927636 0.99830766 -0.79967735] [ 0. 0. 0. 1. ]] SLAMing on 133.591346184 meters Centerline goodness [0,1] 0.8411044854754891 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 0.99389043 -0.09386972 -0.05805412 3.33109422] [ 0.09423417 0.99554367 0.00356632 -0.04872463] [ 0.05746064 -0.00901521 0.99830707 -0.79976462] [ 0. 0. 0. 1. ]] SLAMing on 133.621346184 meters Centerline goodness [0,1] 0.8404615939415795 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.05, Z:-0.80 [[ 9.93864958e-01 -9.40651512e-02 -5.81738100e-02 3.33111245e+00] [ 9.43947232e-02 9.95530516e-01 2.93738889e-03 -4.60056512e-02] [ 5.76374972e-02 -8.41066858e-03 9.98302148e-01 -7.99293395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.651346184 meters Centerline goodness [0,1] 0.8378319547235524 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.80 [[ 9.93834148e-01 -9.43545494e-02 -5.82314860e-02 3.33086882e+00] [ 9.46477825e-02 9.95508184e-01 2.29209670e-03 -4.38217896e-02] [ 5.77536511e-02 -7.78944499e-03 9.98300476e-01 -7.98647761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.681346184 meters Centerline goodness [0,1] 0.837161657306756 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.80 [[ 9.93826264e-01 -9.42304571e-02 -5.85660132e-02 3.33177131e+00] [ 9.45197009e-02 9.95520600e-01 2.18215487e-03 -4.25716199e-02] [ 5.80980471e-02 -7.70432488e-03 9.98281153e-01 -7.98699058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.711346184 meters Centerline goodness [0,1] 0.83430709802028 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.80 [[ 9.93826112e-01 -9.41589465e-02 -5.86834940e-02 3.33219118e+00] [ 9.44492574e-02 9.95527275e-01 2.18696608e-03 -4.23574113e-02] [ 5.82150964e-02 -7.71607642e-03 9.98274243e-01 -7.98777307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.741346184 meters Centerline goodness [0,1] 0.8401275886233477 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.04, Z:-0.80 [[ 9.93866416e-01 -9.34698180e-02 -5.91011008e-02 3.33438751e+00] [ 9.37878351e-02 9.95588749e-01 2.62398413e-03 -4.35605713e-02] [ 5.85951277e-02 -8.15085400e-03 9.98248554e-01 -8.00001413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77134618399998 meters Centerline goodness [0,1] 0.8408415662214064 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93898582e-01 -9.29551788e-02 -5.93712322e-02 3.33597962e+00] [ 9.32960208e-02 9.95633928e-01 2.98887177e-03 -4.41902806e-02] [ 5.88341820e-02 -8.50973512e-03 9.98231498e-01 -8.01040206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80134618399998 meters Centerline goodness [0,1] 0.8456497557672776 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93917556e-01 -9.26650935e-02 -5.95069116e-02 3.33682550e+00] [ 9.30017866e-02 9.95661696e-01 2.90763172e-03 -4.35603570e-02] [ 5.89793166e-02 -8.42419531e-03 9.98223659e-01 -8.01381582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83134618399998 meters Centerline goodness [0,1] 0.8470727637656277 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93931167e-01 -9.21701927e-02 -6.00457392e-02 3.33803206e+00] [ 9.24312874e-02 9.95717813e-01 1.57937321e-03 -3.86121158e-02] [ 5.96430410e-02 -7.11989324e-03 9.98194377e-01 -7.99729735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86134618399998 meters Centerline goodness [0,1] 0.8502172699245018 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99426247 -0.08850884 -0.06006937 3.33672216] [ 0.08898598 0.99601872 0.00530987 -0.03896839] [ 0.05936025 -0.01062473 0.99818008 -0.79917567] [ 0. 0. 0. 1. ]] SLAMing on 133.89134618399999 meters Centerline goodness [0,1] 0.8528876265384895 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99426135 -0.08828044 -0.0604229 3.33755034] [ 0.08873359 0.99604357 0.00485258 -0.03700371] [ 0.05975545 -0.01018628 0.99816107 -0.79875455] [ 0. 0. 0. 1. ]] SLAMing on 133.921346184 meters Centerline goodness [0,1] 0.8558206199591877 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99427189 -0.08794538 -0.06073726 3.338732 ] [ 0.08840373 0.9960727 0.00489559 -0.03685902] [ 0.06006818 -0.01023695 0.99814178 -0.79907265] [ 0. 0. 0. 1. ]] SLAMing on 133.951346184 meters Centerline goodness [0,1] 0.8565113414015508 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99428969 -0.08757236 -0.0609844 3.34017201] [ 0.08806762 0.99609945 0.00547597 -0.03948875] [ 0.06026698 -0.01081545 0.9981237 -0.80002286] [ 0. 0. 0. 1. ]] SLAMing on 133.981346184 meters Centerline goodness [0,1] 0.8576820711347689 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99428548 -0.08754509 -0.06109202 3.34056164] [ 0.08804912 0.99610038 0.00560244 -0.04031052] [ 0.06036332 -0.01094953 0.99811641 -0.80005704] [ 0. 0. 0. 1. ]] SLAMing on 134.011346184 meters Centerline goodness [0,1] 0.8605402797877473 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99425968 -0.08779448 -0.06115413 3.34062507] [ 0.08828984 0.99607997 0.00544053 -0.04033322] [ 0.06043676 -0.01080859 0.99811351 -0.79992766] [ 0. 0. 0. 1. ]] SLAMing on 134.041346184 meters Centerline goodness [0,1] 0.8567984570877532 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99417586 -0.08899634 -0.06077832 3.33878402] [ 0.08945283 0.99597937 0.00482623 -0.04088432] [ 0.06010444 -0.01023492 0.99813962 -0.79887206] [ 0. 0. 0. 1. ]] SLAMing on 134.071346184 meters Centerline goodness [0,1] 0.8534847203768571 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99414844 -0.08940936 -0.06062046 3.33831999] [ 0.08986955 0.99594148 0.00490228 -0.0424224 ] [ 0.05993612 -0.01032152 0.99814885 -0.79882259] [ 0. 0. 0. 1. ]] SLAMing on 134.101346184 meters Centerline goodness [0,1] 0.8534847203768571 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99414844 -0.08940936 -0.06062046 3.33831999] [ 0.08986955 0.99594148 0.00490228 -0.0424224 ] [ 0.05993612 -0.01032152 0.99814885 -0.79882259] [ 0. 0. 0. 1. ]] SLAMing on 134.131346184 meters Centerline goodness [0,1] 0.8485344371179669 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 0.99410297 -0.08997761 -0.06052531 3.3377497 ] [ 0.0904324 0.99589097 0.0048117 -0.04420925] [ 0.05984366 -0.01025677 0.99815507 -0.79840169] [ 0. 0. 0. 1. ]] SLAMing on 134.161346184 meters Centerline goodness [0,1] 0.8449367088607596 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.80 [[ 9.93694986e-01 -9.46997253e-02 -6.00186358e-02 3.33679334e+00] [ 9.48915527e-02 9.95487555e-01 3.47595810e-04 -4.51980469e-02] [ 5.97148878e-02 -6.04066576e-03 9.98197196e-01 -7.97045817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.191346184 meters Centerline goodness [0,1] 0.84133831847378 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.80 [[ 9.93682734e-01 -9.48594375e-02 -5.99692600e-02 3.33698909e+00] [ 9.50599211e-02 9.95471430e-01 4.92624581e-04 -4.60364446e-02] [ 5.96509549e-02 -6.19018566e-03 9.98200103e-01 -7.97458352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.221346184 meters Centerline goodness [0,1] 0.8409161769996403 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.05, Z:-0.80 [[ 9.93682202e-01 -9.48254191e-02 -6.00318352e-02 3.33748012e+00] [ 9.50270055e-02 9.95474567e-01 5.05584035e-04 -4.57250303e-02] [ 5.97122229e-02 -6.20703539e-03 9.98196335e-01 -7.97801471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.251346184 meters Centerline goodness [0,1] 0.8423863581932269 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93673160e-01 -9.47963308e-02 -6.02271189e-02 3.33808426e+00] [ 9.49917978e-02 9.95477981e-01 3.84211816e-04 -4.48828361e-02] [ 5.99183489e-02 -6.10286328e-03 9.98184625e-01 -7.97936242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.281346184 meters Centerline goodness [0,1] 0.8471453556625698 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93695187e-01 -9.44151134e-02 -6.04620671e-02 3.33891426e+00] [ 9.46043637e-02 9.95514913e-01 2.68722940e-04 -4.44102534e-02] [ 6.01655179e-02 -5.98700408e-03 9.98170460e-01 -7.97781081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.311346184 meters Centerline goodness [0,1] 0.8477572559366755 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93711766e-01 -9.40561973e-02 -6.07483232e-02 3.34005743e+00] [ 9.42543444e-02 9.95548070e-01 3.98121455e-04 -4.42986886e-02] [ 6.04404301e-02 -6.12141134e-03 9.98153036e-01 -7.98212820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.341346184 meters Centerline goodness [0,1] 0.8501544429279506 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93719402e-01 -9.38341647e-02 -6.09663738e-02 3.34093753e+00] [ 9.40283497e-02 9.95569469e-01 3.17648719e-04 -4.34433776e-02] [ 6.06664542e-02 -6.04822121e-03 9.98139770e-01 -7.98451315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.371346184 meters Centerline goodness [0,1] 0.8511174592505462 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93721693e-01 -9.37263943e-02 -6.10946841e-02 3.34125052e+00] [ 9.39044377e-02 9.95581215e-01 4.32014224e-05 -4.23088519e-02] [ 6.08206707e-02 -5.77999215e-03 9.98131974e-01 -7.98126369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.401346184 meters Centerline goodness [0,1] 0.8503083445750627 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93710732e-01 -9.38223685e-02 -6.11256510e-02 3.34117492e+00] [ 9.39843713e-02 9.95573647e-01 -2.25752119e-04 -4.18827866e-02] [ 6.08762679e-02 -5.52052358e-03 9.98130054e-01 -7.97679185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.431346184 meters Centerline goodness [0,1] 0.8491688749698868 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93704590e-01 -9.37786368e-02 -6.12923740e-02 3.34167023e+00] [ 9.39397562e-02 9.95577851e-01 -2.53975586e-04 -4.13510557e-02] [ 6.10451475e-02 -5.50541397e-03 9.98119823e-01 -7.97745145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.461346184 meters Centerline goodness [0,1] 0.849132530120482 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93702026e-01 -9.37018597e-02 -6.14511645e-02 3.34222331e+00] [ 9.38595619e-02 9.95585395e-01 -3.21657321e-04 -4.09394308e-02] [ 6.12100218e-02 -5.44814785e-03 9.98110039e-01 -7.97838360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.491346184 meters Centerline goodness [0,1] 0.8460836574941171 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93701114e-01 -9.37330629e-02 -6.14183158e-02 3.34243365e+00] [ 9.38880318e-02 9.95582696e-01 -3.64283946e-04 -4.15983888e-02] [ 6.11811579e-02 -5.40445543e-03 9.98112047e-01 -7.98017788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52134618399998 meters Centerline goodness [0,1] 0.8473076923076923 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93697828e-01 -9.38080758e-02 -6.13569126e-02 3.34241402e+00] [ 9.39540371e-02 9.95576406e-01 -5.08244558e-04 -4.16049147e-02] [ 6.11331720e-02 -5.25968813e-03 9.98115760e-01 -7.97926351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55134618399998 meters Centerline goodness [0,1] 0.8471991726194771 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93682504e-01 -9.39097271e-02 -6.14495229e-02 3.34239514e+00] [ 9.40334575e-02 9.95568647e-01 -8.81672940e-04 -4.07609171e-02] [ 6.12600161e-02 -4.90220813e-03 9.98109803e-01 -7.97330946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58134618399998 meters Centerline goodness [0,1] 0.8455450784181661 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93706235e-01 -9.32990621e-02 -6.19935717e-02 3.34418504e+00] [ 9.34348260e-02 9.95625144e-01 -7.11733796e-04 -3.98200479e-02] [ 6.17887628e-02 -5.08510428e-03 9.98076295e-01 -7.97624130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61134618399998 meters Centerline goodness [0,1] 0.8456416318849671 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.04, Z:-0.80 [[ 9.93714343e-01 -9.31467261e-02 -6.20926145e-02 3.34483413e+00] [ 9.33002766e-02 9.95637924e-01 -4.28229117e-04 -4.07928393e-02] [ 6.18616499e-02 -5.36772069e-03 9.98070300e-01 -7.98131087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64134618399999 meters Centerline goodness [0,1] 0.8455178416013925 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93723435e-01 -9.29860765e-02 -6.21878214e-02 3.34570238e+00] [ 9.31689772e-02 9.95650310e-01 4.14897170e-05 -4.25091449e-02] [ 6.19134657e-02 -5.83520502e-03 9.98064463e-01 -7.98958744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.671346184 meters Centerline goodness [0,1] 0.8466131605666489 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93729712e-01 -9.28204581e-02 -6.23347645e-02 3.34667320e+00] [ 9.30300398e-02 9.95663195e-01 4.62033496e-04 -4.39640200e-02] [ 6.20215446e-02 -6.25814203e-03 9.98055191e-01 -7.99820020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.701346184 meters Centerline goodness [0,1] 0.8441642807304574 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93730467e-01 -9.27337426e-02 -6.24516792e-02 3.34731247e+00] [ 9.29529086e-02 9.95670321e-01 6.06902114e-04 -4.41091510e-02] [ 6.21250032e-02 -6.40816235e-03 9.98047804e-01 -8.00151433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.731346184 meters Centerline goodness [0,1] 0.8443165675486962 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93703604e-01 -9.29792373e-02 -6.25140649e-02 3.34713728e+00] [ 9.31663002e-02 9.95650558e-01 7.77235747e-05 -4.23912339e-02] [ 6.22349369e-02 -5.90143833e-03 9.98044080e-01 -7.99572799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.761346184 meters Centerline goodness [0,1] 0.842612082940166 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93671938e-01 -9.31888773e-02 -6.27049674e-02 3.34710354e+00] [ 9.33422658e-02 9.95633962e-01 -4.85143821e-04 -4.08771926e-02] [ 6.24764051e-02 -5.37094993e-03 9.98031989e-01 -7.98730711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.791346184 meters Centerline goodness [0,1] 0.8413127413127413 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93675443e-01 -9.30597039e-02 -6.28411137e-02 3.34773962e+00] [ 9.32180519e-02 9.95645632e-01 -4.13720530e-04 -4.11009860e-02] [ 6.26059810e-02 -5.44682226e-03 9.98023458e-01 -7.98971154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.821346184 meters Centerline goodness [0,1] 0.8415588794951465 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93393689e-01 -9.59672768e-02 -6.29226517e-02 3.35052323e+00] [ 9.59295136e-02 9.95381518e-01 -3.62794946e-03 -4.29147744e-02] [ 6.29802090e-02 -2.43215727e-03 9.98011812e-01 -8.00329718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.851346184 meters Centerline goodness [0,1] 0.8429855337146153 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93417783e-01 -9.55738219e-02 -6.31407318e-02 3.35185699e+00] [ 9.55732750e-02 9.95417768e-01 -3.03590866e-03 -4.40223445e-02] [ 6.31415597e-02 -3.01864086e-03 9.98000016e-01 -8.01455470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.881346184 meters Centerline goodness [0,1] 0.8457215898128497 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93748429e-01 -9.21195008e-02 -6.30718440e-02 3.35027973e+00] [ 9.23430693e-02 9.95727050e-01 6.32632125e-04 -4.31979040e-02] [ 6.27440634e-02 -6.45292484e-03 9.98008789e-01 -8.01027255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.911346184 meters Centerline goodness [0,1] 0.8455555555555556 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93732018e-01 -9.20996650e-02 -6.33587260e-02 3.35062688e+00] [ 9.22963622e-02 9.95731565e-01 1.78454884e-04 -4.12060662e-02] [ 6.30718477e-02 -6.02511625e-03 9.97990802e-01 -8.00359706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.941346184 meters Centerline goodness [0,1] 0.8453495970376824 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93723296e-01 -9.20153111e-02 -6.36175548e-02 3.35108979e+00] [ 9.22031986e-02 9.95740212e-01 1.76204166e-05 -4.07654689e-02] [ 6.33449362e-02 -5.88325186e-03 9.97974352e-01 -7.99946905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.971346184 meters Centerline goodness [0,1] 0.8423720223010643 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93734904e-01 -9.18249434e-02 -6.37112268e-02 3.35185837e+00] [ 9.20403871e-02 9.95755174e-01 4.48631643e-04 -4.24293518e-02] [ 6.33995881e-02 -6.30982690e-03 9.97968275e-01 -8.00572233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.001346184 meters Centerline goodness [0,1] 0.8393575264285886 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93372612e-01 -9.57391210e-02 -6.35993266e-02 3.35289135e+00] [ 9.57196780e-02 9.95402660e-01 -3.35961459e-03 -4.39097165e-02] [ 6.36285854e-02 -2.75035794e-03 9.97969859e-01 -8.00655939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.031346184 meters Centerline goodness [0,1] 0.8366041366041366 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.05, Z:-0.80 [[ 9.93339887e-01 -9.62949894e-02 -6.32704045e-02 3.35167632e+00] [ 9.62617048e-02 9.95349616e-01 -3.58129209e-03 -4.50223884e-02] [ 6.33210333e-02 -2.53307671e-03 9.97989995e-01 -7.99994100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.061346184 meters Centerline goodness [0,1] 0.8377301423461917 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.05, Z:-0.80 [[ 9.93304722e-01 -9.67327746e-02 -6.31545649e-02 3.35079452e+00] [ 9.66787113e-02 9.95307928e-01 -3.91859167e-03 -4.51282250e-02] [ 6.32372953e-02 -2.21334633e-03 9.97996065e-01 -7.99056658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.091346184 meters Centerline goodness [0,1] 0.8347230208932337 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93266386e-01 -9.72386318e-02 -6.29804326e-02 3.34972957e+00] [ 9.71486123e-02 9.95259726e-01 -4.49731754e-03 -4.41069320e-02] [ 6.31192011e-02 -1.65142729e-03 9.98004629e-01 -7.97924121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.121346184 meters Centerline goodness [0,1] 0.8355280516178551 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93279810e-01 -9.68829871e-02 -6.33159144e-02 3.35093088e+00] [ 9.68029727e-02 9.95294113e-01 -4.33743046e-03 -4.39406471e-02] [ 6.34381801e-02 -1.82088663e-03 9.97984109e-01 -7.98359436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.151346184 meters Centerline goodness [0,1] 0.8301421664831745 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93312390e-01 -9.62048447e-02 -6.38366990e-02 3.35308150e+00] [ 9.61542815e-02 9.95358915e-01 -3.87098184e-03 -4.41400432e-02] [ 6.39128347e-02 -2.29307771e-03 9.97952850e-01 -7.99522374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.181346184 meters Centerline goodness [0,1] 0.8427856646956022 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93387441e-01 -9.50037638e-02 -6.44645471e-02 3.35605508e+00] [ 9.50019761e-02 9.95472257e-01 -3.10001749e-03 -4.40985421e-02] [ 6.44671815e-02 -3.04474092e-03 9.97915183e-01 -8.01262548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.211346184 meters Centerline goodness [0,1] 0.8452073159053912 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93397706e-01 -9.46816449e-02 -6.47795023e-02 3.35694637e+00] [ 9.46737585e-02 9.95503214e-01 -3.19834654e-03 -4.30809167e-02] [ 6.47910275e-02 -2.95568885e-03 9.97894477e-01 -8.01184252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.241346184 meters Centerline goodness [0,1] 0.8442502940258743 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93401988e-01 -9.45187911e-02 -6.49514312e-02 3.35728445e+00] [ 9.45045874e-02 9.95518964e-01 -3.29790985e-03 -4.21875992e-02] [ 6.49720959e-02 -2.86205800e-03 9.97882977e-01 -8.00931606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27134618399998 meters Centerline goodness [0,1] 0.8441980961561634 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.04, Z:-0.80 [[ 9.93667403e-01 -9.17838453e-02 -6.48137142e-02 3.35456680e+00] [ 9.19744339e-02 9.95761368e-01 -4.33621565e-05 -4.36177067e-02] [ 6.45429727e-02 -5.91811711e-03 9.97897380e-01 -7.99337869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30134618399998 meters Centerline goodness [0,1] 0.840659869180454 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93676559e-01 -9.15788747e-02 -6.49631106e-02 3.35532234e+00] [ 9.17923688e-02 9.95778122e-01 3.03022244e-04 -4.44061251e-02] [ 6.46610939e-02 -6.26422391e-03 9.97887620e-01 -7.99786512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33134618399998 meters Centerline goodness [0,1] 0.841020961894014 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93667569e-01 -9.16230564e-02 -6.50382724e-02 3.35575792e+00] [ 9.18598032e-02 9.95771736e-01 6.52806234e-04 -4.59755296e-02] [ 6.47034613e-02 -6.62307529e-03 9.97882557e-01 -8.00251732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36134618399998 meters Centerline goodness [0,1] 0.8427472501138297 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93646359e-01 -9.18638105e-02 -6.50227083e-02 3.35589526e+00] [ 9.21181783e-02 9.95747658e-01 9.18424222e-04 -4.79933129e-02] [ 6.46618396e-02 -6.90236232e-03 9.97883362e-01 -8.00647281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39134618399999 meters Centerline goodness [0,1] 0.8402688094896447 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93290134e-01 -9.56829550e-02 -6.49575418e-02 3.35726148e+00] [ 9.56933346e-02 9.95406466e-01 -2.95865500e-03 -4.80889061e-02] [ 6.49422499e-02 -3.27720096e-03 9.97883643e-01 -8.01117169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.421346184 meters Centerline goodness [0,1] 0.8411078717201166 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93284308e-01 -9.56325766e-02 -6.51206170e-02 3.35786391e+00] [ 9.56530721e-02 9.95410766e-01 -2.81018268e-03 -4.83414379e-02] [ 6.50905083e-02 -3.43767672e-03 9.97873443e-01 -8.01458128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.451346184 meters Centerline goodness [0,1] 0.8388807913789396 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93281654e-01 -9.54642665e-02 -6.54074069e-02 3.35889881e+00] [ 9.54906739e-02 9.95426582e-01 -2.72956775e-03 -4.76412406e-02] [ 6.53688477e-02 -3.53456779e-03 9.97854910e-01 -8.01973849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.481346184 meters Centerline goodness [0,1] 0.8348617280412667 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93270112e-01 -9.52467236e-02 -6.58980055e-02 3.36035194e+00] [ 9.52778126e-02 9.95447119e-01 -2.67797190e-03 -4.66707121e-02] [ 6.58530477e-02 -3.61866837e-03 9.97822771e-01 -8.02505484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.511346184 meters Centerline goodness [0,1] 0.8380565835024472 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93289340e-01 -9.47837383e-02 -6.62746553e-02 3.36186418e+00] [ 9.48316843e-02 9.95490357e-01 -2.42922908e-03 -4.61990660e-02] [ 6.62060317e-02 -3.87200985e-03 9.97798461e-01 -8.03302297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.541346184 meters Centerline goodness [0,1] 0.8379706963203359 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93292465e-01 -9.46125857e-02 -6.64720836e-02 3.36248013e+00] [ 9.46585340e-02 9.95506748e-01 -2.46507999e-03 -4.57186251e-02] [ 6.64066354e-02 -3.84360461e-03 9.97785240e-01 -8.03401304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.571346184 meters Centerline goodness [0,1] 0.8443707028265852 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.05, Z:-0.80 [[ 9.93292255e-01 -9.45058060e-02 -6.66269359e-02 3.36275403e+00] [ 9.45383686e-02 9.95517635e-01 -2.67109932e-03 -4.50601253e-02] [ 6.65807241e-02 -3.64561956e-03 9.97774382e-01 -8.03039823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.601346184 meters Centerline goodness [0,1] 0.8462954991151289 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93298186e-01 -9.43156990e-02 -6.68076547e-02 3.36325921e+00] [ 9.43467724e-02 9.95535742e-01 -2.69686945e-03 -4.46506704e-02] [ 6.67637652e-02 -3.62429106e-03 9.97762228e-01 -8.03011467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.631346184 meters Centerline goodness [0,1] 0.8495199980942852 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93306744e-01 -9.41040211e-02 -6.69786950e-02 3.36383282e+00] [ 9.41378599e-02 9.95555623e-01 -2.65780531e-03 -4.46346410e-02] [ 6.69311266e-02 -3.66521506e-03 9.97750866e-01 -8.03147810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.661346184 meters Centerline goodness [0,1] 0.8478297062670948 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93301041e-01 -9.40792360e-02 -6.70979820e-02 3.36405620e+00] [ 9.41076539e-02 9.95558245e-01 -2.74417338e-03 -4.42468815e-02] [ 6.70581189e-02 -3.58864338e-03 9.97742617e-01 -8.03015648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.691346184 meters Centerline goodness [0,1] 0.8505383003048781 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.04, Z:-0.80 [[ 9.93297931e-01 -9.38884238e-02 -6.74105571e-02 3.36483803e+00] [ 9.39146668e-02 9.95576351e-01 -2.78665746e-03 -4.35897184e-02] [ 6.73739914e-02 -3.56285892e-03 9.97721430e-01 -8.02967967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.721346184 meters Centerline goodness [0,1] 0.8480225045891243 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93298728e-01 -9.36374654e-02 -6.77470435e-02 3.36607155e+00] [ 9.36713612e-02 9.95599556e-01 -2.68314322e-03 -4.31052385e-02] [ 6.77001692e-02 -3.68079504e-03 9.97698922e-01 -8.03554027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.751346184 meters Centerline goodness [0,1] 0.8526320806424708 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.81 [[ 9.93340633e-01 -9.26431165e-02 -6.84955406e-02 3.36943231e+00] [ 9.27401213e-02 9.95688777e-01 -1.76917407e-03 -4.33990273e-02] [ 6.83641429e-02 -4.59489226e-03 9.97649854e-01 -8.05880032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.781346184 meters Centerline goodness [0,1] 0.8525471720560592 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.81 [[ 9.93348738e-01 -9.24745303e-02 -6.86057352e-02 3.36998175e+00] [ 9.25686037e-02 9.95704657e-01 -1.81347588e-03 -4.27531899e-02] [ 6.84787504e-02 -4.54932314e-03 9.97642203e-01 -8.06122166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.811346184 meters Centerline goodness [0,1] 0.8540701838147529 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.81 [[ 9.93342334e-01 -9.25404569e-02 -6.86095603e-02 3.36978889e+00] [ 9.26061845e-02 9.95700320e-01 -2.22883011e-03 -4.15986488e-02] [ 6.85208181e-02 -4.13967829e-03 9.97641098e-01 -8.05570130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.841346184 meters Centerline goodness [0,1] 0.853501968738814 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93341453e-01 -9.24778126e-02 -6.87067159e-02 3.36984959e+00] [ 9.25070495e-02 9.95708196e-01 -2.76288958e-03 -3.95778109e-02] [ 6.86673462e-02 -3.61136282e-03 9.97633076e-01 -8.04817847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.871346184 meters Centerline goodness [0,1] 0.8519746255842793 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93328256e-01 -9.25524839e-02 -6.87969009e-02 3.36991202e+00] [ 9.25743182e-02 9.95701619e-01 -2.87763065e-03 -3.96030194e-02] [ 6.87675175e-02 -3.51039436e-03 9.97626536e-01 -8.04533063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.901346184 meters Centerline goodness [0,1] 0.8514766113386506 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93318642e-01 -9.27096619e-02 -6.87240474e-02 3.36970989e+00] [ 9.27322204e-02 9.95686951e-01 -2.86882662e-03 -4.06017965e-02] [ 6.86936051e-02 -3.52327455e-03 9.97631583e-01 -8.04396723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.931346184 meters Centerline goodness [0,1] 0.8480952038886096 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93300923e-01 -9.29899734e-02 -6.86013233e-02 3.36933956e+00] [ 9.30191979e-02 9.95660448e-01 -2.77521568e-03 -4.19502000e-02] [ 6.85616915e-02 -3.62461577e-03 9.97640294e-01 -8.04334413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.961346184 meters Centerline goodness [0,1] 0.8433634236041457 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93240648e-01 -9.37003523e-02 -6.85073686e-02 3.36868577e+00] [ 9.37250524e-02 9.95594009e-01 -2.86067988e-03 -4.24954109e-02] [ 6.84735725e-02 -3.57951318e-03 9.97646509e-01 -8.04180346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.991346184 meters Centerline goodness [0,1] 0.8422771592724152 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93222564e-01 -9.38495009e-02 -6.85653617e-02 3.36891260e+00] [ 9.38764169e-02 9.95579817e-01 -2.83661316e-03 -4.24372522e-02] [ 6.85285050e-02 -3.61928228e-03 9.97642594e-01 -8.04385031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02134618399998 meters Centerline goodness [0,1] 0.8422771592724152 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93222564e-01 -9.38495009e-02 -6.85653617e-02 3.36891260e+00] [ 9.38764169e-02 9.95579817e-01 -2.83661316e-03 -4.24372522e-02] [ 6.85285050e-02 -3.61928228e-03 9.97642594e-01 -8.04385031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05134618399998 meters Centerline goodness [0,1] 0.8401717557251909 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93212345e-01 -9.40105218e-02 -6.84927711e-02 3.36888117e+00] [ 9.40401254e-02 9.95564473e-01 -2.79915855e-03 -4.28430972e-02] [ 6.84521199e-02 -3.66090996e-03 9.97647686e-01 -8.04627971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08134618399998 meters Centerline goodness [0,1] 0.8343950552963744 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93205064e-01 -9.40958048e-02 -6.84812389e-02 3.36921118e+00] [ 9.41410663e-02 9.95555543e-01 -2.57320314e-03 -4.52736748e-02] [ 6.84190046e-02 -3.89117847e-03 9.97649086e-01 -8.05005522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11134618399998 meters Centerline goodness [0,1] 0.8363037398682277 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93219912e-01 -9.39055282e-02 -6.85270643e-02 3.36980981e+00] [ 9.39658407e-02 9.95572649e-01 -2.34989523e-03 -4.57136980e-02] [ 6.84443391e-02 -4.10524048e-03 9.97646490e-01 -8.05576498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14134618399999 meters Centerline goodness [0,1] 0.8319924278277331 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93214741e-01 -9.39321306e-02 -6.85655338e-02 3.36977112e+00] [ 9.39758010e-02 9.95571098e-01 -2.59552415e-03 -4.51306795e-02] [ 6.85056669e-02 -3.86558812e-03 9.97643238e-01 -8.05139436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.171346184 meters Centerline goodness [0,1] 0.8321027515965908 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93190411e-01 -9.41379686e-02 -6.86356352e-02 3.36940160e+00] [ 9.41530376e-02 9.95553148e-01 -3.02258237e-03 -4.39872128e-02] [ 6.86149625e-02 -3.46025372e-03 9.97637215e-01 -8.04309297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.201346184 meters Centerline goodness [0,1] 0.8364860684797868 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93163560e-01 -9.45328311e-02 -6.84812845e-02 3.36824236e+00] [ 9.45155079e-02 9.95517236e-01 -3.50028972e-03 -4.28057461e-02] [ 6.85051913e-02 -2.99618318e-03 9.97646261e-01 -8.03060357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.231346184 meters Centerline goodness [0,1] 0.8328429046037019 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.04, Z:-0.80 [[ 9.93183454e-01 -9.42355194e-02 -6.86024277e-02 3.36910573e+00] [ 9.42557576e-02 9.95543648e-01 -2.94907600e-03 -4.41036766e-02] [ 6.85746188e-02 -3.53720031e-03 9.97639719e-01 -8.03824382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.261346184 meters Centerline goodness [0,1] 0.8291624166805038 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93190256e-01 -9.42080528e-02 -6.85416591e-02 3.36927841e+00] [ 9.42534294e-02 9.95544896e-01 -2.57884876e-03 -4.57526642e-02] [ 6.84792473e-02 -3.89899897e-03 9.97644922e-01 -8.04264044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.291346184 meters Centerline goodness [0,1] 0.8271207313029887 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93200725e-01 -9.40753114e-02 -6.85722678e-02 3.36974471e+00] [ 9.41496721e-02 9.95555724e-01 -2.15381800e-03 -4.76374384e-02] [ 6.84701349e-02 -4.31688294e-03 9.97643827e-01 -8.04688987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.321346184 meters Centerline goodness [0,1] 0.8238175993970228 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93184284e-01 -9.43179012e-02 -6.84770814e-02 3.36966592e+00] [ 9.44168511e-02 9.95531129e-01 -1.79730071e-03 -5.04992405e-02] [ 6.83405838e-02 -4.68033958e-03 9.97651071e-01 -8.04916553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.351346184 meters Centerline goodness [0,1] 0.8188364735326061 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93173684e-01 -9.44297543e-02 -6.84766685e-02 3.36954941e+00] [ 9.45349400e-02 9.95520075e-01 -1.71009410e-03 -5.11460986e-02] [ 6.83313820e-02 -4.77501729e-03 9.97651252e-01 -8.04777700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.381346184 meters Centerline goodness [0,1] 0.8157050526017833 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93158292e-01 -9.45860612e-02 -6.84841928e-02 3.36932622e+00] [ 9.46908688e-02 9.95505236e-01 -1.72153288e-03 -5.12385771e-02] [ 6.83392055e-02 -4.77507305e-03 9.97650716e-01 -8.04461860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.411346184 meters Centerline goodness [0,1] 0.8054227226684884 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93137830e-01 -9.47651497e-02 -6.85333325e-02 3.36913843e+00] [ 9.48508524e-02 9.95489466e-01 -2.00980427e-03 -5.05122455e-02] [ 6.84146700e-02 -4.50443236e-03 9.97646803e-01 -8.03911673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.441346184 meters Centerline goodness [0,1] 0.809479970729174 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93122883e-01 -9.47823752e-02 -6.87258379e-02 3.36943765e+00] [ 9.48522010e-02 9.95488814e-01 -2.25392724e-03 -4.96556936e-02] [ 6.86294355e-02 -4.28037028e-03 9.97633038e-01 -8.03559378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.471346184 meters Centerline goodness [0,1] 0.8034435651026945 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.80 [[ 9.93145766e-01 -9.44235194e-02 -6.88889409e-02 3.37064243e+00] [ 9.45237782e-02 9.95520958e-01 -1.81019582e-03 -5.07627015e-02] [ 6.87513095e-02 -4.71385466e-03 9.97622693e-01 -8.04554360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.501346184 meters Centerline goodness [0,1] 0.8148890041004855 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93163241e-01 -9.40541787e-02 -6.91418016e-02 3.37209426e+00] [ 9.41854456e-02 9.95553733e-01 -1.36626975e-03 -5.21129562e-02] [ 6.89628821e-02 -5.15522250e-03 9.97605906e-01 -8.05587693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.531346184 meters Centerline goodness [0,1] 0.8161628043759558 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93195033e-01 -9.37448916e-02 -6.91051554e-02 3.37297833e+00] [ 9.38869103e-02 9.95582149e-01 -1.19712825e-03 -5.16979305e-02] [ 6.89120838e-02 -5.29908769e-03 9.97608663e-01 -8.06765205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.561346184 meters Centerline goodness [0,1] 0.8184905660377358 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93180677e-01 -9.37565067e-02 -6.92954496e-02 3.37326728e+00] [ 9.38677283e-02 9.95583299e-01 -1.65664968e-03 -4.98596390e-02] [ 6.91447140e-02 -4.85925398e-03 9.97594806e-01 -8.06327199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.591346184 meters Centerline goodness [0,1] 0.8196315839065298 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93167211e-01 -9.37267636e-02 -6.95283040e-02 3.37390787e+00] [ 9.38314759e-02 9.95586529e-01 -1.76558366e-03 -4.89277744e-02] [ 6.93869253e-02 -4.77042358e-03 9.97578417e-01 -8.06428474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.621346184 meters Centerline goodness [0,1] 0.8194838343732275 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93158634e-01 -9.38187174e-02 -6.95268036e-02 3.37414353e+00] [ 9.39308585e-02 9.95577336e-01 -1.66188614e-03 -4.93392716e-02] [ 6.93752259e-02 -4.88019579e-03 9.97578700e-01 -8.06816262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.651346184 meters Centerline goodness [0,1] 0.8148663959966009 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93147373e-01 -9.38762230e-02 -6.96099929e-02 3.37444983e+00] [ 9.39902906e-02 9.95571760e-01 -1.64209719e-03 -4.96737540e-02] [ 6.94558970e-02 -4.91181895e-03 9.97572931e-01 -8.06881030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.681346184 meters Centerline goodness [0,1] 0.809465418445068 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93139046e-01 -9.39944477e-02 -6.95692341e-02 3.37448752e+00] [ 9.41174638e-02 9.95559947e-01 -1.51473817e-03 -5.05285012e-02] [ 6.94027200e-02 -5.04333424e-03 9.97575976e-01 -8.07056168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.711346184 meters Centerline goodness [0,1] 0.8013845393110268 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93132865e-01 -9.41286037e-02 -6.94760254e-02 3.37437980e+00] [ 9.42622190e-02 9.95546475e-01 -1.36006737e-03 -5.16512324e-02] [ 6.92946334e-02 -5.19823671e-03 9.97582694e-01 -8.07197084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.741346184 meters Centerline goodness [0,1] 0.7923936621710836 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93095874e-01 -9.46524386e-02 -6.92928571e-02 3.37337680e+00] [ 9.47605731e-02 9.95498585e-01 -1.73227821e-03 -5.16216806e-02] [ 6.91449055e-02 -4.84591250e-03 9.97594857e-01 -8.06420055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77134618399998 meters Centerline goodness [0,1] 0.7933757661480434 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93087401e-01 -9.46914344e-02 -6.93609796e-02 3.37344931e+00] [ 9.47957744e-02 9.95495126e-01 -1.79311481e-03 -5.16180200e-02] [ 6.92183097e-02 -4.79440804e-03 9.97590016e-01 -8.06191094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80134618399998 meters Centerline goodness [0,1] 0.7914906671071572 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93080363e-01 -9.47689071e-02 -6.93559383e-02 3.37354746e+00] [ 9.48792776e-02 9.95487320e-01 -1.70854707e-03 -5.23100499e-02] [ 6.92048742e-02 -4.88371678e-03 9.97590515e-01 -8.06315627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83134618399998 meters Centerline goodness [0,1] 0.7819158966622666 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93081000e-01 -9.47928466e-02 -6.93140966e-02 3.37384116e+00] [ 9.49170426e-02 9.95484045e-01 -1.50697871e-03 -5.32121799e-02] [ 6.91439281e-02 -5.08253713e-03 9.97593747e-01 -8.06791240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86134618399998 meters Centerline goodness [0,1] 0.7789483630179053 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93077176e-01 -9.48013153e-02 -6.93572896e-02 3.37410808e+00] [ 9.49352819e-02 9.95482504e-01 -1.36956323e-03 -5.39251890e-02] [ 6.91738047e-02 -5.22437185e-03 9.97590944e-01 -8.06980072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89134618399999 meters Centerline goodness [0,1] 0.780321986686181 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.05, Z:-0.81 [[ 9.93085891e-01 -9.45950491e-02 -6.95139570e-02 3.37495424e+00] [ 9.47440717e-02 9.95500990e-01 -1.15752462e-03 -5.45857620e-02] [ 6.93107091e-02 -5.43651396e-03 9.97580308e-01 -8.07464545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.921346184 meters Centerline goodness [0,1] 0.7827288836385116 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.81 [[ 9.93101359e-01 -9.43837854e-02 -6.95801075e-02 3.37556342e+00] [ 9.45482483e-02 9.95519843e-01 -9.33274396e-04 -5.52613612e-02] [ 6.93564637e-02 -5.65184121e-03 9.97575931e-01 -8.07903080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.951346184 meters Centerline goodness [0,1] 0.7928079354181956 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.06, Z:-0.81 [[ 9.93479631e-01 -9.03079990e-02 -6.95894265e-02 3.37496791e+00] [ 9.07474946e-02 9.95868877e-01 3.17378590e-03 -5.64739545e-02] [ 6.90153257e-02 -9.46815775e-03 9.97570669e-01 -8.08174804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.981346184 meters Centerline goodness [0,1] 0.8028092411738277 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93470604e-01 -8.99112896e-02 -7.02290409e-02 3.37625572e+00] [ 9.03079049e-02 9.95910789e-01 2.48651379e-03 -5.40232076e-02] [ 6.97182939e-02 -8.81251590e-03 9.97527794e-01 -8.07203173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.011346184 meters Centerline goodness [0,1] 0.8097676623992414 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93490791e-01 -8.93909999e-02 -7.06066404e-02 3.37726889e+00] [ 8.97725404e-02 9.95959769e-01 2.24274320e-03 -5.19587115e-02] [ 7.01208922e-02 -8.56668219e-03 9.97501716e-01 -8.06923351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.041346184 meters Centerline goodness [0,1] 0.8195113844108359 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93491915e-01 -8.91289937e-02 -7.09213497e-02 3.37797590e+00] [ 8.94844743e-02 9.95986509e-01 1.84466860e-03 -5.01915804e-02] [ 7.04722941e-02 -8.17902303e-03 9.97480205e-01 -8.06531590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.071346184 meters Centerline goodness [0,1] 0.8258604695416379 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93523768e-01 -8.85666375e-02 -7.11791689e-02 3.37922614e+00] [ 8.89346601e-02 9.96035431e-01 2.01167914e-03 -5.02469501e-02] [ 7.07188065e-02 -8.32894623e-03 9.97461518e-01 -8.06973019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.101346184 meters Centerline goodness [0,1] 0.8219482762700234 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93523452e-01 -8.83490313e-02 -7.14534781e-02 3.38059218e+00] [ 8.87418461e-02 9.96051921e-01 2.33554508e-03 -5.11533364e-02] [ 7.09650310e-02 -8.66133236e-03 9.97441199e-01 -8.07910607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.131346184 meters Centerline goodness [0,1] 0.8182315188970763 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93498903e-01 -8.86905959e-02 -7.13716169e-02 3.38037095e+00] [ 8.90669876e-02 9.96023419e-01 2.10229040e-03 -5.10831128e-02] [ 7.09013486e-02 -8.44547813e-03 9.97447579e-01 -8.07863269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.161346184 meters Centerline goodness [0,1] 0.8063040526052463 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93470052e-01 -8.91017047e-02 -7.12610836e-02 3.37989087e+00] [ 8.94512301e-02 9.95989714e-01 1.72235508e-03 -5.03148632e-02] [ 7.08218416e-02 -8.08549978e-03 9.97456210e-01 -8.07544710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.191346184 meters Centerline goodness [0,1] 0.8198092967818832 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93408096e-01 -8.99850781e-02 -7.10143693e-02 3.37878528e+00] [ 9.03051259e-02 9.95913293e-01 1.30266219e-03 -5.08751400e-02] [ 7.06069342e-02 -7.70703673e-03 9.97474442e-01 -8.07023097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.221346184 meters Centerline goodness [0,1] 0.7789578729774039 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93388905e-01 -9.02795603e-02 -7.09089879e-02 3.37866725e+00] [ 9.06109371e-02 9.95885292e-01 1.46403530e-03 -5.32435773e-02] [ 7.04850457e-02 -7.87948627e-03 9.97481715e-01 -8.07159590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.251346184 meters Centerline goodness [0,1] 0.7742455109679254 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.81 [[ 9.93369342e-01 -9.06402527e-02 -7.07226580e-02 3.37837892e+00] [ 9.09805988e-02 9.95851381e-01 1.59944256e-03 -5.55671214e-02] [ 7.02842828e-02 -8.02322698e-03 9.97494736e-01 -8.07353776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.281346184 meters Centerline goodness [0,1] 0.7916972901206761 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.81 [[ 9.93326746e-01 -9.11628162e-02 -7.06492564e-02 3.37821121e+00] [ 9.15060355e-02 9.95803187e-01 1.63015957e-03 -5.62922221e-02] [ 7.02041448e-02 -8.08411447e-03 9.97499887e-01 -8.07684586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.311346184 meters Centerline goodness [0,1] 0.7875965685577515 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93299359e-01 -9.13717709e-02 -7.07642810e-02 3.37816289e+00] [ 9.16819628e-02 9.95787686e-01 1.14111989e-03 -5.42828395e-02] [ 7.03619335e-02 -7.62128183e-03 9.97492413e-01 -8.07182930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.341346184 meters Centerline goodness [0,1] 0.7545247256662391 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93274902e-01 -9.15342022e-02 -7.08975233e-02 3.37791799e+00] [ 9.17997419e-02 9.95777369e-01 4.89335872e-04 -5.20667979e-02] [ 7.05533582e-02 -6.99441938e-03 9.97483484e-01 -8.06183638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.371346184 meters Centerline goodness [0,1] 0.8018346884111219 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93262590e-01 -9.15237428e-02 -7.10832800e-02 3.37774740e+00] [ 9.17402279e-02 9.95782949e-01 -2.20110908e-04 -5.07847146e-02] [ 7.08036636e-02 -6.30256838e-03 9.97470360e-01 -8.04740859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.401346184 meters Centerline goodness [0,1] 0.8114120381349903 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93271416e-01 -9.14122899e-02 -7.11033609e-02 3.37812863e+00] [ 9.16326710e-02 9.95792864e-01 -1.63045412e-04 -5.18175272e-02] [ 7.08191237e-02 -6.35344253e-03 9.97468940e-01 -8.04925388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.431346184 meters Centerline goodness [0,1] 0.8131246151660114 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93271886e-01 -9.14684914e-02 -7.10244720e-02 3.37826853e+00] [ 9.16834784e-02 9.95788173e-01 -2.34008557e-04 -5.24334893e-02] [ 7.07467336e-02 -6.27933653e-03 9.97474546e-01 -8.05127501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.461346184 meters Centerline goodness [0,1] 0.8159161710563579 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.81 [[ 9.93274571e-01 -9.12869031e-02 -7.12202725e-02 3.37914494e+00] [ 9.15036878e-02 9.95804713e-01 -2.19628592e-04 -5.23601339e-02] [ 7.09415323e-02 -6.29876609e-03 9.97460588e-01 -8.05497954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.491346184 meters Centerline goodness [0,1] 0.8034377005919692 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93539154e-01 -8.86736288e-02 -7.08303439e-02 3.37584634e+00] [ 8.90720118e-02 9.96022102e-01 2.47968643e-03 -5.04806300e-02] [ 7.03287052e-02 -8.77266678e-03 9.97485295e-01 -8.03866879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52134618399998 meters Centerline goodness [0,1] 0.8188068466661892 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93510451e-01 -8.89298935e-02 -7.09116144e-02 3.37562528e+00] [ 8.92846953e-02 9.96004441e-01 1.84326706e-03 -4.87318776e-02] [ 7.04643613e-02 -8.16262697e-03 9.97480900e-01 -8.03138217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.55134618399998 meters Centerline goodness [0,1] 0.8221288180928045 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93509547e-01 -8.87689393e-02 -7.11256351e-02 3.37647205e+00] [ 8.91336297e-02 9.96017741e-01 1.96375978e-03 -4.91659984e-02] [ 7.06680735e-02 -8.29070011e-03 9.97465432e-01 -8.03492103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58134618399998 meters Centerline goodness [0,1] 0.8251660042363805 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93530882e-01 -8.83588524e-02 -7.13379195e-02 3.37803933e+00] [ 8.87656027e-02 9.96049290e-01 2.54556548e-03 -5.14850508e-02] [ 7.08311608e-02 -8.86145134e-03 9.97448957e-01 -8.04778460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61134618399998 meters Centerline goodness [0,1] 0.8207453121291242 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93529791e-01 -8.82999139e-02 -7.14260436e-02 3.37836339e+00] [ 8.87079830e-02 9.96054399e-01 2.55517651e-03 -5.16716143e-02] [ 7.09186031e-02 -8.87470425e-03 9.97442626e-01 -8.04815495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64134618399999 meters Centerline goodness [0,1] 0.8223488896805605 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93529134e-01 -8.81511279e-02 -7.16187086e-02 3.37883171e+00] [ 8.85627445e-02 9.96067243e-01 2.58613837e-03 -5.14639768e-02] [ 7.11090786e-02 -8.91215321e-03 9.97428731e-01 -8.04761124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.671346184 meters Centerline goodness [0,1] 0.8269927536231885 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93509391e-01 -8.82542317e-02 -7.17654504e-02 3.37858334e+00] [ 8.86385416e-02 9.96061468e-01 2.18188465e-03 -5.03322896e-02] [ 7.12902394e-02 -8.52890775e-03 9.97419149e-01 -8.03694998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.701346184 meters Centerline goodness [0,1] 0.8343593278349535 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93501157e-01 -8.82892972e-02 -7.18362860e-02 3.37866311e+00] [ 8.86663498e-02 9.96059230e-01 2.07070277e-03 -5.03639431e-02] [ 7.13703748e-02 -8.42670685e-03 9.97414287e-01 -8.03386630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.731346184 meters Centerline goodness [0,1] 0.8267727724882763 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93490412e-01 -8.83371167e-02 -7.19260436e-02 3.37879155e+00] [ 8.87175288e-02 9.96054601e-01 2.10525487e-03 -5.11645922e-02] [ 7.14562945e-02 -8.47265137e-03 9.97407746e-01 -8.03171664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.761346184 meters Centerline goodness [0,1] 0.8248767071320182 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93480840e-01 -8.84154932e-02 -7.19619464e-02 3.37899001e+00] [ 8.88063354e-02 9.96046385e-01 2.24368915e-03 -5.25887146e-02] [ 7.14790597e-02 -8.61973893e-03 9.97404855e-01 -8.03230574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.791346184 meters Centerline goodness [0,1] 0.8260653878862326 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.05, Z:-0.80 [[ 9.93467250e-01 -8.85522522e-02 -7.19813939e-02 3.37924606e+00] [ 8.89610260e-02 9.96032004e-01 2.48659604e-03 -5.48041799e-02] [ 7.14755783e-02 -8.87389038e-03 9.97402875e-01 -8.03486338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.821346184 meters Centerline goodness [0,1] 0.8235488906760017 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93461609e-01 -8.85534406e-02 -7.20577480e-02 3.37946535e+00] [ 8.89719541e-02 9.96030705e-01 2.61283258e-03 -5.60233747e-02] [ 7.15403542e-02 -9.00686752e-03 9.97397039e-01 -8.03460518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.851346184 meters Centerline goodness [0,1] 0.8249758579268436 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93460562e-01 -8.83892367e-02 -7.22734658e-02 3.38028315e+00] [ 8.88307518e-02 9.96042480e-01 2.91135964e-03 -5.75337919e-02] [ 7.17301093e-02 -9.31242729e-03 9.97380604e-01 -8.03727723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.881346184 meters Centerline goodness [0,1] 0.8232451798425494 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93454731e-01 -8.83626372e-02 -7.23860560e-02 3.38059953e+00] [ 8.88173533e-02 9.96043164e-01 3.08096780e-03 -5.82435598e-02] [ 7.18273939e-02 -9.48993996e-03 9.97371930e-01 -8.03774654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.911346184 meters Centerline goodness [0,1] 0.8232451798425494 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93454731e-01 -8.83626372e-02 -7.23860560e-02 3.38059953e+00] [ 8.88173533e-02 9.96043164e-01 3.08096780e-03 -5.82435598e-02] [ 7.18273939e-02 -9.48993996e-03 9.97371930e-01 -8.03774654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.941346184 meters Centerline goodness [0,1] 0.8243077792427953 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93453887e-01 -8.80611632e-02 -7.27640376e-02 3.38188024e+00] [ 8.85310841e-02 9.96068106e-01 3.25206750e-03 -5.74435526e-02] [ 7.21915563e-02 -9.67265823e-03 9.97343882e-01 -8.04330635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.971346184 meters Centerline goodness [0,1] 0.825503355704698 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93448152e-01 -8.78595273e-02 -7.30853747e-02 3.38291787e+00] [ 8.83314548e-02 9.96085855e-01 3.24399022e-03 -5.67413884e-02] [ 7.25142925e-02 -9.67847356e-03 9.97320412e-01 -8.04600894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.001346184 meters Centerline goodness [0,1] 0.8246014203075765 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93436900e-01 -8.78179857e-02 -7.32879766e-02 3.38346473e+00] [ 8.82972715e-02 9.96088637e-01 3.31937115e-03 -5.76883693e-02] [ 7.27098202e-02 -9.76871415e-03 9.97305296e-01 -8.04529945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.031346184 meters Centerline goodness [0,1] 0.8194078947368422 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93424276e-01 -8.81178575e-02 -7.30989109e-02 3.38263424e+00] [ 8.85814824e-02 9.96064052e-01 3.11858026e-03 -5.91203957e-02] [ 7.25363948e-02 -9.57328323e-03 9.97319820e-01 -8.03755329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.061346184 meters Centerline goodness [0,1] 0.8267408033033032 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93400643e-01 -8.86024342e-02 -7.28338644e-02 3.38140437e+00] [ 8.90363397e-02 9.96024648e-01 2.72604958e-03 -6.00736843e-02] [ 7.23027895e-02 -9.19292010e-03 9.97340362e-01 -8.02741171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.091346184 meters Centerline goodness [0,1] 0.8277344484119527 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.06, Z:-0.80 [[ 9.93365069e-01 -8.92264987e-02 -7.25566726e-02 3.37999189e+00] [ 8.96127708e-02 9.95974511e-01 2.07944834e-03 -5.98808251e-02] [ 7.20790546e-02 -8.56765582e-03 9.97362123e-01 -8.01546678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.121346184 meters Centerline goodness [0,1] 0.818508514386377 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 0.99349646 -0.09178366 -0.06738359 3.39319354] [ 0.09254911 0.99567336 0.00832056 -0.05858379] [ 0.06632835 -0.01450274 0.99769245 -0.80204107] [ 0. 0. 0. 1. ]] SLAMing on 138.151346184 meters Centerline goodness [0,1] 0.8108908795937081 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 0.99345258 -0.0923655 -0.06723528 3.39248524] [ 0.09310486 0.99562464 0.00794069 -0.05888709] [ 0.06620765 -0.01414863 0.99770555 -0.80156091] [ 0. 0. 0. 1. ]] SLAMing on 138.181346184 meters Centerline goodness [0,1] 0.805742211362248 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 0.9934368 -0.09255461 -0.06720846 3.39269907] [ 0.09330761 0.99560401 0.00814584 -0.06088427] [ 0.06615908 -0.01436344 0.9977057 -0.80191178] [ 0. 0. 0. 1. ]] SLAMing on 138.211346184 meters Centerline goodness [0,1] 0.7955138966610706 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 0.9931059 -0.09604987 -0.06719447 3.39490741] [ 0.09659322 0.99531199 0.00487708 -0.06297669] [ 0.06641102 -0.01133399 0.99772798 -0.80335212] [ 0. 0. 0. 1. ]] SLAMing on 138.241346184 meters Centerline goodness [0,1] 0.8051663441587206 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.07, Z:-0.80 [[ 0.99311105 -0.09595398 -0.06725535 3.3957334 ] [ 0.09652811 0.99531598 0.00533199 -0.06513306] [ 0.0664287 -0.01178729 0.99772155 -0.80421733] [ 0. 0. 0. 1. ]] SLAMing on 138.27134618399998 meters Centerline goodness [0,1] 0.7999580576008948 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.07, Z:-0.80 [[ 0.99310538 -0.09601827 -0.06724728 3.39580646] [ 0.09659897 0.99530857 0.00542995 -0.06633368] [ 0.06641042 -0.01188853 0.99772156 -0.80418544] [ 0. 0. 0. 1. ]] SLAMing on 138.30134618399998 meters Centerline goodness [0,1] 0.7886712274393518 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 0.99303916 -0.09687546 -0.06699528 3.39314484] [ 0.09735375 0.99524218 0.00390387 -0.06321318] [ 0.06629834 -0.01039894 0.99774565 -0.80075339] [ 0. 0. 0. 1. ]] SLAMing on 138.33134618399998 meters Centerline goodness [0,1] 0.7907932209720342 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 9.92993345e-01 -9.73028727e-02 -6.70549591e-02 3.39223929e+00] [ 9.77231474e-02 9.95209091e-01 3.00845026e-03 -6.07677341e-02] [ 6.64409740e-02 -9.54019274e-03 9.97744748e-01 -7.99158814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36134618399998 meters Centerline goodness [0,1] 0.794443537288017 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 9.92983310e-01 -9.72853239e-02 -6.72288046e-02 3.39236040e+00] [ 9.76919235e-02 9.95212823e-01 2.77928049e-03 -6.03394789e-02] [ 6.66365852e-02 -9.32749037e-03 9.97733714e-01 -7.98537596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39134618399999 meters Centerline goodness [0,1] 0.7911990273101384 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:-0.80 [[ 9.93000984e-01 -9.70552514e-02 -6.73002492e-02 3.39301268e+00] [ 9.74814376e-02 9.95232608e-01 3.07001028e-03 -6.17863308e-02] [ 6.66814419e-02 -9.60904826e-03 9.97728045e-01 -7.98966956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.421346184 meters Centerline goodness [0,1] 0.8024852540041498 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.07, Z:-0.80 [[ 0.99306641 -0.09617745 -0.06759446 3.39546854] [ 0.09667303 0.99530778 0.00409171 -0.06520214] [ 0.06688376 -0.0105979 0.99770449 -0.80103124] [ 0. 0. 0. 1. ]] SLAMing on 138.451346184 meters Centerline goodness [0,1] 0.8179325090638654 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 0.9930723 -0.09598567 -0.06778015 3.39647193] [ 0.09647815 0.99532697 0.00402265 -0.06470531] [ 0.0670773 -0.01053408 0.99769217 -0.8015942 ] [ 0. 0. 0. 1. ]] SLAMing on 138.481346184 meters Centerline goodness [0,1] 0.8083945435466946 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 0.99306365 -0.09591374 -0.06800834 3.39715793] [ 0.09638328 0.9953376 0.00364925 -0.06307085] [ 0.06734125 -0.01017881 0.99767808 -0.80159345] [ 0. 0. 0. 1. ]] SLAMing on 138.511346184 meters Centerline goodness [0,1] 0.8158116852668105 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.93039197e-01 -9.60308893e-02 -6.81998687e-02 3.39718922e+00] [ 9.64542870e-02 9.95333088e-01 2.93499110e-03 -5.96028640e-02] [ 6.75997362e-02 -9.49273091e-03 9.97667361e-01 -8.00949247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.541346184 meters Centerline goodness [0,1] 0.8007124944336372 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.93024029e-01 -9.61663414e-02 -6.82298561e-02 3.39735377e+00] [ 9.65836384e-02 9.95320831e-01 2.83616166e-03 -5.98053478e-02] [ 6.76378538e-02 -9.40626442e-03 9.97665597e-01 -8.00998869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.571346184 meters Centerline goodness [0,1] 0.7971723508344842 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.93021110e-01 -9.61729877e-02 -6.82629523e-02 3.39784532e+00] [ 9.66048562e-02 9.95318151e-01 3.04617922e-03 -6.14433754e-02] [ 6.76503954e-02 -9.61945297e-03 9.97662714e-01 -8.01436970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.601346184 meters Centerline goodness [0,1] 0.7942513462479894 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.93007966e-01 -9.63108752e-02 -6.82597594e-02 3.39803175e+00] [ 9.67482153e-02 9.95303990e-01 3.12263208e-03 -6.29764911e-02] [ 6.76384675e-02 -9.70480844e-03 9.97662696e-01 -8.01582292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.631346184 meters Centerline goodness [0,1] 0.7866666666666666 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92979834e-01 -9.67026891e-02 -6.81149018e-02 3.39727170e+00] [ 9.71141757e-02 9.95269453e-01 2.74808472e-03 -6.30074239e-02] [ 6.75269339e-02 -9.34371524e-03 9.97673698e-01 -8.00748335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.661346184 meters Centerline goodness [0,1] 0.8101041228930289 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92938917e-01 -9.70710697e-02 -6.81873513e-02 3.39669799e+00] [ 9.74344618e-02 9.95239901e-01 2.01602046e-03 -6.14005124e-02] [ 6.76670756e-02 -8.64558305e-03 9.97670497e-01 -7.99577999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.691346184 meters Centerline goodness [0,1] 0.788133810225121 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92914354e-01 -9.73123163e-02 -6.82011589e-02 3.39623117e+00] [ 9.76345972e-02 9.95221345e-01 1.40025023e-03 -5.98383319e-02] [ 6.77389874e-02 -8.04912122e-03 9.97670608e-01 -7.98634774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.721346184 meters Centerline goodness [0,1] 0.8130841121495327 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92898470e-01 -9.74251569e-02 -6.82712799e-02 3.39605796e+00] [ 9.77144257e-02 9.95214086e-01 9.02506621e-04 -5.85341996e-02] [ 6.78566126e-02 -7.56718635e-03 9.97666386e-01 -7.97877492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.751346184 meters Centerline goodness [0,1] 0.8216097435537789 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92912905e-01 -9.72220080e-02 -6.83508883e-02 3.39671791e+00] [ 9.75135060e-02 9.95233764e-01 9.33324622e-04 -5.83265268e-02] [ 6.79343722e-02 -7.59184482e-03 9.97660907e-01 -7.98316406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.781346184 meters Centerline goodness [0,1] 0.8113136892363143 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92911260e-01 -9.72424259e-02 -6.83457464e-02 3.39698224e+00] [ 9.75278369e-02 9.95232440e-01 8.43805916e-04 -5.88002875e-02] [ 6.79378502e-02 -7.50343720e-03 9.97661339e-01 -7.98466001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.811346184 meters Centerline goodness [0,1] 0.8279054543754237 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92926715e-01 -9.70043831e-02 -6.84593929e-02 3.39756542e+00] [ 9.72804716e-02 9.95256759e-01 7.02770268e-04 -5.85822759e-02] [ 6.80665017e-02 -7.35756140e-03 9.97653656e-01 -7.98475183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.841346184 meters Centerline goodness [0,1] 0.8298220590642318 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92928085e-01 -9.67667062e-02 -6.87751618e-02 3.39846669e+00] [ 9.70344185e-02 9.95280872e-01 5.54671128e-04 -5.78815885e-02] [ 6.83969293e-02 -7.22430637e-03 9.97632031e-01 -7.98340555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.871346184 meters Centerline goodness [0,1] 0.8364379507176247 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92903153e-01 -9.68906407e-02 -6.89603714e-02 3.39851311e+00] [ 9.71231991e-02 9.95272367e-01 1.96250147e-05 -5.62925488e-02] [ 6.86324505e-02 -6.71713762e-03 9.97619400e-01 -7.97614471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.901346184 meters Centerline goodness [0,1] 0.8265645256334708 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92896552e-01 -9.68200423e-02 -6.91542986e-02 3.39894420e+00] [ 9.70348519e-02 9.95280952e-01 -2.54127152e-04 -5.48597563e-02] [ 6.88525607e-02 -6.45805515e-03 9.97605943e-01 -7.97436882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.931346184 meters Centerline goodness [0,1] 0.8257233060032042 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92893312e-01 -9.66474671e-02 -6.94416218e-02 3.39979877e+00] [ 9.68544773e-02 9.95298478e-01 -3.87580715e-04 -5.41858719e-02] [ 6.91525991e-02 -6.34090568e-03 9.97585942e-01 -7.97453521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.961346184 meters Centerline goodness [0,1] 0.8279772267444596 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92922094e-01 -9.62372735e-02 -6.95995836e-02 3.40143927e+00] [ 9.64945212e-02 9.95333459e-01 3.35687605e-04 -5.67320524e-02] [ 6.92424887e-02 -7.04929014e-03 9.97574952e-01 -7.99093668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99134618399998 meters Centerline goodness [0,1] 0.8335248188703135 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92928313e-01 -9.60541006e-02 -6.97637083e-02 3.40247755e+00] [ 9.63289285e-02 9.95349388e-01 5.78097993e-04 -5.71105844e-02] [ 6.93837357e-02 -7.29427314e-03 9.97563377e-01 -7.99872260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02134618399998 meters Centerline goodness [0,1] 0.8322972591127438 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:-0.80 [[ 9.92898144e-01 -9.63649194e-02 -6.97644503e-02 3.40222981e+00] [ 9.66045610e-02 9.95322840e-01 6.14068032e-05 -5.56329527e-02] [ 6.94322334e-02 -6.80053480e-03 9.97563491e-01 -7.99464197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05134618399998 meters Centerline goodness [0,1] 0.8138335452875513 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92493078e-01 -1.00199874e-01 -7.01247080e-02 3.40349065e+00] [ 1.00086544e-01 9.94965475e-01 -5.13674827e-03 -5.05477809e-02] [ 7.02863649e-02 -1.92035260e-03 9.97525007e-01 -7.97611738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08134618399998 meters Centerline goodness [0,1] 0.8084143005376851 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92477829e-01 -1.00486233e-01 -6.99305148e-02 3.40301076e+00] [ 1.00355219e-01 9.94937055e-01 -5.39316753e-03 -5.06381943e-02] [ 7.01183996e-02 -1.66529290e-03 9.97537286e-01 -7.97344890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11134618399998 meters Centerline goodness [0,1] 0.7999811791276525 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92455892e-01 -1.00788579e-01 -6.98066178e-02 3.40269028e+00] [ 1.00643293e-01 9.94906790e-01 -5.60423324e-03 -5.07146316e-02] [ 7.00159207e-02 -1.46361356e-03 9.97544800e-01 -7.97135044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14134618399999 meters Centerline goodness [0,1] 0.8083607327383748 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92385006e-01 -1.01825159e-01 -6.93082703e-02 3.40124996e+00] [ 1.01653525e-01 9.94801721e-01 -6.00807977e-03 -5.14943709e-02] [ 6.95597602e-02 -1.08310172e-03 9.97577198e-01 -7.96874824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.171346184 meters Centerline goodness [0,1] 0.8084262410515197 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92363774e-01 -1.02122892e-01 -6.91740972e-02 3.40133079e+00] [ 1.01961214e-01 9.94771037e-01 -5.87329019e-03 -5.26780406e-02] [ 6.94121857e-02 -1.22463453e-03 9.97587314e-01 -7.97458107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.201346184 meters Centerline goodness [0,1] 0.7906425335117496 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92346083e-01 -1.02352741e-01 -6.90881222e-02 3.40144113e+00] [ 1.02192483e-01 9.94747387e-01 -5.85934019e-03 -5.30449514e-02] [ 6.93249486e-02 -1.24579350e-03 9.97593354e-01 -7.97860130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.231346184 meters Centerline goodness [0,1] 0.7813637751626618 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92321313e-01 -1.02522061e-01 -6.91927608e-02 3.40176483e+00] [ 1.02356070e-01 9.94730033e-01 -5.94951499e-03 -5.25532405e-02] [ 6.94380737e-02 -1.17846855e-03 9.97585568e-01 -7.98003625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.261346184 meters Centerline goodness [0,1] 0.7701971486378394 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92301340e-01 -1.02586511e-01 -6.93834117e-02 3.40222422e+00] [ 1.02411842e-01 9.94723507e-01 -6.07935914e-03 -5.13789415e-02] [ 6.96409709e-02 -1.07312676e-03 9.97571543e-01 -7.98065897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.291346184 meters Centerline goodness [0,1] 0.7896947105176237 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92309314e-01 -1.02466400e-01 -6.94468235e-02 3.40273435e+00] [ 1.02292432e-01 9.94735875e-01 -6.06609226e-03 -5.11961931e-02] [ 6.97028174e-02 -1.08444462e-03 9.97567211e-01 -7.98391009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.321346184 meters Centerline goodness [0,1] 0.7848718129811427 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92323011e-01 -1.02144780e-01 -6.97243560e-02 3.40399613e+00] [ 1.01973811e-01 9.94768890e-01 -6.01642105e-03 -5.03766996e-02] [ 6.99741663e-02 -1.13982523e-03 9.97548153e-01 -7.99056522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.351346184 meters Centerline goodness [0,1] 0.7825333934375667 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92699449e-01 -9.83640430e-02 -6.98019940e-02 3.40320462e+00] [ 9.84364543e-02 9.95140420e-01 -2.40997608e-03 -4.92433937e-02] [ 6.96998406e-02 -4.47867886e-03 9.97557955e-01 -7.99130322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.381346184 meters Centerline goodness [0,1] 0.7851161245937418 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92709445e-01 -9.80592202e-02 -7.00881314e-02 3.40415979e+00] [ 9.81097258e-02 9.95171860e-01 -2.72977766e-03 -4.71428059e-02] [ 7.00174159e-02 -4.16645129e-03 9.97537068e-01 -7.99057245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.411346184 meters Centerline goodness [0,1] 0.7918040955793371 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.05, Z:-0.80 [[ 9.92714557e-01 -9.78005816e-02 -7.03765137e-02 3.40495419e+00] [ 9.78255800e-02 9.95198748e-01 -3.09960024e-03 -4.53817854e-02] [ 7.03417611e-02 -3.80760499e-03 9.97515683e-01 -7.98784103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.441346184 meters Centerline goodness [0,1] 0.801613094532084 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92724533e-01 -9.75161859e-02 -7.06299901e-02 3.40584993e+00] [ 9.75220260e-02 9.95227648e-01 -3.37387347e-03 -4.39076506e-02] [ 7.06219262e-02 -3.53865277e-03 9.97496878e-01 -7.98796083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.471346184 meters Centerline goodness [0,1] 0.8192358052612785 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 0.9927706 -0.09683442 -0.07091996 3.40736442] [ 0.09683363 0.99529458 -0.00345731 -0.04227949] [ 0.07092104 -0.00343512 0.99747602 -0.79937383] [ 0. 0. 0. 1. ]] SLAMing on 139.501346184 meters Centerline goodness [0,1] 0.8232664320365262 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92786900e-01 -9.63997022e-02 -7.12830109e-02 3.40890838e+00] [ 9.64084358e-02 9.95336300e-01 -3.32604864e-03 -4.16634066e-02] [ 7.12711984e-02 -3.57022606e-03 9.97450585e-01 -8.00073757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.531346184 meters Centerline goodness [0,1] 0.8224520011462413 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92800196e-01 -9.60397679e-02 -7.15830565e-02 3.41030939e+00] [ 9.60535701e-02 9.95370836e-01 -3.25748622e-03 -4.07316244e-02] [ 7.15645349e-02 -3.64177517e-03 9.97429323e-01 -8.00825798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.561346184 meters Centerline goodness [0,1] 0.8290708503474461 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92807509e-01 -9.55765138e-02 -7.20997885e-02 3.41212187e+00] [ 9.55898989e-02 9.95415421e-01 -3.27277353e-03 -3.80541586e-02] [ 7.20820416e-02 -3.64277736e-03 9.97392054e-01 -8.01600035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.591346184 meters Centerline goodness [0,1] 0.8211846190589921 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92812572e-01 -9.54012874e-02 -7.22619660e-02 3.41295857e+00] [ 9.54250278e-02 9.95431694e-01 -3.13163199e-03 -3.79215819e-02] [ 7.22306129e-02 -3.78647650e-03 9.97380770e-01 -8.02102435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.621346184 meters Centerline goodness [0,1] 0.8155698617072007 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92819861e-01 -9.53353614e-02 -7.22488176e-02 3.41328016e+00] [ 9.53670224e-02 9.95437600e-01 -3.01914065e-03 -3.83577432e-02] [ 7.22070205e-02 -3.89269181e-03 9.97382070e-01 -8.02391156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.651346184 meters Centerline goodness [0,1] 0.8240707627017619 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92811145e-01 -9.52931507e-02 -7.24240741e-02 3.41406145e+00] [ 9.53273461e-02 9.95441482e-01 -2.99214747e-03 -3.80083920e-02] [ 7.23790588e-02 -3.93335743e-03 9.97369440e-01 -8.02685902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.681346184 meters Centerline goodness [0,1] 0.8176625239005736 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.04, Z:-0.80 [[ 9.92806527e-01 -9.52528088e-02 -7.25403477e-02 3.41456200e+00] [ 9.52828801e-02 9.95445552e-01 -3.05374312e-03 -3.78354250e-02] [ 7.25008441e-02 -3.88007714e-03 9.97360804e-01 -8.02800683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.711346184 meters Centerline goodness [0,1] 0.8133450981327356 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.80 [[ 9.92816084e-01 -9.50059528e-02 -7.27330251e-02 3.41579755e+00] [ 9.50576006e-02 9.95467951e-01 -2.75894449e-03 -3.86127173e-02] [ 7.26655116e-02 -4.17470239e-03 9.97347630e-01 -8.03590996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74134618399998 meters Centerline goodness [0,1] 0.805514513130928 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92813810e-01 -9.49330579e-02 -7.28591352e-02 3.41718950e+00] [ 9.50074595e-02 9.95473541e-01 -2.45171040e-03 -3.86736625e-02] [ 7.27620897e-02 -4.48806939e-03 9.97339228e-01 -8.05158753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77134618399998 meters Centerline goodness [0,1] 0.7991699661308018 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92805129e-01 -9.49554820e-02 -7.29481516e-02 3.41794100e+00] [ 9.50264664e-02 9.95471595e-01 -2.50481986e-03 -3.77951391e-02] [ 7.28556592e-02 -4.44520707e-03 9.97332589e-01 -8.05850737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80134618399998 meters Centerline goodness [0,1] 0.7853444367558281 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92813466e-01 -9.47491235e-02 -7.31028474e-02 3.41921611e+00] [ 9.48371258e-02 9.95490205e-01 -2.27417644e-03 -3.78085036e-02] [ 7.29886448e-02 -4.67503094e-03 9.97321815e-01 -8.06945573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83134618399998 meters Centerline goodness [0,1] 0.7853444367558281 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92813466e-01 -9.47491235e-02 -7.31028474e-02 3.41921611e+00] [ 9.48371258e-02 9.95490205e-01 -2.27417644e-03 -3.78085036e-02] [ 7.29886448e-02 -4.67503094e-03 9.97321815e-01 -8.06945573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86134618399998 meters Centerline goodness [0,1] 0.7890591333492938 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92811783e-01 -9.46928951e-02 -7.31984859e-02 3.42028719e+00] [ 9.47811054e-02 9.95495537e-01 -2.27540563e-03 -3.75946501e-02] [ 7.30842308e-02 -4.67878388e-03 9.97314797e-01 -8.07942906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89134618399999 meters Centerline goodness [0,1] 0.7937437269989963 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92807559e-01 -9.45492290e-02 -7.34410988e-02 3.42115370e+00] [ 9.46240966e-02 9.95510017e-01 -2.46709486e-03 -3.65731237e-02] [ 7.33446115e-02 -4.49994721e-03 9.97296505e-01 -8.07962909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.921346184 meters Centerline goodness [0,1] 0.8006027842893364 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.04, Z:-0.81 [[ 9.92815055e-01 -9.43658152e-02 -7.35755361e-02 3.42172242e+00] [ 9.44272205e-02 9.95528237e-01 -2.65125478e-03 -3.53980370e-02] [ 7.34967116e-02 -4.31532772e-03 9.97286123e-01 -8.07884735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.951346184 meters Centerline goodness [0,1] 0.7990235964198535 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.81 [[ 9.92806065e-01 -9.43894103e-02 -7.36665232e-02 3.42206959e+00] [ 9.44298525e-02 9.95527172e-01 -2.94153201e-03 -3.43029249e-02] [ 7.36146750e-02 -4.03594810e-03 9.97278592e-01 -8.07740714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.981346184 meters Centerline goodness [0,1] 0.7935533384497314 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.81 [[ 9.92806325e-01 -9.43017730e-02 -7.37751807e-02 3.42261532e+00] [ 9.43291649e-02 9.95536172e-01 -3.12076016e-03 -3.27788371e-02] [ 7.37401541e-02 -3.86084075e-03 9.97270015e-01 -8.07802030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.011346184 meters Centerline goodness [0,1] 0.7970392053361486 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.81 [[ 9.92800171e-01 -9.42985553e-02 -7.38620530e-02 3.42312119e+00] [ 9.43128207e-02 9.95537134e-01 -3.30249459e-03 -3.17343737e-02] [ 7.38438371e-02 -3.68742137e-03 9.97263000e-01 -8.07934492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.041346184 meters Centerline goodness [0,1] 0.7950878709305675 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.81 [[ 0.99279534 -0.0943079 -0.07391502 3.42366638] [ 0.09431223 0.99553673 -0.00343957 -0.03081182] [ 0.07390949 -0.0035563 0.99725861 -0.80833401] [ 0. 0. 0. 1. ]] SLAMing on 140.071346184 meters Centerline goodness [0,1] 0.7935052715385172 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.03, Z:-0.81 [[ 9.92811363e-01 -9.40805421e-02 -7.39895139e-02 3.42497289e+00] [ 9.41053328e-02 9.95557235e-01 -3.15883500e-03 -3.08481564e-02] [ 7.39579808e-02 -3.82668054e-03 9.97254017e-01 -8.09746746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.101346184 meters Centerline goodness [0,1] 0.798532772098617 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.81 [[ 9.92838275e-01 -9.36158777e-02 -7.42174312e-02 3.42657185e+00] [ 9.36578935e-02 9.95600152e-01 -2.92169423e-03 -3.10053568e-02] [ 7.41644027e-02 -4.05027841e-03 9.97237803e-01 -8.10740397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.131346184 meters Centerline goodness [0,1] 0.8017926846898944 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.81 [[ 9.92849590e-01 -9.32660232e-02 -7.45059725e-02 3.42792240e+00] [ 9.33052829e-02 9.95633143e-01 -2.96126480e-03 -3.03246851e-02] [ 7.44568010e-02 -4.01171030e-03 9.97216171e-01 -8.11218037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.161346184 meters Centerline goodness [0,1] 0.8052645521759025 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.81 [[ 9.92871474e-01 -9.26664292e-02 -7.49611148e-02 3.42985948e+00] [ 9.27173018e-02 9.95688512e-01 -2.80858833e-03 -2.88991223e-02] [ 7.48981827e-02 -4.16162506e-03 9.97182502e-01 -8.12000289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.191346184 meters Centerline goodness [0,1] 0.8161707695289785 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.03, Z:-0.81 [[ 9.93206440e-01 -8.88696828e-02 -7.51208793e-02 3.42923359e+00] [ 8.91625399e-02 9.96016939e-01 5.47111448e-04 -2.64585174e-02] [ 7.47730466e-02 -7.24136301e-03 9.97174285e-01 -8.11786398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.221346184 meters Centerline goodness [0,1] 0.8177606364915344 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:-0.81 [[ 9.93221336e-01 -8.83243783e-02 -7.55657397e-02 3.43108980e+00] [ 8.86132373e-02 9.96065998e-01 4.71748579e-04 -2.42993210e-02] [ 7.52267970e-02 -7.16467558e-03 9.97140710e-01 -8.12403987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.251346184 meters Centerline goodness [0,1] 0.8160983925962007 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:-0.81 [[ 9.93225757e-01 -8.81190255e-02 -7.57471682e-02 3.43214678e+00] [ 8.84005166e-02 9.96084944e-01 3.64837523e-04 -2.33051078e-02] [ 7.54184646e-02 -7.05845482e-03 9.97126990e-01 -8.12923136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.281346184 meters Centerline goodness [0,1] 0.8206886454037434 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.02, Z:-0.81 [[ 9.93229534e-01 -8.79306279e-02 -7.59163894e-02 3.43333159e+00] [ 8.82186305e-02 9.96101038e-01 4.42059899e-04 -2.33538584e-02] [ 7.55815236e-02 -7.13630685e-03 9.97114089e-01 -8.13737228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.311346184 meters Centerline goodness [0,1] 0.8216110499938882 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:-0.82 [[ 9.93241451e-01 -8.75838571e-02 -7.61609376e-02 3.43552734e+00] [ 8.78933221e-02 9.96129637e-01 7.14473478e-04 -2.28908159e-02] [ 7.58035908e-02 -7.40368250e-03 9.97095282e-01 -8.15662066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.341346184 meters Centerline goodness [0,1] 0.8184440153496444 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:-0.82 [[ 9.93223575e-01 -8.76708541e-02 -7.62938430e-02 3.43615556e+00] [ 8.79519571e-02 9.96124664e-01 3.25809122e-04 -2.11600895e-02] [ 7.59696148e-02 -7.03379411e-03 9.97085324e-01 -8.15799580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.371346184 meters Centerline goodness [0,1] 0.8137115375177897 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.02, Z:-0.82 [[ 9.93203792e-01 -8.78430623e-02 -7.63532876e-02 3.43632236e+00] [ 8.80811387e-02 9.96113272e-01 -2.50405507e-04 -1.87879714e-02] [ 7.60785196e-02 -6.47658082e-03 9.97080796e-01 -8.15501477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.401346184 meters Centerline goodness [0,1] 0.8104772420561894 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:-0.81 [[ 9.93394601e-01 -8.67615008e-02 -7.50973216e-02 3.44581707e+00] [ 8.64929550e-02 9.96229070e-01 -6.82707087e-03 -1.30229672e-02] [ 7.54064617e-02 2.86586095e-04 9.97152839e-01 -8.12255858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.431346184 meters Centerline goodness [0,1] 0.8243975755186518 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:-0.81 [[ 9.93396257e-01 -8.67839996e-02 -7.50494131e-02 3.44636920e+00] [ 8.65100832e-02 9.96227086e-01 -6.89916387e-03 -1.27556240e-02] [ 7.53649952e-02 3.61072588e-04 9.97155949e-01 -8.12919636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.461346184 meters Centerline goodness [0,1] 0.8054207219416041 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:-0.81 [[ 9.93417703e-01 -8.66006266e-02 -7.49773202e-02 3.44753937e+00] [ 8.63490610e-02 9.96243105e-01 -6.59654568e-03 -1.31413980e-02] [ 7.52669033e-02 7.89040623e-05 9.97163420e-01 -8.14469072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49134618399998 meters Centerline goodness [0,1] 0.816548533175822 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.01, Z:-0.82 [[ 9.93416104e-01 -8.67338790e-02 -7.48443632e-02 3.44806768e+00] [ 8.64784555e-02 9.96231507e-01 -6.65290855e-03 -1.28596835e-02] [ 7.51393453e-02 1.36681560e-04 9.97173034e-01 -8.15396002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52134618399998 meters Centerline goodness [0,1] 0.8010133465150766 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:-0.82 [[ 9.93529758e-01 -8.96020463e-02 -6.97860599e-02 3.46377984e+00] [ 8.98551821e-02 9.95954721e-01 4.90302646e-04 -1.17150605e-02] [ 6.94598237e-02 -6.75776939e-03 9.97561860e-01 -8.20292804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55134618399998 meters Centerline goodness [0,1] 0.7963673257281434 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:-0.82 [[ 9.93490090e-01 -9.00655403e-02 -6.97541327e-02 3.46356537e+00] [ 9.02746088e-02 9.95916900e-01 -1.55752860e-04 -1.07095378e-02] [ 6.94833475e-02 -6.14228811e-03 9.97564202e-01 -8.19679611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58134618399998 meters Centerline goodness [0,1] 0.7859972271736978 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.01, Z:-0.82 [[ 9.93446831e-01 -9.07129540e-02 -6.95309519e-02 3.46277695e+00] [ 9.08666628e-02 9.95862609e-01 -9.55557535e-04 -9.66365956e-03] [ 6.93299566e-02 -5.36874995e-03 9.97579337e-01 -8.18914531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61134618399998 meters Centerline goodness [0,1] 0.7513282685336908 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.01, Z:-0.82 [[ 9.94208012e-01 -9.14158552e-02 -5.65116910e-02 3.46860140e+00] [ 9.15260905e-02 9.95802473e-01 -6.39907597e-04 -7.56242088e-03] [ 5.63329793e-02 -4.53609288e-03 9.98401732e-01 -8.24640673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64134618399999 meters Centerline goodness [0,1] 0.7748150355032524 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.01, Z:-0.82 [[ 9.94181796e-01 -9.17595858e-02 -5.64157408e-02 3.46864768e+00] [ 9.18470663e-02 9.95772576e-01 -1.04576973e-03 -6.17012708e-03] [ 5.62732069e-02 -4.14193505e-03 9.98406816e-01 -8.24845935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.671346184 meters Centerline goodness [0,1] 0.7671317906445526 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:-0.83 [[ 9.94159961e-01 -9.20653483e-02 -5.63022520e-02 3.46873009e+00] [ 9.21265232e-02 9.95746159e-01 -1.51354998e-03 -4.63030579e-03] [ 5.62020967e-02 -3.68221994e-03 9.98412623e-01 -8.25047376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.701346184 meters Centerline goodness [0,1] 0.7704314057404595 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:-0.83 [[ 9.94141027e-01 -9.23872603e-02 -5.61089386e-02 3.46915136e+00] [ 9.24098943e-02 9.95718628e-01 -2.19660004e-03 -1.89826837e-03] [ 5.60716532e-02 -3.00129087e-03 9.98422236e-01 -8.25679903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.731346184 meters Centerline goodness [0,1] 0.7699605532531083 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.00, Z:-0.83 [[ 9.94138996e-01 -9.24823721e-02 -5.59880994e-02 3.46942842e+00] [ 9.24819230e-02 9.95710957e-01 -2.60457478e-03 -2.11094076e-04] [ 5.59888413e-02 -2.58857774e-03 9.98428039e-01 -8.26092938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.761346184 meters Centerline goodness [0,1] 0.7728350091065592 Centerline is valid? [False, False] Translation: X:3.47, Y:0.00, Z:-0.83 [[ 9.94139154e-01 -9.24606956e-02 -5.60210861e-02 3.47017140e+00] [ 9.24402177e-02 9.95713830e-01 -2.96234109e-03 1.14464892e-03] [ 5.60548703e-02 -2.23362213e-03 9.98425191e-01 -8.26478642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.791346184 meters Centerline goodness [0,1] 0.7795080737889317 Centerline is valid? [False, False] Translation: X:3.47, Y:0.00, Z:-0.83 [[ 9.94145777e-01 -9.23135739e-02 -5.61460411e-02 3.47115134e+00] [ 9.22830263e-02 9.95727860e-01 -3.14209909e-03 2.15071506e-03] [ 5.61962358e-02 -2.05762205e-03 9.98417623e-01 -8.27008518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.821346184 meters Centerline goodness [0,1] 0.7816860829262182 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:-0.83 [[ 9.94131373e-01 -9.22040035e-02 -5.65794539e-02 3.47206707e+00] [ 9.21169604e-02 9.95739545e-01 -4.15013172e-03 5.13622187e-03] [ 5.67210584e-02 -1.08615116e-03 9.98389474e-01 -8.25708730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.851346184 meters Centerline goodness [0,1] 0.7609493639060693 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:-0.83 [[ 9.94135210e-01 -9.20436268e-02 -5.67728432e-02 3.47277632e+00] [ 9.19399070e-02 9.95754651e-01 -4.44175036e-03 6.66996062e-03] [ 5.69406575e-02 -8.03989499e-04 9.98377241e-01 -8.25576076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.881346184 meters Centerline goodness [0,1] 0.7987050613458293 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:-0.83 [[ 9.94143191e-01 -9.17257858e-02 -5.71462621e-02 3.47410482e+00] [ 9.16135066e-02 9.95784075e-01 -4.58705456e-03 7.91544603e-03] [ 5.73260890e-02 -6.75180400e-04 9.98355279e-01 -8.25750839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.911346184 meters Centerline goodness [0,1] 0.7866919191919192 Centerline is valid? [False, False] Translation: X:3.47, Y:0.01, Z:-0.83 [[ 9.94490682e-01 -8.77552266e-02 -5.73350086e-02 3.47465917e+00] [ 8.78800176e-02 9.96131007e-01 -3.46099419e-04 7.51137183e-03] [ 5.71435519e-02 -4.69440892e-03 9.98354935e-01 -8.27262314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.941346184 meters Centerline goodness [0,1] 0.7887370286003543 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:-0.83 [[ 9.94496698e-01 -8.74444403e-02 -5.77043046e-02 3.47589768e+00] [ 8.75539154e-02 9.96159581e-01 -6.33179592e-04 9.25154573e-03] [ 5.75380639e-02 -4.42254279e-03 9.98333518e-01 -8.27250680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.971346184 meters Centerline goodness [0,1] 0.8025929302137141 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:-0.83 [[ 9.94513613e-01 -8.70464638e-02 -5.80136771e-02 3.47736872e+00] [ 8.71488513e-02 9.96195005e-01 -7.67637632e-04 1.06303214e-02] [ 5.78597555e-02 -4.29239925e-03 9.98315493e-01 -8.27718345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.001346184 meters Centerline goodness [0,1] 0.7990523968784838 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:-0.83 [[ 9.94536338e-01 -8.65880413e-02 -5.83093771e-02 3.47903202e+00] [ 8.66869337e-02 9.96235252e-01 -8.36118396e-04 1.15199066e-02] [ 5.81622548e-02 -4.22311098e-03 9.98298211e-01 -8.28417193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.031346184 meters Centerline goodness [0,1] 0.8118970244744592 Centerline is valid? [False, False] Translation: X:3.48, Y:0.01, Z:-0.83 [[ 9.94585843e-01 -8.59296072e-02 -5.84388917e-02 3.48097022e+00] [ 8.60266061e-02 9.96292470e-01 -8.58607866e-04 1.32977761e-02] [ 5.82960076e-02 -4.17334029e-03 9.98290618e-01 -8.29694904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.061346184 meters Centerline goodness [0,1] 0.8274821165846482 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:-0.83 [[ 9.94583883e-01 -8.58155160e-02 -5.86395573e-02 3.48193460e+00] [ 8.58791997e-02 9.96304519e-01 -1.43791281e-03 1.56448224e-02] [ 5.85462511e-02 -3.60579334e-03 9.98278185e-01 -8.29703129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.091346184 meters Centerline goodness [0,1] 0.8183970067957953 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:-0.83 [[ 9.94587722e-01 -8.57000535e-02 -5.87432088e-02 3.48270426e+00] [ 8.57352879e-02 9.96316092e-01 -1.92494873e-03 1.77462518e-02] [ 5.86917724e-02 -3.12183555e-03 9.98271271e-01 -8.29788861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.121346184 meters Centerline goodness [0,1] 0.8211912097985791 Centerline is valid? [False, False] Translation: X:3.48, Y:0.02, Z:-0.83 [[ 9.94605277e-01 -8.52853313e-02 -5.90487448e-02 3.48441744e+00] [ 8.53237367e-02 9.96351516e-01 -1.87523631e-03 1.84273760e-02] [ 5.89932366e-02 -3.17313962e-03 9.98253339e-01 -8.30636190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.151346184 meters Centerline goodness [0,1] 0.8293546661231561 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94606620e-01 -8.53162669e-02 -5.89814042e-02 3.48511362e+00] [ 8.53672213e-02 9.96348173e-01 -1.65989981e-03 1.81198983e-02] [ 5.89076308e-02 -3.38413125e-03 9.98257702e-01 -8.31752393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.181346184 meters Centerline goodness [0,1] 0.8256957895809971 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94594016e-01 -8.55427410e-02 -5.88658023e-02 3.48517968e+00] [ 8.55805188e-02 9.96329477e-01 -1.88364986e-03 1.84927290e-02] [ 5.88108666e-02 -3.16429903e-03 9.98264128e-01 -8.31969236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.211346184 meters Centerline goodness [0,1] 0.8208844769949217 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94576878e-01 -8.56256014e-02 -5.90346564e-02 3.48584558e+00] [ 8.56476672e-02 9.96323144e-01 -2.16108434e-03 1.92994904e-02] [ 5.90026386e-02 -2.90681609e-03 9.98253595e-01 -8.32032613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24134618399998 meters Centerline goodness [0,1] 0.8141629144494474 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94572861e-01 -8.54469099e-02 -5.93603414e-02 3.48728313e+00] [ 8.54586159e-02 9.96338959e-01 -2.34609812e-03 2.08702632e-02] [ 5.93434875e-02 -2.73948709e-03 9.98233863e-01 -8.32229510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27134618399998 meters Centerline goodness [0,1] 0.815150740929995 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94562674e-01 -8.55253094e-02 -5.94180886e-02 3.48760773e+00] [ 8.55079007e-02 9.96333444e-01 -2.84020739e-03 2.22230548e-02] [ 5.94431385e-02 -2.25595177e-03 9.98229144e-01 -8.31824706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30134618399998 meters Centerline goodness [0,1] 0.8085666121781774 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94563392e-01 -8.54064372e-02 -5.95768343e-02 3.48851277e+00] [ 8.53781572e-02 9.96344028e-01 -3.02473281e-03 2.30347566e-02] [ 5.96173547e-02 -2.07827180e-03 9.98219140e-01 -8.31945643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33134618399998 meters Centerline goodness [0,1] 0.8098131318288573 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94549921e-01 -8.56778129e-02 -5.94118396e-02 3.48897107e+00] [ 8.56493514e-02 9.96320735e-01 -3.03013413e-03 2.25842908e-02] [ 5.94528629e-02 -2.07496587e-03 9.98228958e-01 -8.32866232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36134618399998 meters Centerline goodness [0,1] 0.8032820407954604 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94548919e-01 -8.58210705e-02 -5.92215543e-02 3.48922543e+00] [ 8.57997919e-02 9.96308158e-01 -2.90675338e-03 2.15156815e-02] [ 5.92523784e-02 -2.19028861e-03 9.98240631e-01 -8.33645264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39134618399999 meters Centerline goodness [0,1] 0.8017651573292403 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.83 [[ 9.94549223e-01 -8.59145605e-02 -5.90807225e-02 3.48963071e+00] [ 8.58948215e-02 9.96300053e-01 -2.87831926e-03 2.10468384e-02] [ 5.91094164e-02 -2.21209793e-03 9.98249059e-01 -8.34344751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.421346184 meters Centerline goodness [0,1] 0.7946190866270735 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.84 [[ 9.94542671e-01 -8.59954228e-02 -5.90733756e-02 3.49063341e+00] [ 8.59761507e-02 9.96293054e-01 -2.87256289e-03 2.18385836e-02] [ 5.91014211e-02 -2.22201508e-03 9.98249510e-01 -8.35479491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.451346184 meters Centerline goodness [0,1] 0.7958519202174025 Centerline is valid? [False, False] Translation: X:3.49, Y:0.02, Z:-0.84 [[ 9.94542607e-01 -8.59442683e-02 -5.91488451e-02 3.49132570e+00] [ 8.59039718e-02 9.96298191e-01 -3.22844843e-03 2.33265556e-02] [ 5.92073540e-02 -1.87029120e-03 9.98243954e-01 -8.35667227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.481346184 meters Centerline goodness [0,1] 0.7980840654696345 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:-0.84 [[ 9.94542137e-01 -8.55748975e-02 -5.96898266e-02 3.49296468e+00] [ 8.54990859e-02 9.96330897e-01 -3.82763477e-03 2.53876544e-02] [ 5.97983679e-02 -1.29668155e-03 9.98209634e-01 -8.35081494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.511346184 meters Centerline goodness [0,1] 0.8166167089385904 Centerline is valid? [False, False] Translation: X:3.49, Y:0.03, Z:-0.83 [[ 9.94548019e-01 -8.53138620e-02 -5.99648511e-02 3.49409649e+00] [ 8.52058546e-02 9.96353827e-01 -4.36053770e-03 2.79005900e-02] [ 6.01182232e-02 -7.72592253e-04 9.98190965e-01 -8.34897775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.541346184 meters Centerline goodness [0,1] 0.812530491719091 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94588171e-01 -8.47318965e-02 -6.01238408e-02 3.49555972e+00] [ 8.46104337e-02 9.96403638e-01 -4.56779595e-03 2.92049693e-02] [ 6.02946517e-02 -5.44028428e-04 9.98180474e-01 -8.35121729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.571346184 meters Centerline goodness [0,1] 0.8161519091422992 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94597538e-01 -8.45000652e-02 -6.02949143e-02 3.49670312e+00] [ 8.43754460e-02 9.96423349e-01 -4.61443724e-03 2.91605337e-02] [ 6.04691807e-02 -4.97902374e-04 9.98169941e-01 -8.35573544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.601346184 meters Centerline goodness [0,1] 0.8298069259840091 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94602406e-01 -8.42555604e-02 -6.05562151e-02 3.49801366e+00] [ 8.41288879e-02 9.96444064e-01 -4.64293735e-03 2.99075694e-02] [ 6.07320744e-02 -4.76650372e-04 9.98153990e-01 -8.36105494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.631346184 meters Centerline goodness [0,1] 0.8190591696126751 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94589411e-01 -8.44004328e-02 -6.05679029e-02 3.49849110e+00] [ 8.42629915e-02 9.96431871e-01 -4.82437175e-03 3.18064177e-02] [ 6.07589678e-02 -3.05363634e-04 9.98152421e-01 -8.36513682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.661346184 meters Centerline goodness [0,1] 0.8176734357282754 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94588508e-01 -8.43034452e-02 -6.07176103e-02 3.49955202e+00] [ 8.41673166e-02 9.96440072e-01 -4.80066707e-03 3.22092636e-02] [ 6.09061728e-02 -3.35750033e-04 9.98143439e-01 -8.37204176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.691346184 meters Centerline goodness [0,1] 0.8124692795239943 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94587879e-01 -8.42685426e-02 -6.07763365e-02 3.50046987e+00] [ 8.41385685e-02 9.96442983e-01 -4.69915766e-03 3.25615801e-02] [ 6.09561453e-02 -4.39908708e-04 9.98140348e-01 -8.38205285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.721346184 meters Centerline goodness [0,1] 0.8124692795239943 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94587879e-01 -8.42685426e-02 -6.07763365e-02 3.50046987e+00] [ 8.41385685e-02 9.96442983e-01 -4.69915766e-03 3.25615801e-02] [ 6.09561453e-02 -4.39908708e-04 9.98140348e-01 -8.38205285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.751346184 meters Centerline goodness [0,1] 0.8179587197437421 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94581018e-01 -8.42414925e-02 -6.09259395e-02 3.50168662e+00] [ 8.41098284e-02 9.96445278e-01 -4.72702899e-03 3.24812262e-02] [ 6.11075767e-02 -4.23057015e-04 9.98131096e-01 -8.38820640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.781346184 meters Centerline goodness [0,1] 0.81500863602382 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94586125e-01 -8.41906213e-02 -6.09128769e-02 3.50236943e+00] [ 8.40576441e-02 9.96449587e-01 -4.74683367e-03 3.22102483e-02] [ 6.10962499e-02 -3.99058017e-04 9.98131799e-01 -8.39273881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.811346184 meters Centerline goodness [0,1] 0.8166331113520211 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94590103e-01 -8.41006381e-02 -6.09722010e-02 3.50317239e+00] [ 8.39687858e-02 9.96457178e-01 -4.72610640e-03 3.20411307e-02] [ 6.11536559e-02 -4.19223038e-04 9.98128276e-01 -8.39834123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.841346184 meters Centerline goodness [0,1] 0.8010134174400869 Centerline is valid? [False, False] Translation: X:3.50, Y:0.03, Z:-0.84 [[ 9.94593515e-01 -8.40099242e-02 -6.10415600e-02 3.50453249e+00] [ 8.38838181e-02 9.96464785e-01 -4.63011707e-03 3.27659871e-02] [ 6.12147407e-02 -5.15314702e-04 9.98124486e-01 -8.40906910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.871346184 meters Centerline goodness [0,1] 0.8005025646339567 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.84 [[ 9.94583830e-01 -8.40701450e-02 -6.11164059e-02 3.50505112e+00] [ 8.39276428e-02 9.96459806e-01 -4.89956589e-03 3.38301733e-02] [ 6.13119492e-02 -2.56326880e-04 9.98118620e-01 -8.40990300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.901346184 meters Centerline goodness [0,1] 0.8101383921629607 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.84 [[ 9.94590645e-01 -8.36546408e-02 -6.15739309e-02 3.50684366e+00] [ 8.35134146e-02 9.96494762e-01 -4.86813906e-03 3.43922309e-02] [ 6.17653421e-02 -3.00443655e-04 9.98090653e-01 -8.41356779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.931346184 meters Centerline goodness [0,1] 0.8066922200352222 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.84 [[ 9.94588128e-01 -8.36406597e-02 -6.16335645e-02 3.50756740e+00] [ 8.34955295e-02 9.96495952e-01 -4.93102170e-03 3.44572802e-02] [ 6.18300315e-02 -2.41791462e-04 9.98086664e-01 -8.41703011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.961346184 meters Centerline goodness [0,1] 0.7849837284983728 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.84 [[ 9.94590427e-01 -8.36341512e-02 -6.16052933e-02 3.50859418e+00] [ 8.34964674e-02 9.96496462e-01 -4.81044135e-03 3.34891207e-02] [ 6.17917740e-02 -3.59405450e-04 9.98088998e-01 -8.42500875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99134618399998 meters Centerline goodness [0,1] 0.7952798695753436 Centerline is valid? [False, False] Translation: X:3.51, Y:0.03, Z:-0.84 [[ 9.94585289e-01 -8.36195017e-02 -6.17080424e-02 3.50932444e+00] [ 8.34659993e-02 9.96497750e-01 -5.06563269e-03 3.40011645e-02] [ 6.19155111e-02 -1.12319673e-04 9.98081388e-01 -8.42663158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02134618399998 meters Centerline goodness [0,1] 0.7965666571584161 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:-0.84 [[ 9.94580320e-01 -8.34623736e-02 -6.20001611e-02 3.51048457e+00] [ 8.32877020e-02 9.96510908e-01 -5.40089532e-03 3.56872581e-02] [ 6.22346084e-02 2.07773256e-04 9.98061526e-01 -8.42769218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05134618399998 meters Centerline goodness [0,1] 0.8049122442621248 Centerline is valid? [False, False] Translation: X:3.51, Y:0.04, Z:-0.84 [[ 9.94574056e-01 -8.32995181e-02 -6.23188418e-02 3.51169461e+00] [ 8.31029768e-02 9.96524413e-01 -5.74366701e-03 3.74879191e-02] [ 6.25806919e-02 5.33620936e-04 9.98039765e-01 -8.42905370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08134618399998 meters Centerline goodness [0,1] 0.7953268109908409 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.84 [[ 9.94627955e-01 -8.21811829e-02 -6.29403235e-02 3.51526067e+00] [ 8.20002258e-02 9.96617370e-01 -5.45719324e-03 3.92821198e-02] [ 6.31758983e-02 2.66756214e-04 9.98002372e-01 -8.44550234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11134618399998 meters Centerline goodness [0,1] 0.8223728813559322 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.85 [[ 9.94650873e-01 -8.16920526e-02 -6.32143189e-02 3.51702507e+00] [ 8.15120553e-02 9.96657589e-01 -5.42546739e-03 4.01700819e-02] [ 6.34462482e-02 2.43716821e-04 9.97985227e-01 -8.45445067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14134618399999 meters Centerline goodness [0,1] 0.8325080788074638 Centerline is valid? [False, False] Translation: X:3.52, Y:0.04, Z:-0.85 [[ 9.94676609e-01 -8.09433399e-02 -6.37700468e-02 3.51958085e+00] [ 8.07617128e-02 9.96718674e-01 -5.42498931e-03 4.16691913e-02] [ 6.39999133e-02 2.45931768e-04 9.97949874e-01 -8.46194338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.171346184 meters Centerline goodness [0,1] 0.8455976402411965 Centerline is valid? [False, False] Translation: X:3.52, Y:0.05, Z:-0.85 [[ 9.94729548e-01 -7.98588079e-02 -6.43093847e-02 3.52214140e+00] [ 7.96702170e-02 9.96806126e-01 -5.49577562e-03 4.53643706e-02] [ 6.45428747e-02 3.43267761e-04 9.97914876e-01 -8.46656723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.201346184 meters Centerline goodness [0,1] 0.8391648592855836 Centerline is valid? [False, False] Translation: X:3.52, Y:0.05, Z:-0.85 [[ 9.94722674e-01 -7.97624099e-02 -6.45349564e-02 3.52281697e+00] [ 7.95419211e-02 9.96813568e-01 -5.98280378e-03 4.70679267e-02] [ 6.48065229e-02 8.17996158e-04 9.97897513e-01 -8.46141892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.231346184 meters Centerline goodness [0,1] 0.845094393967165 Centerline is valid? [False, False] Translation: X:3.52, Y:0.05, Z:-0.85 [[ 9.94732330e-01 -7.94294551e-02 -6.47962376e-02 3.52403513e+00] [ 7.92079449e-02 9.96840152e-01 -5.98439803e-03 4.81491736e-02] [ 6.50668288e-02 8.20497377e-04 9.97880571e-01 -8.46481328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.261346184 meters Centerline goodness [0,1] 0.8427618447315894 Centerline is valid? [False, False] Translation: X:3.52, Y:0.05, Z:-0.85 [[ 9.94709138e-01 -7.96144299e-02 -6.49251314e-02 3.52423331e+00] [ 7.93651006e-02 9.96824977e-01 -6.41448721e-03 4.92859558e-02] [ 6.52296783e-02 1.22775946e-03 9.97869521e-01 -8.45851138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.291346184 meters Centerline goodness [0,1] 0.8388148381838736 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.85 [[ 9.94704254e-01 -7.95764727e-02 -6.50463767e-02 3.52503731e+00] [ 7.93354149e-02 9.96828167e-01 -6.28466454e-03 4.90666760e-02] [ 6.53401719e-02 1.09090127e-03 9.97862451e-01 -8.46436081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.321346184 meters Centerline goodness [0,1] 0.8373676049304843 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.85 [[ 9.94698618e-01 -7.94982085e-02 -6.52280182e-02 3.52617107e+00] [ 7.92750988e-02 9.96834685e-01 -6.00570856e-03 4.84143075e-02] [ 6.54989941e-02 8.02912424e-04 9.97852312e-01 -8.47392991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.351346184 meters Centerline goodness [0,1] 0.8270912995652402 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.85 [[ 9.94695272e-01 -7.93428391e-02 -6.54677769e-02 3.52770143e+00] [ 7.91429504e-02 9.96847293e-01 -5.64515513e-03 4.75311754e-02] [ 6.57092788e-02 4.33896093e-04 9.97838716e-01 -8.48652580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.381346184 meters Centerline goodness [0,1] 0.8200167329010667 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.85 [[ 9.94672505e-01 -7.95050819e-02 -6.56166950e-02 3.52927054e+00] [ 7.93438305e-02 9.96834446e-01 -5.06391928e-03 4.56779435e-02] [ 6.58115891e-02 -1.69338651e-04 9.97832053e-01 -8.50726401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.411346184 meters Centerline goodness [0,1] 0.8185876517425923 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.85 [[ 9.94672698e-01 -7.94253573e-02 -6.57102490e-02 3.53018599e+00] [ 7.92785645e-02 9.96840739e-01 -4.84259545e-03 4.46023641e-02] [ 6.58872781e-02 -3.92616735e-04 9.97826995e-01 -8.51421203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.441346184 meters Centerline goodness [0,1] 0.8285699329983249 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.85 [[ 9.94670382e-01 -7.93379328e-02 -6.58507615e-02 3.53093561e+00] [ 7.91982802e-02 9.96847649e-01 -4.73264263e-03 4.40831752e-02] [ 6.60186548e-02 -5.07847604e-04 9.97818260e-01 -8.51801772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.471346184 meters Centerline goodness [0,1] 0.824376702283679 Centerline is valid? [False, False] Translation: X:3.53, Y:0.04, Z:-0.85 [[ 9.94686592e-01 -7.88701064e-02 -6.61671385e-02 3.53261777e+00] [ 7.87397290e-02 9.96884687e-01 -4.58004639e-03 4.39410743e-02] [ 6.63222359e-02 -6.54271829e-04 9.97798042e-01 -8.52214462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.501346184 meters Centerline goodness [0,1] 0.8269523260082866 Centerline is valid? [False, False] Translation: X:3.53, Y:0.05, Z:-0.85 [[ 9.94670808e-01 -7.87617399e-02 -6.65324822e-02 3.53359602e+00] [ 7.86083086e-02 9.96893414e-01 -4.92496236e-03 4.53872295e-02] [ 6.67136919e-02 -3.31289603e-04 9.97772105e-01 -8.51872927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.531346184 meters Centerline goodness [0,1] 0.8315338744844616 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:-0.85 [[ 9.94661505e-01 -7.84324136e-02 -6.70585370e-02 3.53522665e+00] [ 7.82765647e-02 9.96919381e-01 -4.95250241e-03 4.64379768e-02] [ 6.72403919e-02 -3.23048413e-04 9.97736752e-01 -8.52091604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.561346184 meters Centerline goodness [0,1] 0.8234430698259594 Centerline is valid? [False, False] Translation: X:3.54, Y:0.05, Z:-0.85 [[ 9.94664013e-01 -7.79053638e-02 -6.76332424e-02 3.53756656e+00] [ 7.77699474e-02 9.96960548e-01 -4.63686576e-03 4.64880671e-02] [ 6.77889111e-02 -6.47710193e-04 9.97699476e-01 -8.53015363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.591346184 meters Centerline goodness [0,1] 0.8269906169733187 Centerline is valid? [False, False] Translation: X:3.54, Y:0.04, Z:-0.85 [[ 9.94670094e-01 -7.77628575e-02 -6.77077709e-02 3.53889922e+00] [ 7.76587141e-02 9.96971269e-01 -4.17284853e-03 4.39814807e-02] [ 6.78271949e-02 -1.10749078e-03 9.97696469e-01 -8.54338492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.621346184 meters Centerline goodness [0,1] 0.8166361016505108 Centerline is valid? [False, False] Translation: X:3.54, Y:0.04, Z:-0.85 [[ 9.94663753e-01 -7.76695909e-02 -6.79076825e-02 3.53990354e+00] [ 7.75681015e-02 9.96978485e-01 -4.13402570e-03 4.32262045e-02] [ 6.80235865e-02 -1.15550449e-03 9.97683044e-01 -8.54743258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.651346184 meters Centerline goodness [0,1] 0.8248072147431709 Centerline is valid? [False, False] Translation: X:3.54, Y:0.04, Z:-0.86 [[ 9.94670206e-01 -7.70696869e-02 -6.84941216e-02 3.54246212e+00] [ 7.69813792e-02 9.97024778e-01 -3.93177201e-03 4.30306125e-02] [ 6.85933569e-02 -1.36195547e-03 9.97643772e-01 -8.55631072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.681346184 meters Centerline goodness [0,1] 0.8309066149897868 Centerline is valid? [False, False] Translation: X:3.54, Y:0.04, Z:-0.86 [[ 9.94670489e-01 -7.66988084e-02 -6.89050862e-02 3.54414550e+00] [ 7.66111602e-02 9.97053350e-01 -3.91761618e-03 4.36500768e-02] [ 6.90025235e-02 -1.38216139e-03 9.97615528e-01 -8.56211806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.711346184 meters Centerline goodness [0,1] 0.8314853556485355 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.86 [[ 9.94688170e-01 -7.57950733e-02 -6.96458949e-02 3.54699674e+00] [ 7.57126885e-02 9.97122336e-01 -3.82570945e-03 4.44014955e-02] [ 6.97354474e-02 -1.46769002e-03 9.97564441e-01 -8.56603041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74134618399998 meters Centerline goodness [0,1] 0.841305938937683 Centerline is valid? [False, False] Translation: X:3.55, Y:0.04, Z:-0.86 [[ 9.94688848e-01 -7.55706289e-02 -6.98797173e-02 3.54801862e+00] [ 7.54843672e-02 9.97139444e-01 -3.87804368e-03 4.46739764e-02] [ 6.99728887e-02 -1.41737944e-03 9.97547887e-01 -8.56767851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77134618399998 meters Centerline goodness [0,1] 0.8448321022578449 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.86 [[ 9.94686606e-01 -7.47688919e-02 -7.07684183e-02 3.55052489e+00] [ 7.46546304e-02 9.97200342e-01 -4.26183976e-03 4.57893157e-02] [ 7.08889440e-02 -1.04399519e-03 9.97483668e-01 -8.55704369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80134618399998 meters Centerline goodness [0,1] 0.8420500995702757 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.86 [[ 9.94688090e-01 -7.43045370e-02 -7.12350989e-02 3.55214563e+00] [ 7.41912401e-02 9.97235024e-01 -4.23869371e-03 4.64609609e-02] [ 7.13530898e-02 -1.06884217e-03 9.97450547e-01 -8.55800787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83134618399998 meters Centerline goodness [0,1] 0.8456003991282199 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.86 [[ 9.94671676e-01 -7.41801040e-02 -7.15930779e-02 3.55310166e+00] [ 7.40564077e-02 9.97244417e-01 -4.38426905e-03 4.70173292e-02] [ 7.17210227e-02 -9.41017920e-04 9.97424288e-01 -8.55663666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86134618399998 meters Centerline goodness [0,1] 0.8427786973542472 Centerline is valid? [False, False] Translation: X:3.55, Y:0.05, Z:-0.86 [[ 9.94664469e-01 -7.39979640e-02 -7.18811247e-02 3.55425844e+00] [ 7.38862448e-02 9.97257766e-01 -4.21559630e-03 4.66198645e-02] [ 7.19959554e-02 -1.11792252e-03 9.97404297e-01 -8.56157755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89134618399999 meters Centerline goodness [0,1] 0.8400114930519277 Centerline is valid? [False, False] Translation: X:3.56, Y:0.05, Z:-0.86 [[ 9.94651173e-01 -7.37795557e-02 -7.22884519e-02 3.55578390e+00] [ 7.36895878e-02 9.97273544e-01 -3.91437517e-03 4.55736358e-02] [ 7.23801615e-02 -1.43346836e-03 9.97376086e-01 -8.56779571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.921346184 meters Centerline goodness [0,1] 0.8268953777661385 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94611963e-01 -7.44096042e-02 -7.21820925e-02 3.55554839e+00] [ 7.43273132e-02 9.97226548e-01 -3.82917530e-03 4.41761234e-02] [ 7.22668263e-02 -1.55655743e-03 9.97384120e-01 -8.57289905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.951346184 meters Centerline goodness [0,1] 0.8212378259503613 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94601791e-01 -7.42309213e-02 -7.25054977e-02 3.55692071e+00] [ 7.41751951e-02 9.97239207e-01 -3.46460991e-03 4.32006756e-02] [ 7.25625063e-02 -1.93220222e-03 9.97361995e-01 -8.58120550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.981346184 meters Centerline goodness [0,1] 0.8299764582788386 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94591412e-01 -7.41404056e-02 -7.27401080e-02 3.55790476e+00] [ 7.41036548e-02 9.97245386e-01 -3.20756733e-03 4.19606126e-02] [ 7.27775474e-02 -2.20008893e-03 9.97345772e-01 -8.58621521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.011346184 meters Centerline goodness [0,1] 0.8037305267545459 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94293891e-01 -7.73285432e-02 -7.34843903e-02 3.56142702e+00] [ 7.70192305e-02 9.97004767e-01 -7.03790041e-03 4.29589459e-02] [ 7.38085180e-02 1.33803018e-03 9.97271534e-01 -8.58780325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.041346184 meters Centerline goodness [0,1] 0.8159494793977193 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94287416e-01 -7.73139233e-02 -7.35873072e-02 3.56206566e+00] [ 7.70254287e-02 9.97006248e-01 -6.75456387e-03 4.23887506e-02] [ 7.38892269e-02 1.04788397e-03 9.97265904e-01 -8.59440729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.071346184 meters Centerline goodness [0,1] 0.8057548326507187 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94275598e-01 -7.72184275e-02 -7.38467992e-02 3.56299978e+00] [ 7.69501919e-02 9.97013914e-01 -6.47487072e-03 4.15126709e-02] [ 7.41262656e-02 7.55280590e-04 9.97248578e-01 -8.59896143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.101346184 meters Centerline goodness [0,1] 0.800724543251062 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94268697e-01 -7.69716641e-02 -7.41965053e-02 3.56452027e+00] [ 7.67440086e-02 9.97033263e-01 -5.91866176e-03 4.04877563e-02] [ 7.44319530e-02 1.90602874e-04 9.97226077e-01 -8.60952513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.131346184 meters Centerline goodness [0,1] 0.7984384792145394 Centerline is valid? [False, False] Translation: X:3.56, Y:0.04, Z:-0.86 [[ 9.94264444e-01 -7.69405047e-02 -7.42857665e-02 3.56499873e+00] [ 7.67129224e-02 9.97035669e-01 -5.91629442e-03 4.05524581e-02] [ 7.45207615e-02 1.83682938e-04 9.97219445e-01 -8.61141394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.161346184 meters Centerline goodness [0,1] 0.798861332085478 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94258953e-01 -7.62980153e-02 -7.50183126e-02 3.56764117e+00] [ 7.61025324e-02 9.97085020e-01 -5.46511790e-03 4.01307798e-02] [ 7.52166133e-02 -2.75341160e-04 9.97167180e-01 -8.62056876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.191346184 meters Centerline goodness [0,1] 0.7992278999400058 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94254600e-01 -7.61961120e-02 -7.51794035e-02 3.56835346e+00] [ 7.59954283e-02 9.97092827e-01 -5.53067138e-03 4.03025021e-02] [ 7.53822596e-02 -2.14395499e-04 9.97154687e-01 -8.62213800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.221346184 meters Centerline goodness [0,1] 0.8054328217731183 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94247680e-01 -7.55167169e-02 -7.59524635e-02 3.57075696e+00] [ 7.53033719e-02 9.97144533e-01 -5.67300297e-03 4.16139646e-02] [ 7.61639903e-02 -7.91065622e-05 9.97095302e-01 -8.62015342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.251346184 meters Centerline goodness [0,1] 0.802905973971672 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94237369e-01 -7.52341446e-02 -7.63667371e-02 3.57204570e+00] [ 7.50063086e-02 9.97165892e-01 -5.85134235e-03 4.23695128e-02] [ 7.65905262e-02 8.96361711e-05 9.97062628e-01 -8.61850137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.281346184 meters Centerline goodness [0,1] 0.8055787932657116 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94224756e-01 -7.49711915e-02 -7.67883829e-02 3.57321479e+00] [ 7.47358501e-02 9.97185686e-01 -5.93796602e-03 4.29765383e-02] [ 7.70174527e-02 1.64827748e-04 9.97029731e-01 -8.61747025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.311346184 meters Centerline goodness [0,1] 0.8101116836240944 Centerline is valid? [False, False] Translation: X:3.57, Y:0.04, Z:-0.86 [[ 9.94221045e-01 -7.45921662e-02 -7.72044159e-02 3.57466378e+00] [ 7.43587144e-02 9.97214116e-01 -5.89813796e-03 4.33303751e-02] [ 7.74292883e-02 1.23231768e-04 9.96997839e-01 -8.61915335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.341346184 meters Centerline goodness [0,1] 0.8213994797277767 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94216213e-01 -7.40779134e-02 -7.77597860e-02 3.57663494e+00] [ 7.38357868e-02 9.97252434e-01 -5.98822618e-03 4.55385080e-02] [ 7.79897312e-02 2.12136579e-04 9.96954140e-01 -8.62339440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.371346184 meters Centerline goodness [0,1] 0.8164648401586593 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94202738e-01 -7.38354941e-02 -7.81616043e-02 3.57805879e+00] [ 7.35844831e-02 9.97270388e-01 -6.09067942e-03 4.62842818e-02] [ 7.83979618e-02 3.03888903e-04 9.96922097e-01 -8.62644528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.401346184 meters Centerline goodness [0,1] 0.8194517520782911 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94215580e-01 -7.34530055e-02 -7.83583814e-02 3.57951825e+00] [ 7.32272365e-02 9.97298679e-01 -5.75466126e-03 4.60408370e-02] [ 7.85694074e-02 -1.65938478e-05 9.96908646e-01 -8.63766092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.431346184 meters Centerline goodness [0,1] 0.823119556611243 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94219068e-01 -7.31956057e-02 -7.85547503e-02 3.58094532e+00] [ 7.29712075e-02 9.97317603e-01 -5.72721828e-03 4.72340400e-02] [ 7.87632425e-02 -3.81253641e-05 9.96893349e-01 -8.64884702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.461346184 meters Centerline goodness [0,1] 0.8242114416717173 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94194729e-01 -7.29621669e-02 -7.90782095e-02 3.58252293e+00] [ 7.27081450e-02 9.97334662e-01 -6.09072354e-03 4.90356687e-02] [ 7.93118318e-02 3.05735307e-04 9.96849808e-01 -8.64876135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49134618399998 meters Centerline goodness [0,1] 0.8258327380479933 Centerline is valid? [False, False] Translation: X:3.58, Y:0.05, Z:-0.86 [[ 9.94181134e-01 -7.26867716e-02 -7.95016132e-02 3.58386958e+00] [ 7.24111959e-02 9.97354664e-01 -6.34761886e-03 5.07292526e-02] [ 7.97526927e-02 5.53876027e-04 9.96814527e-01 -8.64867337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52134618399998 meters Centerline goodness [0,1] 0.8185258700542544 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.86 [[ 9.94167276e-01 -7.23980720e-02 -7.99371410e-02 3.58529638e+00] [ 7.21022564e-02 9.97375509e-01 -6.58467434e-03 5.22245565e-02] [ 8.02040644e-02 7.82619518e-04 9.96778158e-01 -8.64850704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55134618399998 meters Centerline goodness [0,1] 0.8205938595559332 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.86 [[ 9.94151710e-01 -7.24321185e-02 -8.00997263e-02 3.58581015e+00] [ 7.21213723e-02 9.97372889e-01 -6.76963226e-03 5.30580588e-02] [ 8.03796342e-02 9.53139301e-04 9.96763867e-01 -8.64876785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58134618399998 meters Centerline goodness [0,1] 0.8243809321809216 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.87 [[ 9.94132380e-01 -7.21358579e-02 -8.06053892e-02 3.58744760e+00] [ 7.18342685e-02 9.97394487e-01 -6.63894387e-03 5.27482169e-02] [ 8.08742767e-02 8.09759903e-04 9.96723982e-01 -8.65159719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61134618399998 meters Centerline goodness [0,1] 0.8227942152049887 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.86 [[ 9.94109695e-01 -7.22500104e-02 -8.07827397e-02 3.58782233e+00] [ 7.19260196e-02 9.97385983e-01 -6.91724777e-03 5.34438586e-02] [ 8.10713435e-02 1.06612214e-03 9.96707731e-01 -8.64895112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64134618399999 meters Centerline goodness [0,1] 0.8227942152049887 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.86 [[ 9.94109695e-01 -7.22500104e-02 -8.07827397e-02 3.58782233e+00] [ 7.19260196e-02 9.97385983e-01 -6.91724777e-03 5.34438586e-02] [ 8.10713435e-02 1.06612214e-03 9.96707731e-01 -8.64895112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.671346184 meters Centerline goodness [0,1] 0.8180948076462925 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.86 [[ 9.94084644e-01 -7.22932237e-02 -8.10519030e-02 3.58852418e+00] [ 7.19549299e-02 9.97382680e-01 -7.09074426e-03 5.42121562e-02] [ 8.13523770e-02 1.21671598e-03 9.96684659e-01 -8.64874757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.701346184 meters Centerline goodness [0,1] 0.8111078585304841 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.87 [[ 9.94058892e-01 -7.22785166e-02 -8.13801928e-02 3.58972279e+00] [ 7.19555982e-02 9.97383985e-01 -6.89765909e-03 5.37492900e-02] [ 8.16658536e-02 1.00091890e-03 9.96659263e-01 -8.65535230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.731346184 meters Centerline goodness [0,1] 0.7954485173200361 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.87 [[ 9.94049351e-01 -7.21514850e-02 -8.16091404e-02 3.59063914e+00] [ 7.18364196e-02 9.97393287e-01 -6.79409812e-03 5.34714200e-02] [ 8.18866131e-02 8.91160374e-04 9.96641254e-01 -8.65878147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.761346184 meters Centerline goodness [0,1] 0.8088336783988958 Centerline is valid? [False, False] Translation: X:3.59, Y:0.05, Z:-0.87 [[ 9.94031351e-01 -7.20038667e-02 -8.19580188e-02 3.59179330e+00] [ 7.16784092e-02 9.97403857e-01 -6.91022743e-03 5.42651112e-02] [ 8.22428072e-02 9.94362296e-04 9.96611826e-01 -8.66052888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.791346184 meters Centerline goodness [0,1] 0.8117299555602864 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.87 [[ 9.94012089e-01 -7.15899699e-02 -8.25520674e-02 3.59349351e+00] [ 7.12405976e-02 9.97433363e-01 -7.17376639e-03 5.68169020e-02] [ 8.28537560e-02 1.24975190e-03 9.96560933e-01 -8.65934547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.821346184 meters Centerline goodness [0,1] 0.8117299555602864 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.87 [[ 9.94012089e-01 -7.15899699e-02 -8.25520674e-02 3.59349351e+00] [ 7.12405976e-02 9.97433363e-01 -7.17376639e-03 5.68169020e-02] [ 8.28537560e-02 1.24975190e-03 9.96560933e-01 -8.65934547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.851346184 meters Centerline goodness [0,1] 0.8171186530981939 Centerline is valid? [False, False] Translation: X:3.59, Y:0.06, Z:-0.86 [[ 9.93984425e-01 -7.12701861e-02 -8.31596280e-02 3.59488987e+00] [ 7.08558562e-02 9.97455068e-01 -7.92681403e-03 5.83276636e-02] [ 8.35129380e-02 1.98678303e-03 9.96504712e-01 -8.64569650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.881346184 meters Centerline goodness [0,1] 0.8271726937663586 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93973230e-01 -7.11726666e-02 -8.33766733e-02 3.59526261e+00] [ 7.07252176e-02 9.97461207e-01 -8.31168869e-03 5.92929884e-02] [ 8.37565623e-02 2.36476269e-03 9.96483440e-01 -8.63804918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.911346184 meters Centerline goodness [0,1] 0.8253078011911439 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93933297e-01 -7.11775717e-02 -8.38472121e-02 3.59592181e+00] [ 7.06624651e-02 9.97458784e-01 -9.09889845e-03 6.08069574e-02] [ 8.42817757e-02 3.11884744e-03 9.96437080e-01 -8.62321838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.941346184 meters Centerline goodness [0,1] 0.8234146080633087 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93914776e-01 -7.09998810e-02 -8.42165906e-02 3.59678014e+00] [ 7.04624101e-02 9.97470698e-01 -9.34103669e-03 6.13761419e-02] [ 8.46667940e-02 3.35009045e-03 9.96403689e-01 -8.61755743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.971346184 meters Centerline goodness [0,1] 0.8276018825542839 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93905804e-01 -7.08169643e-02 -8.44760988e-02 3.59788832e+00] [ 7.03099647e-02 9.97484901e-01 -8.96550222e-03 6.03363024e-02] [ 8.48985427e-02 2.97135316e-03 9.96385171e-01 -8.62528370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.001346184 meters Centerline goodness [0,1] 0.8248044633085075 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93902926e-01 -7.03620021e-02 -8.48891166e-02 3.59967818e+00] [ 6.99007173e-02 9.97518605e-01 -8.39776263e-03 5.88950831e-02] [ 8.52693566e-02 2.41275071e-03 9.96355015e-01 -8.63477347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.031346184 meters Centerline goodness [0,1] 0.8286576088407228 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93895639e-01 -7.02440732e-02 -8.50719094e-02 3.60048096e+00] [ 6.98036418e-02 9.97527504e-01 -8.14440125e-03 5.81461168e-02] [ 8.54336653e-02 2.15635579e-03 9.96341527e-01 -8.63964775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.061346184 meters Centerline goodness [0,1] 0.8305899957246686 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93872339e-01 -7.01835177e-02 -8.53934859e-02 3.60090706e+00] [ 6.97366532e-02 9.97531664e-01 -8.20847765e-03 5.84886120e-02] [ 8.57588059e-02 2.20312297e-03 9.96313492e-01 -8.63391047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.091346184 meters Centerline goodness [0,1] 0.8245132035209389 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93845717e-01 -6.97448952e-02 -8.60600972e-02 3.60253645e+00] [ 6.92771199e-02 9.97561973e-01 -8.41372879e-03 5.95875065e-02] [ 8.64370950e-02 2.39995264e-03 9.96254420e-01 -8.62795445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.121346184 meters Centerline goodness [0,1] 0.8325753116806678 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93815433e-01 -6.96991120e-02 -8.64460461e-02 3.60286787e+00] [ 6.91726357e-02 9.97563432e-01 -9.07447488e-03 6.11230010e-02] [ 8.68678973e-02 3.03865232e-03 9.96215205e-01 -8.61315457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.151346184 meters Centerline goodness [0,1] 0.8345717951459425 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93800826e-01 -6.93556381e-02 -8.68890878e-02 3.60364969e+00] [ 6.87902957e-02 9.97586027e-01 -9.48753000e-03 6.09913515e-02] [ 8.73373537e-02 3.45158910e-03 9.96172813e-01 -8.59881759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.181346184 meters Centerline goodness [0,1] 0.8378436082199092 Centerline is valid? [False, False] Translation: X:3.60, Y:0.06, Z:-0.86 [[ 9.93804209e-01 -6.89553777e-02 -8.71685168e-02 3.60488547e+00] [ 6.84319884e-02 9.97615350e-01 -8.98197288e-03 5.95024729e-02] [ 8.75800057e-02 2.96120753e-03 9.96153088e-01 -8.60526294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.211346184 meters Centerline goodness [0,1] 0.83866840800661 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93800475e-01 -6.87601245e-02 -8.73650974e-02 3.60579423e+00] [ 6.82675078e-02 9.97629834e-01 -8.61751326e-03 5.85758828e-02] [ 8.77505690e-02 2.59989130e-03 9.96139086e-01 -8.61185442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24134618399998 meters Centerline goodness [0,1] 0.8368815112840052 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93796653e-01 -6.83177962e-02 -8.77547217e-02 3.60744513e+00] [ 6.78808064e-02 9.97661701e-01 -7.95775433e-03 5.74295071e-02] [ 8.80931812e-02 1.95152834e-03 9.96110327e-01 -8.62275117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27134618399998 meters Centerline goodness [0,1] 0.8392381459776239 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93788778e-01 -6.79348101e-02 -8.81403756e-02 3.60886266e+00] [ 6.75366999e-02 9.97688642e-01 -7.49456636e-03 5.66943734e-02] [ 8.84457935e-02 1.49530585e-03 9.96079869e-01 -8.62926131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30134618399998 meters Centerline goodness [0,1] 0.8350342401875883 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93769671e-01 -6.76683363e-02 -8.85597967e-02 3.60983477e+00] [ 6.72550278e-02 9.97706519e-01 -7.64605884e-03 5.72489755e-02] [ 8.88740826e-02 1.64232978e-03 9.96041515e-01 -8.62440792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33134618399998 meters Centerline goodness [0,1] 0.8387071008280306 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93752874e-01 -6.73694710e-02 -8.89751645e-02 3.61072229e+00] [ 6.69487193e-02 9.97726643e-01 -7.70814940e-03 5.71069030e-02] [ 8.92921861e-02 1.70322230e-03 9.96004018e-01 -8.61799497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36134618399998 meters Centerline goodness [0,1] 0.8431752435043393 Centerline is valid? [False, False] Translation: X:3.61, Y:0.06, Z:-0.86 [[ 9.93744107e-01 -6.72449367e-02 -8.91670814e-02 3.61082470e+00] [ 6.68133794e-02 9.97734851e-01 -7.81919573e-03 5.50343380e-02] [ 8.94909060e-02 1.81272563e-03 9.95985990e-01 -8.60684963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39134618399999 meters Centerline goodness [0,1] 0.8420007414076154 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-0.86 [[ 9.93756245e-01 -6.67693437e-02 -8.93889225e-02 3.61199112e+00] [ 6.63799241e-02 9.97767529e-01 -7.32550425e-03 5.31367471e-02] [ 8.96784835e-02 1.34613571e-03 9.95969858e-01 -8.61142088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.421346184 meters Centerline goodness [0,1] 0.8444744363289933 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-0.86 [[ 9.93747257e-01 -6.67164657e-02 -8.95282195e-02 3.61234158e+00] [ 6.63354807e-02 9.97771200e-01 -7.22750876e-03 5.21911942e-02] [ 8.98108728e-02 1.24341953e-03 9.95958062e-01 -8.61081659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.451346184 meters Centerline goodness [0,1] 0.8424104424263285 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-0.86 [[ 9.93744682e-01 -6.63289099e-02 -8.98442098e-02 3.61351734e+00] [ 6.59923070e-02 9.97797536e-01 -6.71516398e-03 5.09106420e-02] [ 9.00917406e-02 7.44131815e-04 9.95933193e-01 -8.61547164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.481346184 meters Centerline goodness [0,1] 0.8397454516648624 Centerline is valid? [False, False] Translation: X:3.61, Y:0.05, Z:-0.86 [[ 9.93738426e-01 -6.61910814e-02 -9.00148953e-02 3.61413391e+00] [ 6.59142004e-02 9.97806963e-01 -6.04842294e-03 4.76503582e-02] [ 9.02178409e-02 7.72904448e-05 9.95922053e-01 -8.62027910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.511346184 meters Centerline goodness [0,1] 0.8374996714244407 Centerline is valid? [False, False] Translation: X:3.62, Y:0.05, Z:-0.86 [[ 9.93737485e-01 -6.56363392e-02 -9.04305411e-02 3.61573756e+00] [ 6.54224670e-02 9.97843418e-01 -5.33040374e-03 4.52925573e-02] [ 9.05853884e-02 -6.19167082e-04 9.95888500e-01 -8.62646326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.541346184 meters Centerline goodness [0,1] 0.8436237738026544 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93744001e-01 -6.54150640e-02 -9.05192282e-02 3.61612952e+00] [ 6.52260323e-02 9.97857746e-01 -5.04809935e-03 4.39446655e-02] [ 9.06555348e-02 -8.87691657e-04 9.95881914e-01 -8.62658959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.571346184 meters Centerline goodness [0,1] 0.8442324325741095 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93738879e-01 -6.50488441e-02 -9.08387990e-02 3.61678186e+00] [ 6.48782220e-02 9.97881485e-01 -4.83301783e-03 4.28043184e-02] [ 9.09607379e-02 -1.09070204e-03 9.95853882e-01 -8.62123842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.601346184 meters Centerline goodness [0,1] 0.8509472365742915 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93739145e-01 -6.45888155e-02 -9.11635717e-02 3.61724596e+00] [ 6.44159246e-02 9.97911397e-01 -4.84063172e-03 4.15118765e-02] [ 9.12858179e-02 -1.06206054e-03 9.95824167e-01 -8.60852843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.631346184 meters Centerline goodness [0,1] 0.8518036541564729 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93737639e-01 -6.42409553e-02 -9.14253988e-02 3.61797717e+00] [ 6.40745403e-02 9.97933776e-01 -4.75728475e-03 4.07518084e-02] [ 9.15421060e-02 -1.13054748e-03 9.95800565e-01 -8.60497571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.661346184 meters Centerline goodness [0,1] 0.855296956487896 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93735381e-01 -6.40502241e-02 -9.15836267e-02 3.61829236e+00] [ 6.38879640e-02 9.97945984e-01 -4.70535730e-03 4.01298850e-02] [ 9.16968917e-02 -1.17521142e-03 9.95786272e-01 -8.60060484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.691346184 meters Centerline goodness [0,1] 0.8546356845615033 Centerline is valid? [False, False] Translation: X:3.62, Y:0.04, Z:-0.86 [[ 9.93739869e-01 -6.35751825e-02 -9.18654956e-02 3.61914932e+00] [ 6.34873823e-02 9.97975096e-01 -3.88073728e-03 3.58833629e-02] [ 9.19261954e-02 -1.97585649e-03 9.95763863e-01 -8.60210542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.721346184 meters Centerline goodness [0,1] 0.8523133516398114 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.86 [[ 9.93748738e-01 -6.33221171e-02 -9.19443028e-02 3.61977078e+00] [ 6.32907862e-02 9.97989806e-01 -3.25945558e-03 3.31477850e-02] [ 9.19658726e-02 -2.58014735e-03 9.95758817e-01 -8.60771434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.751346184 meters Centerline goodness [0,1] 0.8547272914733478 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.86 [[ 9.93730925e-01 -6.32549797e-02 -9.21827309e-02 3.62023905e+00] [ 6.32439200e-02 9.97993457e-01 -3.04413612e-03 3.14300736e-02] [ 9.21903190e-02 -2.80494505e-03 9.95737454e-01 -8.60509532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.781346184 meters Centerline goodness [0,1] 0.8514558103581551 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.86 [[ 9.93712689e-01 -6.34037052e-02 -9.22770925e-02 3.61988682e+00] [ 6.33845299e-02 9.97984235e-01 -3.14147921e-03 3.02497164e-02] [ 9.22902649e-02 -2.72721238e-03 9.95728411e-01 -8.59528094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.811346184 meters Centerline goodness [0,1] 0.8460669251906828 Centerline is valid? [False, False] Translation: X:3.62, Y:0.03, Z:-0.86 [[ 9.93612808e-01 -6.54517002e-02 -9.19220440e-02 3.61877641e+00] [ 6.52678485e-02 9.97855214e-01 -5.00804918e-03 2.71728059e-02] [ 9.20526762e-02 -1.02349223e-03 9.95753613e-01 -8.58275131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.841346184 meters Centerline goodness [0,1] 0.8431407665148647 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.86 [[ 9.93609788e-01 -6.55361864e-02 -9.18944953e-02 3.61890390e+00] [ 6.53800265e-02 9.97849312e-01 -4.71197119e-03 2.44909536e-02] [ 9.20056636e-02 -1.32620385e-03 9.95757601e-01 -8.58479652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.871346184 meters Centerline goodness [0,1] 0.8366430139363928 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.86 [[ 9.93611105e-01 -6.55292853e-02 -9.18851686e-02 3.61900223e+00] [ 6.54091991e-02 9.97849170e-01 -4.32100629e-03 2.18117385e-02] [ 9.19706916e-02 -1.71673544e-03 9.95760235e-01 -8.58665131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.901346184 meters Centerline goodness [0,1] 0.8422619047619048 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.86 [[ 9.93617261e-01 -6.55207938e-02 -9.18246428e-02 3.61890530e+00] [ 6.54297184e-02 9.97849142e-01 -4.00513809e-03 1.93288143e-02] [ 9.18895609e-02 -2.02848618e-03 9.95767138e-01 -8.58585224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.931346184 meters Centerline goodness [0,1] 0.8383697662048177 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.86 [[ 9.93605892e-01 -6.57318036e-02 -9.17968514e-02 3.61801829e+00] [ 6.56529079e-02 9.97834968e-01 -3.88222489e-03 1.64940278e-02] [ 9.18532940e-02 -2.16932871e-03 9.95770188e-01 -8.57369875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.961346184 meters Centerline goodness [0,1] 0.833194096351991 Centerline is valid? [False, False] Translation: X:3.62, Y:0.02, Z:-0.86 [[ 9.93586654e-01 -6.58737424e-02 -9.19032748e-02 3.61749921e+00] [ 6.57711026e-02 9.97826114e-01 -4.14838976e-03 1.57359056e-02] [ 9.19767574e-02 -1.92279501e-03 9.95759298e-01 -8.55967773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99134618399998 meters Centerline goodness [0,1] 0.8353576929875508 Centerline is valid? [False, False] Translation: X:3.62, Y:0.01, Z:-0.86 [[ 9.93589068e-01 -6.57103274e-02 -9.19941131e-02 3.61762501e+00] [ 6.56213614e-02 9.97836599e-01 -3.99484514e-03 1.44319129e-02] [ 9.20575955e-02 -2.06754448e-03 9.95751537e-01 -8.55438994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02134618399998 meters Centerline goodness [0,1] 0.8410258981623085 Centerline is valid? [False, False] Translation: X:3.62, Y:0.01, Z:-0.86 [[ 9.93607430e-01 -6.50393348e-02 -9.22722067e-02 3.61904131e+00] [ 6.50578130e-02 9.97877538e-01 -2.81086696e-03 8.10082459e-03] [ 9.22591794e-02 -3.21012967e-03 9.95729852e-01 -8.56143043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05134618399998 meters Centerline goodness [0,1] 0.8440084968136948 Centerline is valid? [False, False] Translation: X:3.62, Y:0.00, Z:-0.86 [[ 9.93616303e-01 -6.44906948e-02 -9.25612945e-02 3.62039474e+00] [ 6.45804087e-02 9.97910444e-01 -2.02882789e-03 4.66034767e-03] [ 9.24987230e-02 -3.96176976e-03 9.95704921e-01 -8.56779745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08134618399998 meters Centerline goodness [0,1] 0.8435873814207107 Centerline is valid? [False, False] Translation: X:3.62, Y:0.00, Z:-0.86 [[ 9.93627720e-01 -6.40823985e-02 -9.27221634e-02 3.62131041e+00] [ 6.42218748e-02 9.97934544e-01 -1.48189073e-03 2.26053409e-03] [ 9.26256130e-02 -4.48234346e-03 9.95690918e-01 -8.57171991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11134618399998 meters Centerline goodness [0,1] 0.8410383803254254 Centerline is valid? [False, False] Translation: X:3.62, Y:0.00, Z:-0.86 [[ 9.93625067e-01 -6.38186371e-02 -9.29322710e-02 3.62188328e+00] [ 6.39831105e-02 9.97950246e-01 -1.21165763e-03 9.34252656e-04] [ 9.28191090e-02 -4.74216237e-03 9.95671695e-01 -8.57053967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14134618399999 meters Centerline goodness [0,1] 0.8521194486227899 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.00, Z:-0.86 [[ 9.93643837e-01 -6.30863976e-02 -9.32310618e-02 3.62303349e+00] [ 6.33159538e-02 9.97993408e-01 -4.96633614e-04 -1.95784593e-03] [ 9.30753159e-02 -5.40953667e-03 9.95644376e-01 -8.57101659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.171346184 meters Centerline goodness [0,1] 0.8546445661289527 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.00, Z:-0.86 [[ 9.93633887e-01 -6.26721462e-02 -9.36157061e-02 3.62400249e+00] [ 6.29245258e-02 9.98018255e-01 -2.56418605e-04 -3.06565448e-03] [ 9.34462540e-02 -5.63593770e-03 9.95608374e-01 -8.56823893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.201346184 meters Centerline goodness [0,1] 0.8552003934103762 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.00, Z:-0.86 [[ 9.93634401e-01 -6.21358474e-02 -9.39670900e-02 3.62509756e+00] [ 6.24249711e-02 9.98049650e-01 1.37686913e-04 -4.59818732e-03] [ 9.37752660e-02 -6.00270333e-03 9.95575295e-01 -8.56718610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.231346184 meters Centerline goodness [0,1] 0.8620147806231432 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:-0.86 [[ 9.93636887e-01 -6.17072341e-02 -9.42228931e-02 3.62584861e+00] [ 6.20364803e-02 9.98073722e-01 5.66385159e-04 -6.52199433e-03] [ 9.40064436e-02 -6.40803784e-03 9.95550966e-01 -8.56651379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.261346184 meters Centerline goodness [0,1] 0.8679332715477294 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:-0.86 [[ 9.93665510e-01 -6.07236188e-02 -9.45594826e-02 3.62736097e+00] [ 6.11453853e-02 9.98127641e-01 1.56661253e-03 -1.01750774e-02] [ 9.42873029e-02 -7.33856483e-03 9.95517981e-01 -8.56959177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.291346184 meters Centerline goodness [0,1] 0.8711005041034507 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:-0.86 [[ 9.93643405e-01 -6.04461324e-02 -9.49686736e-02 3.62812386e+00] [ 6.08693683e-02 9.98144517e-01 1.56336585e-03 -1.06764011e-02] [ 9.46979614e-02 -7.33411134e-03 9.95479034e-01 -8.56270703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.321346184 meters Centerline goodness [0,1] 0.8755629122952217 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:-0.85 [[ 9.93630907e-01 -6.04670641e-02 -9.50860392e-02 3.62778988e+00] [ 6.08579994e-02 9.98145696e-01 1.21415628e-03 -1.08063520e-02] [ 9.48363043e-02 -6.99316932e-03 9.95468317e-01 -8.54987438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.351346184 meters Centerline goodness [0,1] 0.8732053361741278 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.01, Z:-0.85 [[ 9.93633985e-01 -6.01534021e-02 -9.52526770e-02 3.62781098e+00] [ 6.05715104e-02 9.98162731e-01 1.50155583e-03 -1.40708577e-02] [ 9.49873485e-02 -7.26159542e-03 9.95451994e-01 -8.53996586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.381346184 meters Centerline goodness [0,1] 0.8773172205438067 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.85 [[ 9.93642185e-01 -5.98862922e-02 -9.53354139e-02 3.62849467e+00] [ 6.03606988e-02 9.98174427e-01 2.09755425e-03 -1.67977775e-02] [ 9.50357573e-02 -7.83873059e-03 9.95442996e-01 -8.54557312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.411346184 meters Centerline goodness [0,1] 0.8781286887812869 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.86 [[ 9.93644168e-01 -5.96580366e-02 -9.54577705e-02 3.62920178e+00] [ 6.01924289e-02 9.98183070e-01 2.72595798e-03 -1.97540792e-02] [ 9.51217051e-02 -8.45446732e-03 9.95429748e-01 -8.55101828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.441346184 meters Centerline goodness [0,1] 0.8764817165162001 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.85 [[ 9.93400821e-01 -6.33609961e-02 -9.56043585e-02 3.63041558e+00] [ 6.35898540e-02 9.97975903e-01 -6.54092616e-04 -2.20942467e-02] [ 9.54522900e-02 -5.42969106e-03 9.95419198e-01 -8.54932988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.471346184 meters Centerline goodness [0,1] 0.8761736388178799 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.86 [[ 9.93387281e-01 -6.32270912e-02 -9.58334260e-02 3.63106498e+00] [ 6.35087918e-02 9.97981273e-01 -1.10890438e-04 -2.42641099e-02] [ 9.56469758e-02 -5.97610795e-03 9.95397379e-01 -8.55123184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.501346184 meters Centerline goodness [0,1] 0.8744811793330471 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:-0.86 [[ 9.93387356e-01 -6.33603678e-02 -9.57445820e-02 3.63077426e+00] [ 6.36639246e-02 9.97971388e-01 1.15970543e-04 -2.58880253e-02] [ 9.55430054e-02 -6.21067952e-03 9.95405928e-01 -8.55039500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.531346184 meters Centerline goodness [0,1] 0.8744811793330471 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:-0.86 [[ 9.93387356e-01 -6.33603678e-02 -9.57445820e-02 3.63077426e+00] [ 6.36639246e-02 9.97971388e-01 1.15970543e-04 -2.58880253e-02] [ 9.55430054e-02 -6.21067952e-03 9.95405928e-01 -8.55039500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.561346184 meters Centerline goodness [0,1] 0.8755232115677322 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.85 [[ 9.93114351e-01 -6.66730630e-02 -9.63254294e-02 3.63323733e+00] [ 6.66266962e-02 9.97771108e-01 -3.70128440e-03 -2.49239547e-02] [ 9.63575064e-02 -2.74204646e-03 9.95343012e-01 -8.54658568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.591346184 meters Centerline goodness [0,1] 0.8710846799033313 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:-0.85 [[ 9.92822146e-01 -7.03975813e-02 -9.66869524e-02 3.63444959e+00] [ 7.00214649e-02 9.97518907e-01 -7.28182351e-03 -2.71613574e-02] [ 9.69596858e-02 4.59393607e-04 9.95288204e-01 -8.53586135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.621346184 meters Centerline goodness [0,1] 0.8700982708116791 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.03, Z:-0.85 [[ 9.92826207e-01 -7.02634476e-02 -9.67428049e-02 3.63485305e+00] [ 6.99650151e-02 9.97528413e-01 -6.47784399e-03 -3.05974392e-02] [ 9.69588522e-02 -3.37238517e-04 9.95288334e-01 -8.54063220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.651346184 meters Centerline goodness [0,1] 0.8692496229260935 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:-0.86 [[ 9.92820388e-01 -7.00730132e-02 -9.69404500e-02 3.63597176e+00] [ 6.98811953e-02 9.97540831e-01 -5.37666585e-03 -3.45540314e-02] [ 9.70788162e-02 -1.43625104e-03 9.95275661e-01 -8.55308678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.681346184 meters Centerline goodness [0,1] 0.8643087270418361 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.04, Z:-0.86 [[ 9.92804074e-01 -7.02665450e-02 -9.69674344e-02 3.63629066e+00] [ 7.01442873e-02 9.97525909e-01 -4.67337252e-03 -3.83182534e-02] [ 9.70559099e-02 -2.16196830e-03 9.95276583e-01 -8.55967685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.711346184 meters Centerline goodness [0,1] 0.8509213514715868 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.04, Z:-0.86 [[ 9.92855076e-01 -7.61017908e-02 -9.19092803e-02 3.65052253e+00] [ 7.64671388e-02 9.97071998e-01 4.55038957e-04 -4.31053235e-02] [ 9.16055404e-02 -7.47982743e-03 9.95767281e-01 -8.58890985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74134618399998 meters Centerline goodness [0,1] 0.805650165632436 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.04, Z:-0.86 [[ 9.92522116e-01 -8.03265279e-02 -9.19102720e-02 3.65095213e+00] [ 8.03457332e-02 9.96760921e-01 -3.49718073e-03 -4.39846519e-02] [ 9.18934837e-02 -3.91356897e-03 9.95761152e-01 -8.58145055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77134618399998 meters Centerline goodness [0,1] 0.8276126335346029 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.05, Z:-0.86 [[ 9.92196887e-01 -8.40628956e-02 -9.20802244e-02 3.65249734e+00] [ 8.38008346e-02 9.96459894e-01 -6.71563126e-03 -4.64443322e-02] [ 9.23187861e-02 -1.05317123e-03 9.95728945e-01 -8.58397843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80134618399998 meters Centerline goodness [0,1] 0.8048803031703484 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.05, Z:-0.86 [[ 9.91857415e-01 -8.77675007e-02 -9.22807380e-02 3.65406020e+00] [ 8.72126965e-02 9.96139164e-01 -1.00355182e-02 -4.88147750e-02] [ 9.28052496e-02 1.90575109e-03 9.95682456e-01 -8.58457094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83134618399998 meters Centerline goodness [0,1] 0.816551311825979 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.05, Z:-0.86 [[ 9.91856092e-01 -8.75080441e-02 -9.25409893e-02 3.65499276e+00] [ 8.71165379e-02 9.96163803e-01 -8.26960285e-03 -5.47085403e-02] [ 9.29096406e-02 1.40405368e-04 9.95674535e-01 -8.59672753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86134618399998 meters Centerline goodness [0,1] 0.805162975009735 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:-0.86 [[ 9.91862467e-01 -8.67734381e-02 -9.31623154e-02 3.65702914e+00] [ 8.64704211e-02 9.96227731e-01 -7.29200587e-03 -5.63467830e-02] [ 9.34436346e-02 -8.23117718e-04 9.95624231e-01 -8.60499332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89134618399999 meters Centerline goodness [0,1] 0.8124184054419276 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:-0.86 [[ 9.91874287e-01 -8.61413080e-02 -9.36219701e-02 3.65857746e+00] [ 8.59141276e-02 9.96281589e-01 -6.46200033e-03 -5.78322407e-02] [ 9.38304903e-02 -1.63395791e-03 9.95586847e-01 -8.61128305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.921346184 meters Centerline goodness [0,1] 0.8275712359755958 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:-0.86 [[ 9.91898782e-01 -8.53800686e-02 -9.40587552e-02 3.66020297e+00] [ 8.52250411e-02 9.96345587e-01 -5.67134841e-03 -5.94157676e-02] [ 9.41992457e-02 -2.39075769e-03 9.95550494e-01 -8.61743421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.951346184 meters Centerline goodness [0,1] 0.8356260942722663 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:-0.86 [[ 9.91972190e-01 -8.41797113e-02 -9.43660463e-02 3.66164991e+00] [ 8.41138754e-02 9.96445148e-01 -4.68218976e-03 -6.22464036e-02] [ 9.44247343e-02 -3.29289183e-03 9.95526557e-01 -8.62049632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.981346184 meters Centerline goodness [0,1] 0.854674658311765 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.06, Z:-0.86 [[ 0.99200719 -0.08334615 -0.09473729 3.66326714] [ 0.08335621 0.99651235 -0.00385812 -0.06391695] [ 0.09472843 -0.00406966 0.99549483 -0.86280051] [ 0. 0. 0. 1. ]] SLAMing on 146.011346184 meters Centerline goodness [0,1] 0.8552685155861195 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.86 [[ 9.92029946e-01 -8.22942668e-02 -9.54161428e-02 3.66577571e+00] [ 8.24020226e-02 9.96595189e-01 -2.81709513e-03 -6.58754653e-02] [ 9.53230996e-02 -5.06784042e-03 9.95433485e-01 -8.63799297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.041346184 meters Centerline goodness [0,1] 0.854638124362895 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.86 [[ 9.92046835e-01 -8.16099008e-02 -9.58274586e-02 3.66720370e+00] [ 8.17749678e-02 9.96648369e-01 -2.20997694e-03 -6.71895908e-02] [ 9.56866363e-02 -5.64388671e-03 9.95395506e-01 -8.64178465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.071346184 meters Centerline goodness [0,1] 0.8650901206125491 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.87 [[ 9.92058389e-01 -8.05978377e-02 -9.65615911e-02 3.66984777e+00] [ 8.08504079e-02 9.96725399e-01 -1.30058401e-03 -6.79937618e-02] [ 9.63502146e-02 -6.51678875e-03 9.95326161e-01 -8.65199592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.101346184 meters Centerline goodness [0,1] 0.8715311600933331 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.86 [[ 9.92357503e-01 -7.63045286e-02 -9.69752765e-02 3.66966578e+00] [ 7.69698822e-02 9.97028495e-01 3.13328150e-03 -7.06057829e-02] [ 9.64480304e-02 -1.05735110e-02 9.95281859e-01 -8.64828123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.131346184 meters Centerline goodness [0,1] 0.8741883667790321 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.86 [[ 9.92348714e-01 -7.57854047e-02 -9.74710279e-02 3.67106316e+00] [ 7.64860718e-02 9.97064623e-01 3.46676470e-03 -7.14957515e-02] [ 9.69221835e-02 -1.08954155e-02 9.95232325e-01 -8.64864271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.161346184 meters Centerline goodness [0,1] 0.8731662108094668 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.86 [[ 0.9923449 -0.07556235 -0.09768285 3.67151322] [ 0.076286 0.99707915 0.00368931 -0.07284968] [ 0.09711876 -0.01111291 0.99521076 -0.86465357] [ 0. 0. 0. 1. ]] SLAMing on 146.191346184 meters Centerline goodness [0,1] 0.8791295346115762 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.07, Z:-0.87 [[ 9.92075760e-01 -7.84234089e-02 -9.81603507e-02 3.67445215e+00] [ 7.88482228e-02 9.96886531e-01 4.49983798e-04 -7.23666636e-02] [ 9.78194423e-02 -8.18618722e-03 9.95170510e-01 -8.65318371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.221346184 meters Centerline goodness [0,1] 0.8719544965962021 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.07, Z:-0.87 [[ 9.91777354e-01 -8.17136658e-02 -9.84914095e-02 3.67702518e+00] [ 8.18736884e-02 9.96639769e-01 -2.42273955e-03 -7.48668223e-02] [ 9.83584265e-02 -5.66103675e-03 9.95134952e-01 -8.66318494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.251346184 meters Centerline goodness [0,1] 0.8715549087652524 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.08, Z:-0.87 [[ 9.91787363e-01 -8.14903616e-02 -9.85755972e-02 3.67812482e+00] [ 8.17425299e-02 9.96652374e-01 -1.48469027e-03 -7.82087606e-02] [ 9.83665909e-02 -6.58532165e-03 9.95128458e-01 -8.67578185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.281346184 meters Centerline goodness [0,1] 0.8604012152622643 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.08, Z:-0.87 [[ 0.99203105 -0.08424307 -0.09368836 3.69386108] [ 0.08515063 0.99635164 0.00572483 -0.08134901] [ 0.09286427 -0.01365683 0.99558511 -0.87139472] [ 0. 0. 0. 1. ]] SLAMing on 146.311346184 meters Centerline goodness [0,1] 0.853194816800715 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.08, Z:-0.87 [[ 0.99197901 -0.08467163 -0.09385282 3.69350667] [ 0.08555337 0.99631893 0.00540416 -0.08132433] [ 0.09304976 -0.01339024 0.99557142 -0.87045659] [ 0. 0. 0. 1. ]] SLAMing on 146.341346184 meters Centerline goodness [0,1] 0.8465364200008921 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.08, Z:-0.87 [[ 0.99193618 -0.08521095 -0.09381741 3.69298271] [ 0.08607803 0.99627469 0.00522714 -0.08249617] [ 0.0930225 -0.0132606 0.9955757 -0.86991574] [ 0. 0. 0. 1. ]] SLAMing on 146.371346184 meters Centerline goodness [0,1] 0.8393421462589576 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.08, Z:-0.87 [[ 9.91577235e-01 -8.90894842e-02 -9.40087763e-02 3.69458868e+00] [ 8.96151213e-02 9.95975520e-01 1.37613632e-03 -8.25535871e-02] [ 9.35078406e-02 -9.78915333e-03 9.95570418e-01 -8.70053883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.401346184 meters Centerline goodness [0,1] 0.8157656163626312 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.09, Z:-0.87 [[ 9.91226395e-01 -9.29910377e-02 -9.39303009e-02 3.69649313e+00] [ 9.32593229e-02 9.95640663e-01 -1.53897128e-03 -8.62970827e-02] [ 9.36639376e-02 -7.23440731e-03 9.95577586e-01 -8.71579911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.431346184 meters Centerline goodness [0,1] 0.8192363032650802 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.09, Z:-0.87 [[ 9.91203667e-01 -9.32231172e-02 -9.39400905e-02 3.69678354e+00] [ 9.35279290e-02 9.95615978e-01 -1.16243007e-03 -8.83082371e-02] [ 9.36366204e-02 -7.63381716e-03 9.95577173e-01 -8.72083650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.461346184 meters Centerline goodness [0,1] 0.7956696744515216 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.09, Z:-0.87 [[ 9.91175599e-01 -9.33665384e-02 -9.40936886e-02 3.69726848e+00] [ 9.37022523e-02 9.95599899e-01 -8.53724958e-04 -8.96385052e-02] [ 9.37593762e-02 -7.97059921e-03 9.95562981e-01 -8.72326790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49134618399998 meters Centerline goodness [0,1] 0.8015084824489616 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:-0.88 [[ 0.99144421 -0.09568801 -0.08878162 3.7116973 ] [ 0.09663347 0.99529944 0.00640297 -0.09063245] [ 0.08775161 -0.01492746 0.99603053 -0.87543839] [ 0. 0. 0. 1. ]] SLAMing on 146.52134618399998 meters Centerline goodness [0,1] 0.7891075068687405 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:-0.87 [[ 0.9913655 -0.09657999 -0.0886947 3.71086851] [ 0.09747828 0.9952205 0.0058427 -0.0898246 ] [ 0.08770649 -0.01443806 0.99604172 -0.87486446] [ 0. 0. 0. 1. ]] SLAMing on 146.55134618399998 meters Centerline goodness [0,1] 0.7725822885748461 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:-0.88 [[ 0.99133551 -0.09681381 -0.08877501 3.71118826] [ 0.09771812 0.99519672 0.00588745 -0.09082669] [ 0.08777861 -0.01451137 0.9960343 -0.87505964] [ 0. 0. 0. 1. ]] SLAMing on 146.58134618399998 meters Centerline goodness [0,1] 0.7663861824623561 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:-0.88 [[ 0.99131686 -0.09702456 -0.08875318 3.71147083] [ 0.09794812 0.99517283 0.00610019 -0.09248487] [ 0.08773288 -0.01474042 0.99603497 -0.87552559] [ 0. 0. 0. 1. ]] SLAMing on 146.61134618399998 meters Centerline goodness [0,1] 0.742299703919749 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.09, Z:-0.88 [[ 9.90948483e-01 -1.00656113e-01 -8.88225805e-02 3.71317034e+00] [ 1.01246754e-01 9.94859004e-01 2.15797570e-03 -9.08578765e-02] [ 8.81487306e-02 -1.11314407e-02 9.96045126e-01 -8.75875654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64134618399999 meters Centerline goodness [0,1] 0.7449078564500484 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99095331 -0.10507031 -0.08349715 3.72795451] [ 0.10593792 0.99435454 0.00601677 -0.09048572] [ 0.08239359 -0.01480786 0.99648985 -0.87665432] [ 0. 0. 0. 1. ]] SLAMing on 146.671346184 meters Centerline goodness [0,1] 0.7162269303616262 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99090345 -0.10553774 -0.08349933 3.72765117] [ 0.106382 0.99430891 0.00571471 -0.09075648] [ 0.08242101 -0.01454555 0.99649145 -0.87624012] [ 0. 0. 0. 1. ]] SLAMing on 146.701346184 meters Centerline goodness [0,1] 0.7481149962520393 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99087584 -0.10574728 -0.08356184 3.72756923] [ 0.10657555 0.99428938 0.00550183 -0.09052633] [ 0.08250285 -0.01435728 0.99648741 -0.87590092] [ 0. 0. 0. 1. ]] SLAMing on 146.731346184 meters Centerline goodness [0,1] 0.7443794815223387 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99084223 -0.10603208 -0.08359951 3.72741134] [ 0.10682292 0.99426533 0.00503161 -0.08937401] [ 0.08258658 -0.01391588 0.99648673 -0.87547785] [ 0. 0. 0. 1. ]] SLAMing on 146.761346184 meters Centerline goodness [0,1] 0.7409666409776505 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99083969 -0.10602735 -0.08363555 3.72770459] [ 0.10681023 0.9942672 0.00492969 -0.08910412] [ 0.08263341 -0.01381767 0.99648422 -0.87554153] [ 0. 0. 0. 1. ]] SLAMing on 146.791346184 meters Centerline goodness [0,1] 0.7451235084320373 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99084889 -0.10579954 -0.08381486 3.72861254] [ 0.10659656 0.99428938 0.00507929 -0.08959043] [ 0.08279884 -0.01396718 0.9964684 -0.87603174] [ 0. 0. 0. 1. ]] SLAMing on 146.821346184 meters Centerline goodness [0,1] 0.7479397117800008 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99086745 -0.10533876 -0.084175 3.7300113 ] [ 0.1061508 0.99433635 0.00521786 -0.08908514] [ 0.08314862 -0.01410545 0.99643732 -0.87660056] [ 0. 0. 0. 1. ]] SLAMing on 146.851346184 meters Centerline goodness [0,1] 0.749525365358294 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99088315 -0.10483624 -0.08461651 3.73153738] [ 0.10565038 0.9943898 0.00518926 -0.08740829] [ 0.08359777 -0.01408171 0.99640008 -0.87713542] [ 0. 0. 0. 1. ]] SLAMing on 146.881346184 meters Centerline goodness [0,1] 0.7623585072515033 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.09, Z:-0.88 [[ 0.99130001 -0.10027756 -0.08525668 3.73260061] [ 0.10141692 0.99480213 0.00912843 -0.08630468] [ 0.08389815 -0.01769548 0.9963172 -0.87783209] [ 0. 0. 0. 1. ]] SLAMing on 146.911346184 meters Centerline goodness [0,1] 0.7667768485036714 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.08, Z:-0.88 [[ 0.99131455 -0.09984685 -0.08559248 3.73376583] [ 0.10097267 0.99484925 0.00891565 -0.08446642] [ 0.08426142 -0.01748072 0.99629034 -0.87809498] [ 0. 0. 0. 1. ]] SLAMing on 146.941346184 meters Centerline goodness [0,1] 0.7924931068220226 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99131616 -0.09949132 -0.08598689 3.73501632] [ 0.10060157 0.99488905 0.00866568 -0.08265892] [ 0.08468525 -0.01724085 0.99625858 -0.87834582] [ 0. 0. 0. 1. ]] SLAMing on 146.971346184 meters Centerline goodness [0,1] 0.7781190190056527 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99130696 -0.09935871 -0.08624589 3.73584983] [ 0.10044642 0.99490739 0.00835427 -0.08121161] [ 0.0849766 -0.01694474 0.99623885 -0.87850926] [ 0. 0. 0. 1. ]] SLAMing on 147.001346184 meters Centerline goodness [0,1] 0.8108582994150486 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99129809 -0.09900736 -0.08675047 3.73768275] [ 0.10010909 0.99494074 0.00843224 -0.08108265] [ 0.08547673 -0.01704338 0.99619439 -0.8792574 ] [ 0. 0. 0. 1. ]] SLAMing on 147.031346184 meters Centerline goodness [0,1] 0.8007619302232322 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99127766 -0.09912977 -0.0868441 3.73811731] [ 0.10021429 0.99493202 0.00820791 -0.0806453 ] [ 0.08559032 -0.01683934 0.9961881 -0.87949688] [ 0. 0. 0. 1. ]] SLAMing on 147.061346184 meters Centerline goodness [0,1] 0.8091237297200927 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99125525 -0.09922239 -0.08699394 3.73864952] [ 0.10028642 0.99492696 0.00793637 -0.07978987] [ 0.08576516 -0.01659128 0.99617723 -0.87964728] [ 0. 0. 0. 1. ]] SLAMing on 147.091346184 meters Centerline goodness [0,1] 0.779090055026171 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99122243 -0.0994275 -0.08713355 3.73899895] [ 0.10046692 0.99491126 0.00761495 -0.07865547] [ 0.08593302 -0.01630215 0.99616753 -0.87971905] [ 0. 0. 0. 1. ]] SLAMing on 147.121346184 meters Centerline goodness [0,1] 0.7911306021077126 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99117046 -0.0998338 -0.08726016 3.73916215] [ 0.10083163 0.99487823 0.00709211 -0.07717445] [ 0.0861052 -0.01582807 0.99616031 -0.87957502] [ 0. 0. 0. 1. ]] SLAMing on 147.151346184 meters Centerline goodness [0,1] 0.7986494644813631 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99114737 -0.09991832 -0.08742555 3.7397845 ] [ 0.10090628 0.9948717 0.00694397 -0.0767369 ] [ 0.08628338 -0.01570429 0.99614685 -0.87986958] [ 0. 0. 0. 1. ]] SLAMing on 147.181346184 meters Centerline goodness [0,1] 0.7945780576583819 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99112767 -0.09997919 -0.08757909 3.74047682] [ 0.10095821 0.99486736 0.00681038 -0.07635619] [ 0.08644868 -0.01559178 0.99613429 -0.88024552] [ 0. 0. 0. 1. ]] SLAMing on 147.211346184 meters Centerline goodness [0,1] 0.7897527687660812 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.99108929 -0.10022684 -0.08773024 3.74136697] [ 0.10118968 0.99484535 0.00658612 -0.07600039] [ 0.08661791 -0.01540483 0.9961225 -0.88105495] [ 0. 0. 0. 1. ]] SLAMing on 147.24134618399998 meters Centerline goodness [0,1] 0.7918282269090258 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.9910727 -0.10030135 -0.0878325 3.74185012] [ 0.10125898 0.99483883 0.00650475 -0.07603235] [ 0.08672674 -0.01534051 0.99611402 -0.88133111] [ 0. 0. 0. 1. ]] SLAMing on 147.27134618399998 meters Centerline goodness [0,1] 0.7815351583467526 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.08, Z:-0.88 [[ 0.9910469 -0.10052649 -0.08786621 3.74209238] [ 0.10146696 0.99481901 0.00629203 -0.07564215] [ 0.08677846 -0.01515122 0.99611241 -0.88149365] [ 0. 0. 0. 1. ]] SLAMing on 147.30134618399998 meters Centerline goodness [0,1] 0.7748072785944783 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 0.9909999 -0.10117537 -0.08765124 3.74114768] [ 0.10204081 0.99476535 0.00543832 -0.07331181] [ 0.08664219 -0.01433338 0.99613638 -0.88079357] [ 0. 0. 0. 1. ]] SLAMing on 147.33134618399998 meters Centerline goodness [0,1] 0.7729912766577713 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 0.99097335 -0.1013534 -0.0877457 3.74116771] [ 0.10217905 0.99475367 0.00495815 -0.0713707 ] [ 0.08678283 -0.01387917 0.99613057 -0.88046084] [ 0. 0. 0. 1. ]] SLAMing on 147.36134618399998 meters Centerline goodness [0,1] 0.7858538228359717 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 0.99092597 -0.10158921 -0.08800773 3.74125474] [ 0.10235701 0.99473868 0.00424393 -0.0692741 ] [ 0.08711355 -0.01321363 0.99611075 -0.87957952] [ 0. 0. 0. 1. ]] SLAMing on 147.39134618399999 meters Centerline goodness [0,1] 0.7743745774171737 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 0.99089768 -0.10190423 -0.08796201 3.7407175 ] [ 0.10262996 0.99471251 0.00375598 -0.06818374] [ 0.08711417 -0.01274933 0.99611675 -0.87894968] [ 0. 0. 0. 1. ]] SLAMing on 147.421346184 meters Centerline goodness [0,1] 0.7782426778242678 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 9.90880515e-01 -1.02043238e-01 -8.79942160e-02 3.74099121e+00] [ 1.02760817e-01 9.94699391e-01 3.65187608e-03 -6.86426131e-02] [ 8.71551438e-02 -1.26609303e-02 9.96114292e-01 -8.79075900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.451346184 meters Centerline goodness [0,1] 0.7782426778242678 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 9.90880515e-01 -1.02043238e-01 -8.79942160e-02 3.74099121e+00] [ 1.02760817e-01 9.94699391e-01 3.65187608e-03 -6.86426131e-02] [ 8.71551438e-02 -1.26609303e-02 9.96114292e-01 -8.79075900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.481346184 meters Centerline goodness [0,1] 0.7717166726554079 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 9.90495569e-01 -1.05545789e-01 -8.81964558e-02 3.74354017e+00] [ 1.05949294e-01 9.94371528e-01 -1.06821552e-04 -6.76666825e-02] [ 8.77113191e-02 -9.23854595e-03 9.96103094e-01 -8.80125271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.511346184 meters Centerline goodness [0,1] 0.771539794334061 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.07, Z:-0.88 [[ 9.90475867e-01 -1.05745538e-01 -8.81784465e-02 3.74371451e+00] [ 1.06123422e-01 9.94352883e-01 -4.04774952e-04 -6.65187359e-02] [ 8.77232956e-02 -8.95687867e-03 9.96104612e-01 -8.80359708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.541346184 meters Centerline goodness [0,1] 0.7668645196235528 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.06, Z:-0.88 [[ 9.90454870e-01 -1.05821388e-01 -8.83231787e-02 3.74412075e+00] [ 1.06168695e-01 9.94347835e-01 -7.69527058e-04 -6.47837939e-02] [ 8.79053939e-02 -8.61497476e-03 9.96091574e-01 -8.80392545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.571346184 meters Centerline goodness [0,1] 0.7739917806981891 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90454347e-01 -1.05586765e-01 -8.86093780e-02 3.74555490e+00] [ 1.05922655e-01 9.94373950e-01 -9.16093559e-04 -6.24773285e-02] [ 8.82075846e-02 -8.47839173e-03 9.96066031e-01 -8.81352285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.601346184 meters Centerline goodness [0,1] 0.7843057347913696 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90435896e-01 -1.05641383e-01 -8.87504007e-02 3.74585827e+00] [ 1.05944025e-01 9.94371236e-01 -1.30688776e-03 -6.07952320e-02] [ 8.83889071e-02 -8.10818614e-03 9.96053040e-01 -8.81222155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.631346184 meters Centerline goodness [0,1] 0.7764236850450776 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90417797e-01 -1.05576645e-01 -8.90289758e-02 3.74654016e+00] [ 1.05858621e-01 9.94379964e-01 -1.56171726e-03 -5.90882792e-02] [ 8.86935106e-02 -7.87773204e-03 9.96027812e-01 -8.81204510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.661346184 meters Centerline goodness [0,1] 0.7705967844490871 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90417838e-01 -1.05389642e-01 -8.92498153e-02 3.74757044e+00] [ 1.05654446e-01 9.94401338e-01 -1.76530290e-03 -5.77948621e-02] [ 8.89361805e-02 -7.68125235e-03 9.96007708e-01 -8.81641880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.691346184 meters Centerline goodness [0,1] 0.7761959902822242 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90425786e-01 -1.05170998e-01 -8.94193673e-02 3.74853053e+00] [ 1.05453619e-01 9.94422982e-01 -1.57095916e-03 -5.81260021e-02] [ 8.90858932e-02 -7.87367742e-03 9.95992826e-01 -8.82276141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.721346184 meters Centerline goodness [0,1] 0.7853715117469127 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90424451e-01 -1.05048299e-01 -8.95782441e-02 3.74917204e+00] [ 1.05317873e-01 9.94437112e-01 -1.72509299e-03 -5.71889075e-02] [ 8.92611484e-02 -7.72561586e-03 9.95978294e-01 -8.82471697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.751346184 meters Centerline goodness [0,1] 0.7950741380878741 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.06, Z:-0.88 [[ 9.90434213e-01 -1.04790513e-01 -8.97720328e-02 3.74987022e+00] [ 1.05052152e-01 9.94465051e-01 -1.81857509e-03 -5.56685471e-02] [ 8.94657186e-02 -7.62956628e-03 9.95960679e-01 -8.82656417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.781346184 meters Centerline goodness [0,1] 0.7913703610545813 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.05, Z:-0.88 [[ 9.90419837e-01 -1.04687225e-01 -9.00507170e-02 3.75056834e+00] [ 1.04909798e-01 9.94479148e-01 -2.27113386e-03 -5.32953579e-02] [ 8.97913190e-02 -7.19782652e-03 9.95934591e-01 -8.82544389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.811346184 meters Centerline goodness [0,1] 0.7942729861302471 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.05, Z:-0.88 [[ 9.90424014e-01 -1.04293210e-01 -9.04610352e-02 3.75199026e+00] [ 1.04496669e-01 9.94522102e-01 -2.49711736e-03 -4.97357225e-02] [ 9.02259313e-02 -6.97967188e-03 9.95896865e-01 -8.83012236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.841346184 meters Centerline goodness [0,1] 0.7875650052924663 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.05, Z:-0.88 [[ 9.90413605e-01 -1.04228644e-01 -9.06492188e-02 3.75272994e+00] [ 1.04411036e-01 9.94530454e-01 -2.74078469e-03 -4.82968297e-02] [ 9.04390770e-02 -6.75026844e-03 9.95879113e-01 -8.83227469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.871346184 meters Centerline goodness [0,1] 0.7886559859642643 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.05, Z:-0.88 [[ 9.90397391e-01 -1.03980096e-01 -9.11106355e-02 3.75504389e+00] [ 1.04160439e-01 9.94556604e-01 -2.78632625e-03 -4.62821871e-02] [ 9.09044067e-02 -6.73055354e-03 9.95836878e-01 -8.84858764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.901346184 meters Centerline goodness [0,1] 0.7876202117109845 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.05, Z:-0.89 [[ 9.90408866e-01 -1.03597524e-01 -9.14211756e-02 3.75714274e+00] [ 1.03800190e-01 9.94594907e-01 -2.54800056e-03 -4.59149939e-02] [ 9.11910022e-02 -6.96597306e-03 9.95809056e-01 -8.86471074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.931346184 meters Centerline goodness [0,1] 0.7990085312427946 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.05, Z:-0.89 [[ 9.90433411e-01 -1.03280400e-01 -9.15140302e-02 3.75856695e+00] [ 1.03503371e-01 9.94626400e-01 -2.31894688e-03 -4.57554584e-02] [ 9.12617722e-02 -7.17524812e-03 9.95801087e-01 -8.87818864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.961346184 meters Centerline goodness [0,1] 0.7963112391930836 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:-0.89 [[ 9.90441021e-01 -1.03115803e-01 -9.16172227e-02 3.75961106e+00] [ 1.03324664e-01 9.94644608e-01 -2.47323654e-03 -4.45000921e-02] [ 9.13816063e-02 -7.01672386e-03 9.95791227e-01 -8.88602575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99134618399998 meters Centerline goodness [0,1] 0.788630346941619 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:-0.89 [[ 9.90800957e-01 -9.95772659e-02 -9.16396889e-02 3.75850589e+00] [ 1.00028395e-01 9.94984528e-01 3.31627721e-04 -4.02550285e-02] [ 9.11470500e-02 -9.49514804e-03 9.95792176e-01 -8.88305829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02134618399998 meters Centerline goodness [0,1] 0.8059336254311551 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.04, Z:-0.89 [[ 9.90794664e-01 -9.94671491e-02 -9.18271192e-02 3.75915437e+00] [ 9.98520248e-02 9.95002216e-01 -4.04895625e-04 -3.65252426e-02] [ 9.14084609e-02 -8.76795536e-03 9.95774882e-01 -8.88153319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05134618399998 meters Centerline goodness [0,1] 0.815998314488377 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.03, Z:-0.89 [[ 9.90793219e-01 -9.95407685e-02 -9.17629119e-02 3.75913591e+00] [ 9.98554170e-02 9.95001273e-01 -1.16736988e-03 -3.38616685e-02] [ 9.14204150e-02 -8.00640168e-03 9.95780199e-01 -8.87849100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08134618399998 meters Centerline goodness [0,1] 0.8211056453501991 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.03, Z:-0.89 [[ 9.90779161e-01 -9.97895696e-02 -9.16443996e-02 3.75877716e+00] [ 1.00022538e-01 9.94983042e-01 -2.05885696e-03 -3.15930358e-02] [ 9.13900759e-02 -7.12663291e-03 9.95789669e-01 -8.87162817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11134618399998 meters Centerline goodness [0,1] 0.8230290212665962 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.03, Z:-0.89 [[ 9.90768109e-01 -9.99986954e-02 -9.15358692e-02 3.75849325e+00] [ 1.00159398e-01 9.94967328e-01 -2.84803601e-03 -2.90389403e-02] [ 9.13599990e-02 -6.34643430e-03 9.95797707e-01 -8.86703205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14134618399999 meters Centerline goodness [0,1] 0.817339650661198 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.9907212 -0.10052669 -0.09146523 3.75782693] [ 0.10054645 0.99492262 -0.00440364 -0.02398627] [ 0.09144351 -0.00483373 0.99579853 -0.88535645] [ 0. 0. 0. 1. ]] SLAMing on 148.171346184 meters Centerline goodness [0,1] 0.8201545989646124 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.99071765 -0.10054249 -0.09148628 3.75828898] [ 0.10053523 0.9949224 -0.00469964 -0.02252971] [ 0.09149426 -0.00454158 0.99579525 -0.88571878] [ 0. 0. 0. 1. ]] SLAMing on 148.201346184 meters Centerline goodness [0,1] 0.8178381571175428 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.99072947 -0.10020529 -0.091728 3.76017117] [ 0.10021974 0.99495533 -0.00446029 -0.02176118] [ 0.09171221 -0.00477402 0.99577411 -0.88726629] [ 0. 0. 0. 1. ]] SLAMing on 148.231346184 meters Centerline goodness [0,1] 0.8079766813593061 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.99072231 -0.10012104 -0.09189709 3.76221872] [ 0.10014358 0.99496337 -0.00437759 -0.01937333] [ 0.09187253 -0.00486592 0.99575889 -0.88953901] [ 0. 0. 0. 1. ]] SLAMing on 148.261346184 meters Centerline goodness [0,1] 0.8097268202062543 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.99071393 -0.10015882 -0.09194632 3.76302899] [ 0.10015942 0.99496068 -0.0046196 -0.01757806] [ 0.09194566 -0.00463259 0.99575325 -0.8903382 ] [ 0. 0. 0. 1. ]] SLAMing on 148.291346184 meters Centerline goodness [0,1] 0.7992184149073059 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.02, Z:-0.89 [[ 0.99070615 -0.10027167 -0.09190708 3.76351606] [ 0.10023866 0.99495092 -0.00498691 -0.01533081] [ 0.09194308 -0.00427208 0.9957551 -0.89091406] [ 0. 0. 0. 1. ]] SLAMing on 148.321346184 meters Centerline goodness [0,1] 0.7887909410162689 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.01, Z:-0.89 [[ 9.90682767e-01 -1.00530671e-01 -9.18762204e-02 3.76354587e+00] [ 1.00428821e-01 9.94927671e-01 -5.74298671e-03 -1.24393906e-02] [ 9.19875403e-02 -3.53754253e-03 9.95753874e-01 -8.90715213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.351346184 meters Centerline goodness [0,1] 0.8088274139711356 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.01, Z:-0.89 [[ 9.90693138e-01 -1.00069779e-01 -9.22667112e-02 3.76489012e+00] [ 9.99154147e-02 9.94975974e-01 -6.30248519e-03 -6.87603124e-03] [ 9.24338492e-02 -2.97503789e-03 9.95714383e-01 -8.90891934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.381346184 meters Centerline goodness [0,1] 0.8148326395071829 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.01, Z:-0.89 [[ 9.90709962e-01 -9.98145890e-02 -9.23624375e-02 3.76596050e+00] [ 9.96415212e-02 9.95002203e-01 -6.49493712e-03 -5.57955416e-03] [ 9.25491182e-02 -2.76853486e-03 9.95704271e-01 -8.91556416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.411346184 meters Centerline goodness [0,1] 0.8274866464558972 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.00, Z:-0.89 [[ 9.90726753e-01 -9.95470882e-02 -9.24709533e-02 3.76705330e+00] [ 9.93519386e-02 9.95029645e-01 -6.72297927e-03 -4.34086859e-03] [ 9.26805928e-02 -2.52653304e-03 9.95692686e-01 -8.92173156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.441346184 meters Centerline goodness [0,1] 0.8255895513363164 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.00, Z:-0.89 [[ 9.90739587e-01 -9.91703559e-02 -9.27378670e-02 3.76869345e+00] [ 9.89494104e-02 9.95067922e-01 -6.98896772e-03 -2.00918507e-03] [ 9.29735750e-02 -2.25211027e-03 9.95666030e-01 -8.93038565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.471346184 meters Centerline goodness [0,1] 0.8325909068900402 Centerline is valid? [False, False] Translation: X:3.77, Y:0.00, Z:-0.89 [[ 9.90751372e-01 -9.86055016e-02 -9.32130588e-02 3.77071388e+00] [ 9.83653799e-02 9.95124477e-01 -7.17831945e-03 1.27525708e-03] [ 9.34664181e-02 -2.05700809e-03 9.95620308e-01 -8.93788486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.501346184 meters Centerline goodness [0,1] 0.8345072132899403 Centerline is valid? [False, False] Translation: X:3.77, Y:0.01, Z:-0.89 [[ 0.99109431 -0.09452946 -0.09378828 3.77157433] [ 0.09457429 0.99550986 -0.00397678 0.00630369] [ 0.09374308 -0.00492859 0.99558422 -0.89421215] [ 0. 0. 0. 1. ]] SLAMing on 148.531346184 meters Centerline goodness [0,1] 0.8315789473684211 Centerline is valid? [False, False] Translation: X:3.77, Y:0.01, Z:-0.89 [[ 0.99108841 -0.09434085 -0.09404021 3.77258923] [ 0.0943279 0.99553059 -0.00459287 0.00930173] [ 0.0940532 -0.00431867 0.99555781 -0.89413268] [ 0. 0. 0. 1. ]] SLAMing on 148.561346184 meters Centerline goodness [0,1] 0.8411196675223078 Centerline is valid? [False, False] Translation: X:3.77, Y:0.01, Z:-0.89 [[ 0.99108739 -0.09416132 -0.09423074 3.77379665] [ 0.09412524 0.99554861 -0.0048374 0.01071344] [ 0.09426678 -0.00407521 0.99553863 -0.89468417] [ 0. 0. 0. 1. ]] SLAMing on 148.591346184 meters Centerline goodness [0,1] 0.8369383951343927 Centerline is valid? [False, False] Translation: X:3.78, Y:0.01, Z:-0.90 [[ 0.99111043 -0.09393032 -0.09421899 3.77566673] [ 0.0939024 0.99557013 -0.00473967 0.01167444] [ 0.09424681 -0.00414986 0.99554021 -0.89676367] [ 0. 0. 0. 1. ]] SLAMing on 148.621346184 meters Centerline goodness [0,1] 0.8331612839797473 Centerline is valid? [False, False] Translation: X:3.78, Y:0.01, Z:-0.90 [[ 0.99111296 -0.09390954 -0.09421306 3.77648342] [ 0.09386838 0.99557266 -0.00487833 0.01285115] [ 0.09425407 -0.00400865 0.99554011 -0.897568 ] [ 0. 0. 0. 1. ]] SLAMing on 148.651346184 meters Centerline goodness [0,1] 0.8349040311836976 Centerline is valid? [False, False] Translation: X:3.78, Y:0.02, Z:-0.90 [[ 9.91097452e-01 -9.40882798e-02 -9.41978523e-02 3.77672454e+00] [ 9.39873423e-02 9.95558103e-01 -5.51747039e-03 1.54202916e-02] [ 9.42985644e-02 -3.38505494e-03 9.95538207e-01 -8.97446685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.681346184 meters Centerline goodness [0,1] 0.8334738617200674 Centerline is valid? [False, False] Translation: X:3.78, Y:0.02, Z:-0.90 [[ 9.91069314e-01 -9.41559968e-02 -9.44259712e-02 3.77724989e+00] [ 9.39678228e-02 9.95554359e-01 -6.44724567e-03 1.92142200e-02] [ 9.46132341e-02 -2.48333558e-03 9.95511009e-01 -8.96715281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.711346184 meters Centerline goodness [0,1] 0.8370813099240444 Centerline is valid? [False, False] Translation: X:3.78, Y:0.02, Z:-0.90 [[ 9.92635227e-01 -9.00520036e-02 -8.10305057e-02 3.78095581e+00] [ 9.01415624e-02 9.95925673e-01 -2.55967868e-03 2.27057464e-02] [ 8.09308651e-02 -4.76338916e-03 9.96708335e-01 -9.02062981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74134618399998 meters Centerline goodness [0,1] 0.837919496604075 Centerline is valid? [False, False] Translation: X:3.78, Y:0.02, Z:-0.90 [[ 9.92650568e-01 -8.98863501e-02 -8.10265012e-02 3.78159754e+00] [ 8.99397356e-02 9.95942697e-01 -2.99808432e-03 2.38787300e-02] [ 8.09672389e-02 -4.31145198e-03 9.96707438e-01 -9.02115665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77134618399998 meters Centerline goodness [0,1] 0.8413977153688832 Centerline is valid? [False, False] Translation: X:3.78, Y:0.02, Z:-0.90 [[ 9.92661178e-01 -8.98227427e-02 -8.09670281e-02 3.78224055e+00] [ 8.98567847e-02 9.95949457e-01 -3.23057549e-03 2.44179691e-02] [ 8.09292468e-02 -4.06856994e-03 9.96711545e-01 -9.02621994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80134618399998 meters Centerline goodness [0,1] 0.8408976930792377 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92659801e-01 -8.98716880e-02 -8.09295892e-02 3.78306543e+00] [ 8.98642591e-02 9.95946995e-01 -3.74152290e-03 2.68243156e-02] [ 8.09378381e-02 -3.55861820e-03 9.96712798e-01 -9.03209853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.83134618399998 meters Centerline goodness [0,1] 0.8381746909237109 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92644500e-01 -9.01915990e-02 -8.07612061e-02 3.78284065e+00] [ 9.01287027e-02 9.95920268e-01 -4.43134147e-03 2.92338454e-02] [ 8.08313918e-02 -2.88015599e-03 9.96723628e-01 -9.03021234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86134618399998 meters Centerline goodness [0,1] 0.8405139833711263 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92621510e-01 -9.04519480e-02 -8.07526087e-02 3.78288783e+00] [ 9.03289605e-02 9.95898500e-01 -5.18237272e-03 3.19305773e-02] [ 8.08901576e-02 -2.15016457e-03 9.96720703e-01 -9.02558583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89134618399999 meters Centerline goodness [0,1] 0.840353312302839 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92618138e-01 -9.05381372e-02 -8.06974416e-02 3.78331364e+00] [ 9.03802198e-02 9.95891504e-01 -5.61499902e-03 3.38081375e-02] [ 8.08742681e-02 -1.71990264e-03 9.96722827e-01 -9.02789419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.921346184 meters Centerline goodness [0,1] 0.8446420922673789 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92641886e-01 -9.03786513e-02 -8.05840238e-02 3.78408608e+00] [ 9.02241639e-02 9.95905942e-01 -5.56377846e-03 3.35804625e-02] [ 8.07569549e-02 -1.74778663e-03 9.96732291e-01 -9.03661568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.951346184 meters Centerline goodness [0,1] 0.8446783271497438 Centerline is valid? [False, False] Translation: X:3.78, Y:0.03, Z:-0.90 [[ 9.92658865e-01 -9.02508824e-02 -8.05180485e-02 3.78466150e+00] [ 9.00869079e-02 9.95917743e-01 -5.67434803e-03 3.39989945e-02] [ 8.07014681e-02 -1.62093014e-03 9.96736999e-01 -9.04117715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.981346184 meters Centerline goodness [0,1] 0.8437184407190467 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.90 [[ 9.92663772e-01 -9.01551246e-02 -8.05648099e-02 3.78533418e+00] [ 8.99773196e-02 9.95926680e-01 -5.84210960e-03 3.52292651e-02] [ 8.07633398e-02 -1.44975510e-03 9.96732251e-01 -9.04509503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.011346184 meters Centerline goodness [0,1] 0.8440494903909538 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.90 [[ 9.92664115e-01 -9.01258692e-02 -8.05933139e-02 3.78577920e+00] [ 8.99136594e-02 9.95929854e-01 -6.26578860e-03 3.72730521e-02] [ 8.08299969e-02 -1.02661627e-03 9.96727374e-01 -9.04477167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.041346184 meters Centerline goodness [0,1] 0.846670226561904 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.91 [[ 9.93799762e-01 -8.77157768e-02 -6.83225781e-02 3.79189098e+00] [ 8.75431246e-02 9.96145421e-01 -5.52281545e-03 3.96945453e-02] [ 6.85436614e-02 -4.92599285e-04 9.97647996e-01 -9.09446941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.071346184 meters Centerline goodness [0,1] 0.8454858016044824 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.91 [[ 9.93811698e-01 -8.74991688e-02 -6.84266413e-02 3.79285914e+00] [ 8.73287951e-02 9.96164453e-01 -5.48300379e-03 3.99129465e-02] [ 6.86439460e-02 -5.26542835e-04 9.97641083e-01 -9.09913024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.101346184 meters Centerline goodness [0,1] 0.8493360181479876 Centerline is valid? [False, False] Translation: X:3.79, Y:0.04, Z:-0.91 [[ 9.93836887e-01 -8.71982203e-02 -6.84449570e-02 3.79389346e+00] [ 8.70488476e-02 9.96190641e-01 -5.16758648e-03 3.90485348e-02] [ 6.86348300e-02 -8.22316575e-04 9.97641511e-01 -9.10872103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.131346184 meters Centerline goodness [0,1] 0.8498487813556307 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93859380e-01 -8.68799568e-02 -6.85230302e-02 3.79524301e+00] [ 8.67718196e-02 9.96217783e-01 -4.55862806e-03 3.57942716e-02] [ 6.86599146e-02 -1.41523275e-03 9.97639120e-01 -9.11994294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.161346184 meters Centerline goodness [0,1] 0.8480091591400585 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93861854e-01 -8.69967499e-02 -6.83387223e-02 3.79504767e+00] [ 8.68788906e-02 9.96207792e-01 -4.70048028e-03 3.56261056e-02] [ 6.84884941e-02 -1.26556432e-03 9.97651104e-01 -9.11942882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.191346184 meters Centerline goodness [0,1] 0.8478526358640341 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93861425e-01 -8.68474667e-02 -6.85345581e-02 3.79579299e+00] [ 8.67103237e-02 9.96221125e-01 -4.97902302e-03 3.72497500e-02] [ 6.87079901e-02 -9.94194800e-04 9.97636318e-01 -9.11716821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.221346184 meters Centerline goodness [0,1] 0.8499260468200133 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93866305e-01 -8.65321190e-02 -6.88618862e-02 3.79682055e+00] [ 8.63800601e-02 9.96248747e-01 -5.18841372e-03 3.91030084e-02] [ 6.90525323e-02 -7.91704292e-04 9.97612711e-01 -9.11522892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.251346184 meters Centerline goodness [0,1] 0.8539434504873642 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93926298e-01 -8.54677347e-02 -6.93237430e-02 3.79951001e+00] [ 8.53607522e-02 9.96339905e-01 -4.50954149e-03 3.88643044e-02] [ 6.94554318e-02 -1.43537498e-03 9.97584023e-01 -9.12856969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.281346184 meters Centerline goodness [0,1] 0.8549858925802598 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93968142e-01 -8.49363261e-02 -6.93768868e-02 3.80089989e+00] [ 8.48624656e-02 9.96384579e-01 -4.01658669e-03 3.73113588e-02] [ 6.94672142e-02 -1.89513445e-03 9.97582435e-01 -9.14068385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.311346184 meters Centerline goodness [0,1] 0.8554657722213752 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93997387e-01 -8.45448459e-02 -6.94360341e-02 3.80201963e+00] [ 8.44915540e-02 9.96417291e-01 -3.70934656e-03 3.64179858e-02] [ 6.95008712e-02 -2.17967764e-03 9.97579510e-01 -9.14911448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.341346184 meters Centerline goodness [0,1] 0.8554657722213752 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93997387e-01 -8.45448459e-02 -6.94360341e-02 3.80201963e+00] [ 8.44915540e-02 9.96417291e-01 -3.70934656e-03 3.64179858e-02] [ 6.95008712e-02 -2.17967764e-03 9.97579510e-01 -9.14911448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.371346184 meters Centerline goodness [0,1] 0.8568380410485674 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93993906e-01 -8.43441557e-02 -6.97293194e-02 3.80253688e+00] [ 8.42507800e-02 9.96435372e-01 -4.28425745e-03 3.77231616e-02] [ 6.98421124e-02 -1.61622375e-03 9.97556749e-01 -9.13501095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.401346184 meters Centerline goodness [0,1] 0.855271508720266 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93992558e-01 -8.42704397e-02 -6.98375748e-02 3.80295741e+00] [ 8.41588767e-02 9.96441990e-01 -4.54350605e-03 3.81902481e-02] [ 6.99719753e-02 -1.36124065e-03 9.97548029e-01 -9.13054555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.431346184 meters Centerline goodness [0,1] 0.8557059764801503 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.93997382e-01 -8.41335473e-02 -6.99339092e-02 3.80352583e+00] [ 8.40174627e-02 9.96453642e-01 -4.60494322e-03 3.81662768e-02] [ 7.00733287e-02 -1.29836810e-03 9.97540998e-01 -9.12902139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.461346184 meters Centerline goodness [0,1] 0.8513530682251302 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.94008064e-01 -8.41232711e-02 -6.97943033e-02 3.80358669e+00] [ 8.40091757e-02 9.96454485e-01 -4.57362067e-03 3.77890188e-02] [ 6.99315945e-02 -1.31714606e-03 9.97550920e-01 -9.13063331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49134618399998 meters Centerline goodness [0,1] 0.8500887648998224 Centerline is valid? [False, False] Translation: X:3.80, Y:0.04, Z:-0.91 [[ 9.94018896e-01 -8.41245520e-02 -6.96383050e-02 3.80398428e+00] [ 8.40388990e-02 9.96453774e-01 -4.16399820e-03 3.53042571e-02] [ 6.97416463e-02 -1.71323358e-03 9.97563616e-01 -9.13784455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52134618399998 meters Centerline goodness [0,1] 0.8517965209024384 Centerline is valid? [False, False] Translation: X:3.80, Y:0.03, Z:-0.92 [[ 9.94049279e-01 -8.38115646e-02 -6.95819824e-02 3.80499284e+00] [ 8.37688390e-02 9.96478937e-01 -3.53690298e-03 3.30431612e-02] [ 6.96334132e-02 -2.31294602e-03 9.97569966e-01 -9.15045992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55134618399998 meters Centerline goodness [0,1] 0.8529997730310444 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.94072705e-01 -8.35598898e-02 -6.95499979e-02 3.80607106e+00] [ 8.35593607e-02 9.96498517e-01 -2.92202143e-03 3.12600834e-02] [ 6.95506336e-02 -2.90685161e-03 9.97574188e-01 -9.16453007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58134618399998 meters Centerline goodness [0,1] 0.8507688429543736 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.94074568e-01 -8.35826567e-02 -6.94959950e-02 3.80638619e+00] [ 8.35923093e-02 9.96496176e-01 -2.77438983e-03 3.04112330e-02] [ 6.94843841e-02 -3.05138034e-03 9.97578373e-01 -9.16880126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61134618399998 meters Centerline goodness [0,1] 0.8482014206628075 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.94063611e-01 -8.40259413e-02 -6.91171300e-02 3.80581731e+00] [ 8.40420880e-02 9.96458603e-01 -2.67937328e-03 2.97192962e-02] [ 6.90974957e-02 -3.14528045e-03 9.97604954e-01 -9.17147470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64134618399999 meters Centerline goodness [0,1] 0.8481983004261543 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.94063356e-01 -8.41752331e-02 -6.89389178e-02 3.80585244e+00] [ 8.42033674e-02 9.96445447e-01 -2.50287873e-03 2.87106134e-02] [ 6.89045512e-02 -3.31686899e-03 9.97617743e-01 -9.17564085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.671346184 meters Centerline goodness [0,1] 0.8447395558238386 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.94059814e-01 -8.43738491e-02 -6.87469283e-02 3.80573035e+00] [ 8.44138932e-02 9.96428059e-01 -2.32754814e-03 2.67985431e-02] [ 6.86977525e-02 -3.48947379e-03 9.97631416e-01 -9.17870569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.701346184 meters Centerline goodness [0,1] 0.8463626765874013 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.94064129e-01 -8.44629103e-02 -6.85749473e-02 3.80578062e+00] [ 8.45223048e-02 9.96419499e-01 -2.04009494e-03 2.45614112e-02] [ 6.85017270e-02 -3.76812740e-03 9.97643882e-01 -9.18318971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.731346184 meters Centerline goodness [0,1] 0.8444166249374061 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.93733571e-01 -8.82916314e-02 -6.85432515e-02 3.80687074e+00] [ 8.80456119e-02 9.96094526e-01 -6.60795101e-03 2.56742942e-02] [ 6.88589844e-02 5.31610237e-04 9.97626262e-01 -9.16911435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.761346184 meters Centerline goodness [0,1] 0.8424467099165894 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.93742076e-01 -8.82923887e-02 -6.84188600e-02 3.80688982e+00] [ 8.80493244e-02 9.96094475e-01 -6.56605702e-03 2.55615246e-02] [ 6.87313813e-02 5.00732726e-04 9.97635077e-01 -9.17065428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.791346184 meters Centerline goodness [0,1] 0.8434308031243741 Centerline is valid? [False, False] Translation: X:3.81, Y:0.03, Z:-0.92 [[ 9.93751453e-01 -8.79836136e-02 -6.86799313e-02 3.80813597e+00] [ 8.77596361e-02 9.96121900e-01 -6.27750201e-03 2.52044757e-02] [ 6.89659009e-02 2.10950969e-04 9.97618995e-01 -9.17717701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.821346184 meters Centerline goodness [0,1] 0.8421236814477828 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93777847e-01 -8.75417731e-02 -6.88623866e-02 3.80957757e+00] [ 8.73542099e-02 9.96160800e-01 -5.73613694e-03 2.41661275e-02] [ 6.91001617e-02 -3.14973550e-04 9.97609677e-01 -9.18867641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.851346184 meters Centerline goodness [0,1] 0.8432547110944715 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93813564e-01 -8.71197777e-02 -6.88821089e-02 3.81095779e+00] [ 8.69864318e-02 9.96197255e-01 -4.93869345e-03 2.21046511e-02] [ 6.90504257e-02 -1.08366833e-03 9.97612582e-01 -9.20438399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.881346184 meters Centerline goodness [0,1] 0.8436204744069913 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93825805e-01 -8.68850477e-02 -6.90018637e-02 3.81196128e+00] [ 8.67705750e-02 9.96217421e-01 -4.66018762e-03 2.13451492e-02] [ 6.91457594e-02 -1.35591668e-03 9.97605646e-01 -9.21186799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.911346184 meters Centerline goodness [0,1] 0.8433728931883914 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93829559e-01 -8.67302711e-02 -6.91423769e-02 3.81279935e+00] [ 8.66247663e-02 9.96230718e-01 -4.52843684e-03 2.09988294e-02] [ 6.92745123e-02 -1.48894785e-03 9.97596524e-01 -9.21606916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.941346184 meters Centerline goodness [0,1] 0.8436247791134672 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93874290e-01 -8.62843421e-02 -6.90572781e-02 3.81357636e+00] [ 8.62001103e-02 9.96268972e-01 -4.20432694e-03 1.98791454e-02] [ 6.91623910e-02 -1.77417253e-03 9.97603837e-01 -9.22056059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.971346184 meters Centerline goodness [0,1] 0.8427332156794511 Centerline is valid? [False, False] Translation: X:3.81, Y:0.02, Z:-0.92 [[ 9.93897053e-01 -8.58269535e-02 -6.92992230e-02 3.81489141e+00] [ 8.57654702e-02 9.96307847e-01 -3.86756378e-03 1.88658659e-02] [ 6.93753009e-02 -2.09952020e-03 9.97588422e-01 -9.22598777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.001346184 meters Centerline goodness [0,1] 0.8439943406061509 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.93913099e-01 -8.55438753e-02 -6.94190000e-02 3.81561326e+00] [ 8.54902713e-02 9.96331955e-01 -3.74819535e-03 1.83475260e-02] [ 6.94850032e-02 -2.20926869e-03 9.97580550e-01 -9.22778245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.031346184 meters Centerline goodness [0,1] 0.848490860841745 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.93933865e-01 -8.50689435e-02 -6.97047057e-02 3.81676641e+00] [ 8.50170973e-02 9.96372565e-01 -3.71552097e-03 1.90511563e-02] [ 6.97679318e-02 -2.23310963e-03 9.97560749e-01 -9.22810228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.061346184 meters Centerline goodness [0,1] 0.8484457565307996 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.93991028e-01 -8.37813248e-02 -7.04451955e-02 3.81955363e+00] [ 8.37553332e-02 9.96480792e-01 -3.32785181e-03 1.99160657e-02] [ 7.04760960e-02 -2.59230598e-03 9.97510100e-01 -9.22970261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.091346184 meters Centerline goodness [0,1] 0.8487075708290914 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.94007511e-01 -8.33412596e-02 -7.07340203e-02 3.82086115e+00] [ 8.33353856e-02 9.96516922e-01 -3.03922034e-03 1.93331360e-02] [ 7.07409406e-02 -2.87363901e-03 9.97490582e-01 -9.23493547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.121346184 meters Centerline goodness [0,1] 0.8516876748966098 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.94022690e-01 -8.30637307e-02 -7.08470839e-02 3.82169380e+00] [ 8.30763822e-02 9.96539324e-01 -2.77308757e-03 1.84369728e-02] [ 7.08322481e-02 -3.12920746e-03 9.97483334e-01 -9.23952198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.151346184 meters Centerline goodness [0,1] 0.8529672931774456 Centerline is valid? [False, False] Translation: X:3.82, Y:0.02, Z:-0.92 [[ 9.94032929e-01 -8.28686897e-02 -7.09317788e-02 3.82233173e+00] [ 8.29111824e-02 9.96554170e-01 -2.35004363e-03 1.54688722e-02] [ 7.08821049e-02 -3.54501690e-03 9.97478401e-01 -9.24157775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.181346184 meters Centerline goodness [0,1] 0.8546081813701331 Centerline is valid? [False, False] Translation: X:3.82, Y:0.01, Z:-0.92 [[ 9.94045634e-01 -8.26505565e-02 -7.10081889e-02 3.82310444e+00] [ 8.27306715e-02 9.96570286e-01 -1.81705610e-03 1.33182943e-02] [ 7.09148318e-02 -4.06831847e-03 9.97474078e-01 -9.24835811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.211346184 meters Centerline goodness [0,1] 0.8526920527362452 Centerline is valid? [False, False] Translation: X:3.82, Y:0.01, Z:-0.93 [[ 9.94044697e-01 -8.25918382e-02 -7.10895839e-02 3.82360530e+00] [ 8.26913213e-02 9.96574007e-01 -1.54748003e-03 1.14443187e-02] [ 7.09738406e-02 -4.34022731e-03 9.97468735e-01 -9.25059983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24134618399998 meters Centerline goodness [0,1] 0.8555340186961748 Centerline is valid? [False, False] Translation: X:3.82, Y:0.01, Z:-0.93 [[ 9.94050585e-01 -8.23853868e-02 -7.12466345e-02 3.82457291e+00] [ 8.25147769e-02 9.96589200e-01 -1.13022321e-03 1.01192843e-02] [ 7.10967404e-02 -4.75540111e-03 9.97458089e-01 -9.25785667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27134618399998 meters Centerline goodness [0,1] 0.8581586367537084 Centerline is valid? [False, False] Translation: X:3.82, Y:0.01, Z:-0.93 [[ 9.94063528e-01 -8.21993032e-02 -7.12809754e-02 3.82498155e+00] [ 8.23589708e-02 9.96602483e-01 -7.01176854e-04 8.31737395e-03] [ 7.10964333e-02 -5.17361343e-03 9.97456030e-01 -9.25972448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30134618399998 meters Centerline goodness [0,1] 0.8586757712474089 Centerline is valid? [False, False] Translation: X:3.83, Y:0.01, Z:-0.93 [[ 9.94064471e-01 -8.19021457e-02 -7.16091262e-02 3.82619464e+00] [ 8.20849851e-02 9.96625257e-01 -3.90728621e-04 7.37157406e-03] [ 7.13994653e-02 -5.48962462e-03 9.97432695e-01 -9.26355387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33134618399998 meters Centerline goodness [0,1] 0.8567903044519376 Centerline is valid? [False, False] Translation: X:3.83, Y:0.01, Z:-0.93 [[ 9.94065831e-01 -8.17914179e-02 -7.17167188e-02 3.82671094e+00] [ 8.19816610e-02 9.96633795e-01 -2.91748901e-04 7.01999404e-03] [ 7.14991682e-02 -5.58943811e-03 9.97424998e-01 -9.26504494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36134618399998 meters Centerline goodness [0,1] 0.8611693568049934 Centerline is valid? [False, False] Translation: X:3.83, Y:0.01, Z:-0.93 [[ 9.94056759e-01 -8.17226690e-02 -7.19205483e-02 3.82735480e+00] [ 8.19108847e-02 9.96639602e-01 -3.33419818e-04 6.91114241e-03] [ 7.17061145e-02 -5.55963751e-03 9.97410309e-01 -9.26478139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39134618399999 meters Centerline goodness [0,1] 0.8609611362420351 Centerline is valid? [False, False] Translation: X:3.83, Y:0.01, Z:-0.93 [[ 9.94067931e-01 -8.13812204e-02 -7.21529306e-02 3.82856576e+00] [ 8.16006173e-02 9.96665105e-01 9.33333126e-05 5.65140258e-03] [ 7.19047126e-02 -5.98050333e-03 9.97393576e-01 -9.27006489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.421346184 meters Centerline goodness [0,1] 0.8611764705882353 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.94059086e-01 -8.13896555e-02 -7.22651831e-02 3.82928026e+00] [ 8.16234969e-02 9.96663195e-01 2.83742483e-04 4.58007975e-03] [ 7.20009546e-02 -6.18059375e-03 9.97385413e-01 -9.27500568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.451346184 meters Centerline goodness [0,1] 0.8578487175139875 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.94059136e-01 -8.13504096e-02 -7.23086814e-02 3.82995017e+00] [ 8.15995566e-02 9.96665074e-01 4.93339098e-04 3.18003176e-03] [ 7.20274040e-02 -6.39076458e-03 9.97382179e-01 -9.28086957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.481346184 meters Centerline goodness [0,1] 0.8562448624341182 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.93752997e-01 -8.50860972e-02 -7.22172969e-02 3.83120190e+00] [ 8.50643680e-02 9.96369718e-01 -3.38201642e-03 3.07288217e-03] [ 7.22428903e-02 -2.78222976e-03 9.97383188e-01 -9.28135912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.511346184 meters Centerline goodness [0,1] 0.8558955133631636 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.93734468e-01 -8.53246361e-02 -7.21908146e-02 3.83120298e+00] [ 8.53041644e-02 9.96349250e-01 -3.37229504e-03 2.34383955e-03] [ 7.22150038e-02 -2.80701130e-03 9.97385138e-01 -9.28191559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.541346184 meters Centerline goodness [0,1] 0.8556576402321083 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.93716743e-01 -8.53154863e-02 -7.24451704e-02 3.83203234e+00] [ 8.53101803e-02 9.96349389e-01 -3.17313129e-03 1.99774643e-03] [ 7.24514185e-02 -3.02711687e-03 9.97367349e-01 -9.28572053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.571346184 meters Centerline goodness [0,1] 0.8540302905867292 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.93702596e-01 -8.55517551e-02 -7.23605354e-02 3.83188889e+00] [ 8.55475045e-02 9.96329070e-01 -3.16364667e-03 1.28958411e-03] [ 7.23655604e-02 -3.04653932e-03 9.97373523e-01 -9.28483024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.601346184 meters Centerline goodness [0,1] 0.8516429208553313 Centerline is valid? [False, False] Translation: X:3.83, Y:0.00, Z:-0.93 [[ 9.93372755e-01 -8.93798887e-02 -7.22620575e-02 3.83294541e+00] [ 8.91135623e-02 9.95997519e-01 -6.90767051e-03 3.88987005e-04] [ 7.25902368e-02 4.22362321e-04 9.97361759e-01 -9.28420213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.631346184 meters Centerline goodness [0,1] 0.8518999831540442 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.00, Z:-0.93 [[ 9.93384439e-01 -8.92705450e-02 -7.22365923e-02 3.83368132e+00] [ 8.90459146e-02 9.96007404e-01 -6.33055642e-03 -1.93843091e-03] [ 7.25133130e-02 -1.43697184e-04 9.97367434e-01 -9.29472743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.661346184 meters Centerline goodness [0,1] 0.851717598482848 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.00, Z:-0.93 [[ 9.93391803e-01 -8.90998153e-02 -7.23460274e-02 3.83475612e+00] [ 8.89107459e-02 9.96022500e-01 -5.83604234e-03 -3.37351596e-03] [ 7.25782614e-02 -6.34862640e-04 9.97362518e-01 -9.30556429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.691346184 meters Centerline goodness [0,1] 0.8528245668837254 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.00, Z:-0.93 [[ 9.93384074e-01 -8.89961975e-02 -7.25793243e-02 3.83560582e+00] [ 8.88239987e-02 9.96031576e-01 -5.60320983e-03 -3.63030407e-03] [ 7.27899632e-02 -8.80646401e-04 9.97346903e-01 -9.30989786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.721346184 meters Centerline goodness [0,1] 0.8506776437736212 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:-0.93 [[ 9.93677565e-01 -8.93791408e-02 -6.79431141e-02 3.85065264e+00] [ 8.98329203e-02 9.95950172e-01 3.64697337e-03 -2.88329388e-03] [ 6.73419928e-02 -9.72744396e-03 9.97682531e-01 -9.34322184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.751346184 meters Centerline goodness [0,1] 0.8508046032473642 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:-0.93 [[ 9.93660307e-01 -8.95828794e-02 -6.79271760e-02 3.85047756e+00] [ 9.00072396e-02 9.95935949e-01 3.20654219e-03 -2.18750751e-03] [ 6.73638652e-02 -9.30015130e-03 9.97685129e-01 -9.33797524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.781346184 meters Centerline goodness [0,1] 0.8514567090685269 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:-0.93 [[ 9.93659399e-01 -8.94910395e-02 -6.80613823e-02 3.85119531e+00] [ 8.99218459e-02 9.95943403e-01 3.28640199e-03 -3.26261529e-03] [ 6.74911811e-02 -9.38576935e-03 9.97675723e-01 -9.34071698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.811346184 meters Centerline goodness [0,1] 0.8513976382667848 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.00, Z:-0.93 [[ 9.93359772e-01 -9.22438671e-02 -6.87563256e-02 3.85519049e+00] [ 9.24479981e-02 9.95717491e-01 -2.13937815e-04 -4.43541014e-03] [ 6.84816105e-02 -6.14386744e-03 9.97633461e-01 -9.34713014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.841346184 meters Centerline goodness [0,1] 0.8499916329994501 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.93 [[ 9.93355397e-01 -9.22835695e-02 -6.87662517e-02 3.85548502e+00] [ 9.24852274e-02 9.95714025e-01 -2.52224375e-04 -5.22741060e-03] [ 6.84947974e-02 -6.10931399e-03 9.97632768e-01 -9.34712618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.871346184 meters Centerline goodness [0,1] 0.852404087786899 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.93 [[ 9.93335064e-01 -9.25240305e-02 -6.87368520e-02 3.85542278e+00] [ 9.27076517e-02 9.95693236e-01 -5.20685021e-04 -5.19729999e-03] [ 6.84889945e-02 -5.85521744e-03 9.97634690e-01 -9.34408310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.901346184 meters Centerline goodness [0,1] 0.8507851526088099 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.93 [[ 9.93318444e-01 -9.26319255e-02 -6.88316406e-02 3.85568368e+00] [ 9.28027116e-02 9.95684257e-01 -7.19215897e-04 -5.06115922e-03] [ 6.86012033e-02 -5.67335247e-03 9.97628031e-01 -9.34192133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.931346184 meters Centerline goodness [0,1] 0.8529060889482726 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.93 [[ 9.93320487e-01 -9.25758029e-02 -6.88776528e-02 3.85610010e+00] [ 9.27506679e-02 9.95689146e-01 -6.61804775e-04 -5.85534415e-03] [ 6.86419984e-02 -5.73106406e-03 9.97624895e-01 -9.33962898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.961346184 meters Centerline goodness [0,1] 0.8522494644132349 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.93 [[ 9.93341952e-01 -9.22229634e-02 -6.90412313e-02 3.85728483e+00] [ 9.24262521e-02 9.95719501e-01 -2.51000348e-04 -6.88979210e-03] [ 6.87688484e-02 -6.13189308e-03 9.97613776e-01 -9.34729117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99134618399998 meters Centerline goodness [0,1] 0.8553019495958155 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93355531e-01 -9.19319256e-02 -6.92337391e-02 3.85838240e+00] [ 9.21613712e-02 9.95744077e-01 1.20424262e-04 -8.15646240e-03] [ 6.89280148e-02 -6.50030043e-03 9.97600459e-01 -9.35405248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02134618399998 meters Centerline goodness [0,1] 0.8561635712422021 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93398586e-01 -9.12377725e-02 -6.95335804e-02 3.86009472e+00] [ 9.15185498e-02 9.95803003e-01 8.56421880e-04 -1.07078146e-02] [ 6.91636102e-02 -7.21438072e-03 9.97579244e-01 -9.36232674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05134618399998 meters Centerline goodness [0,1] 0.8617490746891905 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93404465e-01 -9.09835060e-02 -6.97823035e-02 3.86095777e+00] [ 9.12667754e-02 9.95826094e-01 8.75191110e-04 -1.06162167e-02] [ 6.94114108e-02 -7.23822458e-03 9.97561860e-01 -9.36271589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08134618399998 meters Centerline goodness [0,1] 0.8625937936421522 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93407671e-01 -9.08322969e-02 -6.99334831e-02 3.86144937e+00] [ 9.10994544e-02 9.95841598e-01 6.33704975e-04 -9.99653543e-03] [ 6.95851107e-02 -7.00042954e-03 9.97551455e-01 -9.35854501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11134618399998 meters Centerline goodness [0,1] 0.8615107913669064 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93414385e-01 -9.06171393e-02 -7.01169969e-02 3.86216059e+00] [ 9.08815081e-02 9.95861542e-01 5.82930142e-04 -9.85326063e-03] [ 6.97739972e-02 -6.95142961e-03 9.97538604e-01 -9.35775904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14134618399999 meters Centerline goodness [0,1] 0.8640329101354706 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93416564e-01 -9.05849164e-02 -7.01277618e-02 3.86249197e+00] [ 9.08662502e-02 9.95862763e-01 8.25535577e-04 -1.23220617e-02] [ 6.97628456e-02 -7.19234747e-03 9.97537676e-01 -9.35742082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.171346184 meters Centerline goodness [0,1] 0.8638559611623029 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.01, Z:-0.94 [[ 9.93420618e-01 -9.05562295e-02 -7.01073882e-02 3.86322581e+00] [ 9.08642485e-02 9.95862552e-01 1.21042846e-03 -1.44396190e-02] [ 6.97077108e-02 -7.57271974e-03 9.97538716e-01 -9.36607370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.201346184 meters Centerline goodness [0,1] 0.864655274012964 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93425690e-01 -9.05765001e-02 -7.00092548e-02 3.86361206e+00] [ 9.08996820e-02 9.95859016e-01 1.43773902e-03 -1.62477384e-02] [ 6.95891223e-02 -7.79210588e-03 9.97545306e-01 -9.37148274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.231346184 meters Centerline goodness [0,1] 0.8653103513233493 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93411219e-01 -9.07921603e-02 -6.99352032e-02 3.86369832e+00] [ 9.11145212e-02 9.95839399e-01 1.42671005e-03 -1.72160052e-02] [ 6.95146966e-02 -7.78942232e-03 9.97550516e-01 -9.37232821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.261346184 meters Centerline goodness [0,1] 0.8653103513233493 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93411219e-01 -9.07921603e-02 -6.99352032e-02 3.86369832e+00] [ 9.11145212e-02 9.95839399e-01 1.42671005e-03 -1.72160052e-02] [ 6.95146966e-02 -7.78942232e-03 9.97550516e-01 -9.37232821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.291346184 meters Centerline goodness [0,1] 0.8640009408444078 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93413501e-01 -9.07358372e-02 -6.99758857e-02 3.86423449e+00] [ 9.10624724e-02 9.95844074e-01 1.48542159e-03 -1.72256936e-02] [ 6.95502901e-02 -7.84781502e-03 9.97547577e-01 -9.37612535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.321346184 meters Centerline goodness [0,1] 0.8650538517493019 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93408158e-01 -9.07367246e-02 -7.00505373e-02 3.86471330e+00] [ 9.10674573e-02 9.95843542e-01 1.53566003e-03 -1.76588589e-02] [ 6.96200345e-02 -7.90486151e-03 9.97542262e-01 -9.37830280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.351346184 meters Centerline goodness [0,1] 0.8644358745238208 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.02, Z:-0.94 [[ 9.93401071e-01 -9.07991179e-02 -7.00702023e-02 3.86491828e+00] [ 9.11309541e-02 9.95837716e-01 1.54703700e-03 -1.84890731e-02] [ 6.96380806e-02 -7.92239260e-03 9.97540863e-01 -9.37789530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.381346184 meters Centerline goodness [0,1] 0.8658162668227033 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93096901e-01 -9.39839395e-02 -7.01823684e-02 3.86716519e+00] [ 9.40889655e-02 9.95562139e-01 -1.81515314e-03 -1.85761804e-02] [ 7.00415040e-02 -4.80076348e-03 9.97532526e-01 -9.38522862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.411346184 meters Centerline goodness [0,1] 0.8641262419637639 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93108276e-01 -9.38897234e-02 -7.01474981e-02 3.86769120e+00] [ 9.40195028e-02 9.95569290e-01 -1.45662989e-03 -2.03016232e-02] [ 6.99734574e-02 -5.14864170e-03 9.97535567e-01 -9.39120497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.441346184 meters Centerline goodness [0,1] 0.8624982482365582 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93120862e-01 -9.37681258e-02 -7.01319607e-02 3.86824327e+00] [ 9.39201107e-02 9.95579091e-01 -1.13449151e-03 -2.17517943e-02] [ 6.99282928e-02 -5.46011432e-03 9.97537078e-01 -9.39673092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.471346184 meters Centerline goodness [0,1] 0.8643594102988099 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93126086e-01 -9.35631402e-02 -7.03314671e-02 3.86926376e+00] [ 9.37292341e-02 9.95597280e-01 -9.42115734e-04 -2.22649127e-02] [ 7.01099646e-02 -5.65647483e-03 9.97523231e-01 -9.40153461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.501346184 meters Centerline goodness [0,1] 0.8670704047513269 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93124427e-01 -9.35909694e-02 -7.03178724e-02 3.86893100e+00] [ 9.37395131e-02 9.95596044e-01 -1.19171317e-03 -2.16130109e-02] [ 7.01197292e-02 -5.40804367e-03 9.97523923e-01 -9.39369824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.531346184 meters Centerline goodness [0,1] 0.8664380365808138 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.02, Z:-0.94 [[ 9.93128665e-01 -9.34728184e-02 -7.04150985e-02 3.86943969e+00] [ 9.36336189e-02 9.95606199e-01 -1.02089518e-03 -2.27567955e-02] [ 7.02011345e-02 -5.57934023e-03 9.97517254e-01 -9.39461879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.561346184 meters Centerline goodness [0,1] 0.8689149901151296 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93152812e-01 -9.31348216e-02 -7.05223190e-02 3.87066673e+00] [ 9.33470891e-02 9.95633587e-01 -2.86895218e-04 -2.70727840e-02] [ 7.02411093e-02 -6.29812240e-03 9.97510160e-01 -9.40356909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.591346184 meters Centerline goodness [0,1] 0.8681850830649459 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93172182e-01 -9.28638931e-02 -7.06067601e-02 3.87185533e+00] [ 9.31158324e-02 9.95655244e-01 2.78051545e-04 -2.88026326e-02] [ 7.02741700e-02 -6.85076030e-03 9.97504190e-01 -9.41493147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.621346184 meters Centerline goodness [0,1] 0.8688812806514297 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93178868e-01 -9.25861767e-02 -7.08769078e-02 3.87314558e+00] [ 9.28640756e-02 9.95678597e-01 6.28737319e-04 -2.94655608e-02] [ 7.05124077e-02 -7.20636714e-03 9.97484871e-01 -9.42195109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.651346184 meters Centerline goodness [0,1] 0.871475242707199 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93181179e-01 -9.23968928e-02 -7.10912133e-02 3.87394215e+00] [ 9.26827145e-02 9.95695430e-01 7.25318543e-04 -2.90325514e-02] [ 7.07181790e-02 -7.30929935e-03 9.97469555e-01 -9.42434676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.681346184 meters Centerline goodness [0,1] 0.8736527362492177 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93183768e-01 -9.21986026e-02 -7.13121355e-02 3.87466796e+00] [ 9.24843891e-02 9.95713882e-01 7.09073514e-04 -2.82967185e-02] [ 7.09411077e-02 -7.29949959e-03 9.97453797e-01 -9.42483873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.711346184 meters Centerline goodness [0,1] 0.8745433526011561 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93209849e-01 -9.19271708e-02 -7.12993011e-02 3.87489775e+00] [ 9.22306560e-02 9.95737198e-01 9.69048212e-04 -2.99770035e-02] [ 7.09062844e-02 -7.53844954e-03 9.97454496e-01 -9.42296451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74134618399998 meters Centerline goodness [0,1] 0.8765420690292474 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.03, Z:-0.94 [[ 9.93204350e-01 -9.20297488e-02 -7.12435567e-02 3.87492454e+00] [ 9.23348145e-02 9.95727520e-01 9.93575786e-04 -3.17642695e-02] [ 7.08477315e-02 -7.56508438e-03 9.97458454e-01 -9.42176018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77134618399998 meters Centerline goodness [0,1] 0.8796183469364295 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.03, Z:-0.94 [[ 9.93220463e-01 -9.17828030e-02 -7.13374334e-02 3.87570249e+00] [ 9.21154273e-02 9.95747380e-01 1.37994540e-03 -3.37279623e-02] [ 7.09074071e-02 -7.94186817e-03 9.97451285e-01 -9.42595462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80134618399998 meters Centerline goodness [0,1] 0.8791355022254852 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.03, Z:-0.94 [[ 9.93232987e-01 -9.16231444e-02 -7.13682938e-02 3.87615081e+00] [ 9.19682727e-02 9.95760719e-01 1.55803071e-03 -3.49019941e-02] [ 7.09229918e-02 -8.11110619e-03 9.97448815e-01 -9.42713178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83134618399998 meters Centerline goodness [0,1] 0.8853937224669604 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.93269766e-01 -9.11180498e-02 -7.15029638e-02 3.87656141e+00] [ 9.14730301e-02 9.95806105e-01 1.69901934e-03 -3.54649635e-02] [ 7.10482765e-02 -8.22817730e-03 9.97438940e-01 -9.42173781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86134618399998 meters Centerline goodness [0,1] 0.8850076783790598 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.03, Z:-0.94 [[ 9.93278272e-01 -9.08518350e-02 -7.17232044e-02 3.87720684e+00] [ 9.11998227e-02 9.95831351e-01 1.58521458e-03 -3.45787495e-02] [ 7.12801959e-02 -8.11570272e-03 9.97423315e-01 -9.41957916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89134618399999 meters Centerline goodness [0,1] 0.8896821583030137 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.93302716e-01 -9.04174718e-02 -7.19332729e-02 3.87810712e+00] [ 9.07935700e-02 9.95867787e-01 1.96921504e-03 -3.56910239e-02] [ 7.14579779e-02 -8.48710530e-03 9.97407503e-01 -9.41980807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.921346184 meters Centerline goodness [0,1] 0.8880065905398293 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.93318751e-01 -9.02336563e-02 -7.19426570e-02 3.87886126e+00] [ 9.06480619e-02 9.95879828e-01 2.50952084e-03 -3.83906940e-02] [ 7.14197977e-02 -9.01421654e-03 9.97405613e-01 -9.42690143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.951346184 meters Centerline goodness [0,1] 0.886512370311253 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.93319176e-01 -9.02031234e-02 -7.19750782e-02 3.87942608e+00] [ 9.06522565e-02 9.95878115e-01 2.99142685e-03 -4.15107009e-02] [ 7.14085692e-02 -9.49614491e-03 9.97401945e-01 -9.43134201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.981346184 meters Centerline goodness [0,1] 0.8858181818181818 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.93008646e-01 -9.33601265e-02 -7.22337541e-02 3.88187537e+00] [ 9.35705517e-02 9.95612539e-01 -4.72712392e-04 -4.09828699e-02] [ 7.19609638e-02 -6.28954472e-03 9.97387618e-01 -9.43812134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.011346184 meters Centerline goodness [0,1] 0.8887271403875898 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.92969557e-01 -9.39463331e-02 -7.20107324e-02 3.88081382e+00] [ 9.41476927e-02 9.95558060e-01 -6.00416613e-04 -4.22435090e-02] [ 7.17472720e-02 -6.18344889e-03 9.97403677e-01 -9.42976155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.041346184 meters Centerline goodness [0,1] 0.8853582980274247 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.92967614e-01 -9.39996084e-02 -7.19679899e-02 3.88096031e+00] [ 9.42088184e-02 9.95552339e-01 -4.89444220e-04 -4.30032225e-02] [ 7.16939082e-02 -6.29401703e-03 9.97406822e-01 -9.43084429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.071346184 meters Centerline goodness [0,1] 0.8852559726962457 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.04, Z:-0.94 [[ 9.92982135e-01 -9.38364175e-02 -7.19805913e-02 3.88161473e+00] [ 9.40727784e-02 9.95565317e-01 -1.06896040e-04 -4.47839879e-02] [ 7.16714110e-02 -6.66526836e-03 9.97406027e-01 -9.43595885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.101346184 meters Centerline goodness [0,1] 0.8844407102956537 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.05, Z:-0.94 [[ 9.92996399e-01 -9.37455338e-02 -7.19022057e-02 3.88225428e+00] [ 9.40145979e-02 9.95570754e-01 3.59451419e-04 -4.72920155e-02] [ 7.15500361e-02 -7.11679091e-03 9.97411622e-01 -9.44392052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.131346184 meters Centerline goodness [0,1] 0.8854218558942077 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.05, Z:-0.94 [[ 9.92962802e-01 -9.42331073e-02 -7.17286252e-02 3.88218438e+00] [ 9.45154148e-02 9.95523249e-01 5.44300121e-04 -5.07334240e-02] [ 7.13562229e-02 -7.31993053e-03 9.97424036e-01 -9.44631314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.161346184 meters Centerline goodness [0,1] 0.8854954914132946 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.05, Z:-0.95 [[ 9.92975053e-01 -9.39861607e-02 -7.18828582e-02 3.88317305e+00] [ 9.43035675e-02 9.95542959e-01 1.02708019e-03 -5.18425970e-02] [ 7.14659420e-02 -7.79867498e-03 9.97412552e-01 -9.45341425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.191346184 meters Centerline goodness [0,1] 0.8864404089868281 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.05, Z:-0.95 [[ 9.92970934e-01 -9.39533141e-02 -7.19826267e-02 3.88366153e+00] [ 9.42840833e-02 9.95544606e-01 1.20361376e-03 -5.24820603e-02] [ 7.15488322e-02 -7.98196945e-03 9.97405160e-01 -9.45595885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.221346184 meters Centerline goodness [0,1] 0.8872762566869061 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.93007514e-01 -9.32347285e-02 -7.24110626e-02 3.88562747e+00] [ 9.36322462e-02 9.95604621e-01 2.10737943e-03 -5.50555413e-02] [ 7.18963076e-02 -8.87265406e-03 9.97372647e-01 -9.46504625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.251346184 meters Centerline goodness [0,1] 0.8900574259655444 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.93029037e-01 -9.28491873e-02 -7.26110144e-02 3.88669697e+00] [ 9.32767209e-02 9.95637054e-01 2.51203092e-03 -5.67157317e-02] [ 7.20609764e-02 -9.26743697e-03 9.97357173e-01 -9.46954129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.281346184 meters Centerline goodness [0,1] 0.8908183542588746 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.93052979e-01 -9.25110809e-02 -7.27150658e-02 3.88742965e+00] [ 9.29665290e-02 9.95665020e-01 2.89680500e-03 -5.83275140e-02] [ 7.21318609e-02 -9.63674811e-03 9.97348549e-01 -9.47312694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.311346184 meters Centerline goodness [0,1] 0.8907625291898689 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.92815516e-01 -9.47318994e-02 -7.30973186e-02 3.89082880e+00] [ 9.49837465e-02 9.95478823e-01 -3.09502789e-05 -5.76962169e-02] [ 7.27697646e-02 -6.91232926e-03 9.97324812e-01 -9.48547716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.341346184 meters Centerline goodness [0,1] 0.8954578064747556 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.92861242e-01 -9.41753867e-02 -7.31952975e-02 3.89183803e+00] [ 9.44849059e-02 9.95525997e-01 7.69929832e-04 -5.97564248e-02] [ 7.27953130e-02 -7.68028428e-03 9.97317329e-01 -9.49347007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.371346184 meters Centerline goodness [0,1] 0.8962664878157836 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.92876451e-01 -9.38178682e-02 -7.34476714e-02 3.89291446e+00] [ 9.41509732e-02 9.95557347e-01 1.07853803e-03 -5.97938909e-02] [ 7.30201827e-02 -7.98602475e-03 9.97298489e-01 -9.49770641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.401346184 meters Centerline goodness [0,1] 0.8969405984814649 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.92875744e-01 -9.37069921e-02 -7.35986244e-02 3.89326449e+00] [ 9.40391247e-02 9.95567946e-01 1.05284884e-03 -5.94558081e-02] [ 7.31737721e-02 -7.96649829e-03 9.97287388e-01 -9.49536958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.431346184 meters Centerline goodness [0,1] 0.8966696468484577 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.06, Z:-0.95 [[ 9.92887682e-01 -9.34883628e-02 -7.37155125e-02 3.89406729e+00] [ 9.38393059e-02 9.95586502e-01 1.30418674e-03 -6.02179956e-02] [ 7.32682430e-02 -8.21232348e-03 9.97278458e-01 -9.49967190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.461346184 meters Centerline goodness [0,1] 0.8964688605567052 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.06, Z:-0.95 [[ 9.92593185e-01 -9.65033403e-02 -7.37961628e-02 3.89691264e+00] [ 9.66711792e-02 9.95315521e-01 -1.30249057e-03 -6.40849817e-02] [ 7.35761609e-02 -5.84111881e-03 9.97272495e-01 -9.51709732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49134618399998 meters Centerline goodness [0,1] 0.9003560302625723 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.07, Z:-0.95 [[ 9.92601697e-01 -9.64291931e-02 -7.37785966e-02 3.89763605e+00] [ 9.66377620e-02 9.95319339e-01 -7.45936908e-04 -6.71140744e-02] [ 7.35051941e-02 -6.38938022e-03 9.97274367e-01 -9.52510292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52134618399998 meters Centerline goodness [0,1] 0.8972393663242798 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.07, Z:-0.95 [[ 9.92602417e-01 -9.65345598e-02 -7.36309721e-02 3.89770893e+00] [ 9.67608954e-02 9.95307532e-01 -4.95386915e-04 -6.84319276e-02] [ 7.33332831e-02 -6.63287654e-03 9.97285433e-01 -9.52921123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55134618399998 meters Centerline goodness [0,1] 0.8966083272332025 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.07, Z:-0.96 [[ 0.99277476 -0.09848389 -0.06855073 3.912771 ] [ 0.09914276 0.99505348 0.00626831 -0.06990366] [ 0.06759431 -0.01301933 0.99762794 -0.95500678] [ 0. 0. 0. 1. ]] SLAMing on 152.58134618399998 meters Centerline goodness [0,1] 0.8967857855859453 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.07, Z:-0.95 [[ 0.99276761 -0.09850356 -0.06862601 3.91307044] [ 0.09916914 0.99505032 0.0063519 -0.07060618] [ 0.06766065 -0.01311154 0.99762224 -0.95495682] [ 0. 0. 0. 1. ]] SLAMing on 152.61134618399998 meters Centerline goodness [0,1] 0.8958457959454968 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.07, Z:-0.95 [[ 0.99275257 -0.09859113 -0.06871769 3.91340752] [ 0.09925883 0.99504131 0.00636234 -0.07148057] [ 0.06774967 -0.01313707 0.99761586 -0.95486929] [ 0. 0. 0. 1. ]] SLAMing on 152.64134618399999 meters Centerline goodness [0,1] 0.8968990017486 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.08, Z:-0.96 [[ 0.99274833 -0.09852787 -0.06886946 3.91440018] [ 0.09923793 0.99503941 0.00695782 -0.07517386] [ 0.06784229 -0.01374183 0.99760142 -0.95550912] [ 0. 0. 0. 1. ]] SLAMing on 152.671346184 meters Centerline goodness [0,1] 0.8982571624218595 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.9927558 -0.09835202 -0.06901303 3.91536728] [ 0.09908972 0.99505143 0.00734023 -0.07712539] [ 0.06794959 -0.01412554 0.99758875 -0.95609233] [ 0. 0. 0. 1. ]] SLAMing on 152.701346184 meters Centerline goodness [0,1] 0.8996581762046532 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.99276195 -0.09817975 -0.06916971 3.91606364] [ 0.0989354 0.99506501 0.00757658 -0.0784913 ] [ 0.06808449 -0.01436507 0.99757614 -0.95630296] [ 0. 0. 0. 1. ]] SLAMing on 152.731346184 meters Centerline goodness [0,1] 0.9005710002425098 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.9927577 -0.0981156 -0.06932152 3.91669306] [ 0.09887597 0.99507062 0.00761565 -0.07915642] [ 0.06823259 -0.01441473 0.9975653 -0.95644997] [ 0. 0. 0. 1. ]] SLAMing on 152.761346184 meters Centerline goodness [0,1] 0.9016516021200326 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.99261509 -0.09963704 -0.06919359 3.91895076] [ 0.10028161 0.99494162 0.00589653 -0.07915149] [ 0.06825607 -0.01279183 0.99758583 -0.95789376] [ 0. 0. 0. 1. ]] SLAMing on 152.791346184 meters Centerline goodness [0,1] 0.9001984564498346 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.99260203 -0.09968187 -0.06931616 3.91931746] [ 0.10033407 0.99493581 0.00598342 -0.08003245] [ 0.06836869 -0.01289392 0.9975768 -0.95789204] [ 0. 0. 0. 1. ]] SLAMing on 152.821346184 meters Centerline goodness [0,1] 0.9014571227328755 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.99259314 -0.09964528 -0.06949593 3.92006984] [ 0.10031814 0.99493577 0.00625131 -0.08148672] [ 0.06852108 -0.01317671 0.99756265 -0.95822749] [ 0. 0. 0. 1. ]] SLAMing on 152.851346184 meters Centerline goodness [0,1] 0.9009641630712336 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 0.99257713 -0.0997595 -0.06956062 3.92059791] [ 0.10043778 0.99492331 0.00631378 -0.08280593] [ 0.06857762 -0.01325342 0.99755775 -0.95849512] [ 0. 0. 0. 1. ]] SLAMing on 152.881346184 meters Centerline goodness [0,1] 0.901023815801037 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 9.92259193e-01 -1.02937991e-01 -6.94655554e-02 3.92226733e+00] [ 1.03384718e-01 9.94637340e-01 2.85706374e-03 -8.20170481e-02] [ 6.87989348e-02 -1.00166246e-02 9.97580259e-01 -9.59098279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.911346184 meters Centerline goodness [0,1] 0.9013846153846153 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 9.92261093e-01 -1.02816905e-01 -6.96175768e-02 3.92301208e+00] [ 1.03274319e-01 9.94648406e-01 2.99375489e-03 -8.26402697e-02] [ 6.89372033e-02 -1.01602943e-02 9.97569261e-01 -9.59409994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.941346184 meters Centerline goodness [0,1] 0.9021436250740505 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.08, Z:-0.96 [[ 9.92271474e-01 -1.02611768e-01 -6.97721046e-02 3.92383938e+00] [ 1.03084345e-01 9.94667480e-01 3.19707675e-03 -8.35484440e-02] [ 6.90719858e-02 -1.03647798e-02 9.97557834e-01 -9.59778470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.971346184 meters Centerline goodness [0,1] 0.903898716462948 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 9.92281581e-01 -1.02298364e-01 -7.00878720e-02 3.92533841e+00] [ 1.02812502e-01 9.94693653e-01 3.75841290e-03 -8.55368801e-02] [ 6.93314819e-02 -1.09353134e-02 9.97533741e-01 -9.60581426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.001346184 meters Centerline goodness [0,1] 0.9046118151771839 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 9.92259108e-01 -1.02478436e-01 -7.01429466e-02 3.92567714e+00] [ 1.02995801e-01 9.94674571e-01 3.78979111e-03 -8.61983511e-02] [ 6.93810335e-02 -1.09848837e-02 9.97529751e-01 -9.60775689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.031346184 meters Centerline goodness [0,1] 0.9022525179698936 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.99224196 -0.10247133 -0.07039551 3.92653845] [ 0.10301003 0.99467205 0.0040557 -0.08737298] [ 0.06960486 -0.01127568 0.99751091 -0.96106119] [ 0. 0. 0. 1. ]] SLAMing on 153.061346184 meters Centerline goodness [0,1] 0.8997749961771195 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.99218596 -0.10294318 -0.07049619 3.92694014] [ 0.10349234 0.9946215 0.00417251 -0.09003926] [ 0.0696875 -0.01143572 0.99750332 -0.96113762] [ 0. 0. 0. 1. ]] SLAMing on 153.091346184 meters Centerline goodness [0,1] 0.9001355724656696 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.99218509 -0.10286986 -0.07061545 3.92776786] [ 0.10343934 0.99462583 0.00444599 -0.09125105] [ 0.0697786 -0.01171566 0.9974937 -0.96175582] [ 0. 0. 0. 1. ]] SLAMing on 153.121346184 meters Centerline goodness [0,1] 0.8984700670027718 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.99219608 -0.10266961 -0.07075231 3.92876896] [ 0.10326447 0.99464239 0.00479218 -0.09255682] [ 0.06988124 -0.01206098 0.9974824 -0.96244888] [ 0. 0. 0. 1. ]] SLAMing on 153.151346184 meters Centerline goodness [0,1] 0.8984158804174929 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.9921801 -0.10292892 -0.07059942 3.9283453 ] [ 0.10351589 0.99461671 0.00469659 -0.09361265] [ 0.06973595 -0.01196802 0.99749369 -0.96197517] [ 0. 0. 0. 1. ]] SLAMing on 153.181346184 meters Centerline goodness [0,1] 0.8984158804174929 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.9921801 -0.10292892 -0.07059942 3.9283453 ] [ 0.10351589 0.99461671 0.00469659 -0.09361265] [ 0.06973595 -0.01196802 0.99749369 -0.96197517] [ 0. 0. 0. 1. ]] SLAMing on 153.211346184 meters Centerline goodness [0,1] 0.8987708038725117 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.09, Z:-0.96 [[ 0.99217764 -0.10274779 -0.07089733 3.92934686] [ 0.10335285 0.99463264 0.00490966 -0.09435984] [ 0.07001234 -0.0121987 0.99747154 -0.96226417] [ 0. 0. 0. 1. ]] SLAMing on 153.24134618399998 meters Centerline goodness [0,1] 0.9009997826559444 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99218636 -0.10251419 -0.071113 3.93028978] [ 0.10313836 0.99465368 0.00515177 -0.09517418] [ 0.07020468 -0.012446 0.99745496 -0.9626418 ] [ 0. 0. 0. 1. ]] SLAMing on 153.27134618399998 meters Centerline goodness [0,1] 0.9033927794693345 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99220831 -0.10224526 -0.07119393 3.93075379] [ 0.10288448 0.99467887 0.00536049 -0.09631911] [ 0.07026701 -0.01264347 0.99744809 -0.96258803] [ 0. 0. 0. 1. ]] SLAMing on 153.30134618399998 meters Centerline goodness [0,1] 0.9043589576688581 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99221488 -0.10194463 -0.07153272 3.93204958] [ 0.10260296 0.99470674 0.00558029 -0.09674237] [ 0.0705852 -0.01287632 0.99742264 -0.96309713] [ 0. 0. 0. 1. ]] SLAMing on 153.33134618399998 meters Centerline goodness [0,1] 0.9046047632487354 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99221272 -0.10183626 -0.07171677 3.93265207] [ 0.10250217 0.99471669 0.00565735 -0.09713828] [ 0.07076174 -0.01296442 0.99740899 -0.96320936] [ 0. 0. 0. 1. ]] SLAMing on 153.36134618399998 meters Centerline goodness [0,1] 0.9047670568887543 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99222555 -0.10148089 -0.07204227 3.93401104] [ 0.10217489 0.99474833 0.00600465 -0.09802319] [ 0.07105457 -0.01331888 0.9973835 -0.96378641] [ 0. 0. 0. 1. ]] SLAMing on 153.39134618399999 meters Centerline goodness [0,1] 0.906239175614825 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.10, Z:-0.96 [[ 0.99222967 -0.10151813 -0.07193298 3.93371426] [ 0.10221024 0.99474474 0.00599737 -0.09908678] [ 0.07094611 -0.01330306 0.99739144 -0.96326136] [ 0. 0. 0. 1. ]] SLAMing on 153.421346184 meters Centerline goodness [0,1] 0.9058592315832668 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-0.96 [[ 9.92007777e-01 -1.03444928e-01 -7.22476136e-02 3.93650962e+00] [ 1.03985513e-01 9.94571737e-01 3.75148375e-03 -9.75610101e-02] [ 7.14673626e-02 -1.12342062e-02 9.97379671e-01 -9.64533078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.451346184 meters Centerline goodness [0,1] 0.9038839777811399 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-0.96 [[ 9.91986687e-01 -1.03597250e-01 -7.23188885e-02 3.93695325e+00] [ 1.04145445e-01 9.94554661e-01 3.84085842e-03 -9.87292562e-02] [ 7.15271853e-02 -1.13417632e-02 9.97374166e-01 -9.64721918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.481346184 meters Centerline goodness [0,1] 0.9014464012416201 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-0.97 [[ 9.91664532e-01 -1.06395059e-01 -7.26742581e-02 3.94057263e+00] [ 1.06775608e-01 9.94282213e-01 1.36043410e-03 -1.01392399e-01] [ 7.21139787e-02 -9.10893231e-03 9.97354802e-01 -9.66603449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.511346184 meters Centerline goodness [0,1] 0.9045017529520573 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.10, Z:-0.97 [[ 9.91662713e-01 -1.06450210e-01 -7.26182900e-02 3.94078466e+00] [ 1.06841771e-01 9.94274877e-01 1.51795095e-03 -1.03737594e-01] [ 7.20409552e-02 -9.26396208e-03 9.97358652e-01 -9.66590141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.541346184 meters Centerline goodness [0,1] 0.9052283369850067 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91672818e-01 -1.06198046e-01 -7.28491389e-02 3.94164335e+00] [ 1.06613675e-01 9.94298837e-01 1.82967473e-03 -1.05347803e-01] [ 7.22395062e-02 -9.58115310e-03 9.97341293e-01 -9.66644600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.571346184 meters Centerline goodness [0,1] 0.9071089844001459 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91698501e-01 -1.05909213e-01 -7.29199692e-02 3.94164985e+00] [ 1.06346913e-01 9.94326795e-01 2.13529660e-03 -1.06146440e-01] [ 7.22801317e-02 -9.87238403e-03 9.97335510e-01 -9.65973449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.601346184 meters Centerline goodness [0,1] 0.9064130364772313 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91705205e-01 -1.05719234e-01 -7.31042473e-02 3.94231919e+00] [ 1.06176547e-01 9.94344429e-01 2.38704494e-03 -1.06836976e-01] [ 7.24384444e-02 -1.01292014e-02 9.97321448e-01 -9.66089221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.631346184 meters Centerline goodness [0,1] 0.9099280452287134 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91723878e-01 -1.05432030e-01 -7.32655205e-02 3.94318190e+00] [ 1.05922435e-01 9.94370369e-01 2.82972620e-03 -1.08268152e-01] [ 7.25547188e-02 -1.05667694e-02 9.97308456e-01 -9.66484467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.661346184 meters Centerline goodness [0,1] 0.9091783310182712 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91746798e-01 -1.05082752e-01 -7.34568188e-02 3.94432456e+00] [ 1.05618318e-01 9.94400814e-01 3.43404178e-03 -1.10250661e-01] [ 7.26846618e-02 -1.11640856e-02 9.97292486e-01 -9.67219901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.691346184 meters Centerline goodness [0,1] 0.9093502512134889 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.11, Z:-0.97 [[ 9.91667484e-01 -1.06409416e-01 -7.26129325e-02 3.94444373e+00] [ 1.06854320e-01 9.94272121e-01 2.25908883e-03 -1.14332718e-01] [ 7.19566261e-02 -9.99927046e-03 9.97357638e-01 -9.67786744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.721346184 meters Centerline goodness [0,1] 0.9094480664274034 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.12, Z:-0.97 [[ 9.91669362e-01 -1.06340066e-01 -7.26888394e-02 3.94529550e+00] [ 1.06822717e-01 9.94274214e-01 2.77388591e-03 -1.17323644e-01] [ 7.19776635e-02 -1.05155970e-02 9.97350810e-01 -9.68361113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.751346184 meters Centerline goodness [0,1] 0.9103353432772665 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.12, Z:-0.97 [[ 9.91313723e-01 -1.09769664e-01 -7.24411726e-02 3.94628980e+00] [ 1.10000879e-01 9.93931166e-01 -8.02145013e-04 -1.17462299e-01] [ 7.20895904e-02 -7.17341534e-03 9.97372364e-01 -9.68536561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.781346184 meters Centerline goodness [0,1] 0.9100557009030298 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.12, Z:-0.97 [[ 0.99145997 -0.11206854 -0.06669158 3.96016363] [ 0.11269699 0.99361291 0.00572485 -0.12096274] [ 0.06562404 -0.0131919 0.99775721 -0.97003754] [ 0. 0. 0. 1. ]] SLAMing on 153.811346184 meters Centerline goodness [0,1] 0.9078091790997664 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.12, Z:-0.97 [[ 0.99144363 -0.11217056 -0.0667629 3.96039956] [ 0.11281902 0.99359737 0.00601124 -0.12307051] [ 0.06566116 -0.01349193 0.99775076 -0.96988176] [ 0. 0. 0. 1. ]] SLAMing on 153.841346184 meters Centerline goodness [0,1] 0.9049287647663611 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.12, Z:-0.97 [[ 9.91123459e-01 -1.14923091e-01 -6.68354048e-02 3.96284758e+00] [ 1.15392309e-01 9.93314874e-01 3.19006890e-03 -1.23941217e-01] [ 6.60219891e-02 -1.08740438e-02 9.97758915e-01 -9.71058417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.871346184 meters Centerline goodness [0,1] 0.9057052131306121 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.13, Z:-0.97 [[ 9.91129077e-01 -1.14828999e-01 -6.69137720e-02 3.96357114e+00] [ 1.15335105e-01 9.93319609e-01 3.73734360e-03 -1.27472677e-01] [ 6.60376064e-02 -1.14216968e-02 9.97751762e-01 -9.71412526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.901346184 meters Centerline goodness [0,1] 0.9040217277760367 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.97 [[ 9.90893821e-01 -1.16502275e-01 -6.75030103e-02 3.96869154e+00] [ 1.16926042e-01 9.93137850e-01 2.34765830e-03 -1.31881025e-01] [ 6.67662870e-02 -1.02191399e-02 9.97716308e-01 -9.74114096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.931346184 meters Centerline goodness [0,1] 0.9018442151095853 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.13, Z:-0.97 [[ 9.90914975e-01 -1.16263154e-01 -6.76046712e-02 3.96937621e+00] [ 1.16727484e-01 9.93159613e-01 2.94569177e-03 -1.34066195e-01] [ 6.67997537e-02 -1.08102532e-02 9.97707839e-01 -9.74539469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.961346184 meters Centerline goodness [0,1] 0.9050185951276587 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.98 [[ 0.99129158 -0.11762373 -0.05920856 3.98046671] [ 0.11839947 0.99291811 0.00975654 -0.13697776] [ 0.05764165 -0.01668184 0.99819795 -0.97870999] [ 0. 0. 0. 1. ]] SLAMing on 153.99134618399998 meters Centerline goodness [0,1] 0.9038212028627631 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.98 [[ 0.99128826 -0.11767347 -0.05916528 3.98050948] [ 0.11845492 0.99291041 0.00986655 -0.13788587] [ 0.05758479 -0.01678901 0.99819944 -0.97861858] [ 0. 0. 0. 1. ]] SLAMing on 154.02134618399998 meters Centerline goodness [0,1] 0.9018496045528728 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.98 [[ 0.9912799 -0.11768264 -0.05928705 3.98105307] [ 0.11849099 0.99290174 0.01029625 -0.14058901] [ 0.05765453 -0.01723145 0.99818787 -0.97871259] [ 0. 0. 0. 1. ]] SLAMing on 154.05134618399998 meters Centerline goodness [0,1] 0.8995215311004785 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.14, Z:-0.98 [[ 0.99090047 -0.12085781 -0.05924235 3.98310697] [ 0.12150074 0.99256405 0.00735997 -0.14300619] [ 0.05791232 -0.01449099 0.9982165 -0.97968838] [ 0. 0. 0. 1. ]] SLAMing on 154.08134618399998 meters Centerline goodness [0,1] 0.8985389271550824 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.15, Z:-0.98 [[ 0.99049967 -0.12413653 -0.05916518 3.98509284] [ 0.12461195 0.9921958 0.00440033 -0.14578017] [ 0.0581572 -0.01173122 0.99823851 -0.98060687] [ 0. 0. 0. 1. ]] SLAMing on 154.11134618399998 meters Centerline goodness [0,1] 0.894250812974235 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.15, Z:-0.98 [[ 9.90084677e-01 -1.27532235e-01 -5.88885469e-02 3.98646208e+00] [ 1.27857712e-01 9.91790929e-01 1.77704390e-03 -1.49451116e-01] [ 5.81784963e-02 -9.28877879e-03 9.98262982e-01 -9.81145204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14134618399999 meters Centerline goodness [0,1] 0.8936334916417348 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.15, Z:-0.98 [[ 9.90071018e-01 -1.27620686e-01 -5.89265624e-02 3.98634271e+00] [ 1.27955565e-01 9.91778025e-01 1.92960764e-03 -1.50533872e-01] [ 5.81958118e-02 -9.45043019e-03 9.98260455e-01 -9.80613247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.171346184 meters Centerline goodness [0,1] 0.8912112028425123 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.15, Z:-0.98 [[ 9.90110995e-01 -1.27276924e-01 -5.89983249e-02 3.98699124e+00] [ 1.27643415e-01 9.91817049e-01 2.46998828e-03 -1.51858312e-01] [ 5.82011720e-02 -9.97631021e-03 9.98255026e-01 -9.80824743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.201346184 meters Centerline goodness [0,1] 0.893604128795002 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.15, Z:-0.98 [[ 9.90157424e-01 -1.26971428e-01 -5.88772685e-02 3.98683002e+00] [ 1.27381060e-01 9.91848555e-01 3.24191007e-03 -1.54927413e-01] [ 5.79857037e-02 -1.07098502e-02 9.98259965e-01 -9.80447930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.231346184 meters Centerline goodness [0,1] 0.8924908272181454 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.98 [[ 0.99020068 -0.1265049 -0.05915337 3.98843287] [ 0.12696495 0.99189886 0.00406936 -0.15736223] [ 0.05815936 -0.01153988 0.99824061 -0.98133669] [ 0. 0. 0. 1. ]] SLAMing on 154.261346184 meters Centerline goodness [0,1] 0.8946719341150896 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.98 [[ 0.99021717 -0.1263381 -0.05923372 3.98919431] [ 0.12683751 0.99191221 0.00473347 -0.16057867] [ 0.05815663 -0.01220022 0.99823292 -0.98175134] [ 0. 0. 0. 1. ]] SLAMing on 154.291346184 meters Centerline goodness [0,1] 0.8868219640883401 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.16, Z:-0.98 [[ 0.99023236 -0.12610118 -0.05948413 3.99094514] [ 0.12664742 0.99193261 0.00548881 -0.16405381] [ 0.0583121 -0.01296871 0.99821416 -0.98288925] [ 0. 0. 0. 1. ]] SLAMing on 154.321346184 meters Centerline goodness [0,1] 0.8950832689052803 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.17, Z:-0.98 [[ 0.99027947 -0.12574439 -0.05945515 3.99203129] [ 0.12634217 0.99196614 0.00638938 -0.16765137] [ 0.05817407 -0.01383896 0.99821053 -0.98392256] [ 0. 0. 0. 1. ]] SLAMing on 154.351346184 meters Centerline goodness [0,1] 0.8988226944432848 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.17, Z:-0.98 [[ 0.99030696 -0.12541943 -0.0596833 3.992833 ] [ 0.12602796 0.99200521 0.00652856 -0.16735246] [ 0.05838734 -0.01398705 0.99819601 -0.98406574] [ 0. 0. 0. 1. ]] SLAMing on 154.381346184 meters Centerline goodness [0,1] 0.9004853353416176 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.17, Z:-0.98 [[ 0.99034148 -0.12507997 -0.0598227 3.99352233] [ 0.12570467 0.99204453 0.00678072 -0.16758153] [ 0.05849865 -0.01423522 0.99818599 -0.98431983] [ 0. 0. 0. 1. ]] SLAMing on 154.411346184 meters Centerline goodness [0,1] 0.9001149785721752 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.17, Z:-0.98 [[ 0.99035754 -0.12491314 -0.05990535 3.99452772] [ 0.12557342 0.99205694 0.00737225 -0.17007938] [ 0.05850863 -0.01482368 0.99817684 -0.98495945] [ 0. 0. 0. 1. ]] SLAMing on 154.441346184 meters Centerline goodness [0,1] 0.8985909612775285 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.17, Z:-0.99 [[ 0.99037115 -0.12466932 -0.06018757 3.99590009] [ 0.12536671 0.99207871 0.00793851 -0.171707 ] [ 0.05872111 -0.01540759 0.99815552 -0.98570249] [ 0. 0. 0. 1. ]] SLAMing on 154.471346184 meters Centerline goodness [0,1] 0.8936961015639682 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.17, Z:-0.99 [[ 0.99035851 -0.12471752 -0.06029555 3.99668302] [ 0.1254382 0.99206668 0.00830403 -0.17316429] [ 0.05878155 -0.01578733 0.99814603 -0.98620607] [ 0. 0. 0. 1. ]] SLAMing on 154.501346184 meters Centerline goodness [0,1] 0.8807728459530026 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.17, Z:-0.99 [[ 0.9898816 -0.12861423 -0.05993989 3.99749178] [ 0.12914047 0.99161384 0.00497361 -0.17474606] [ 0.05879755 -0.01266395 0.9981896 -0.98639957] [ 0. 0. 0. 1. ]] SLAMing on 154.531346184 meters Centerline goodness [0,1] 0.8730582372443129 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.18, Z:-0.99 [[ 0.9898411 -0.12881011 -0.0601876 3.99868 ] [ 0.12936244 0.99158291 0.00535592 -0.17740013] [ 0.0589911 -0.01308752 0.99817271 -0.98688854] [ 0. 0. 0. 1. ]] SLAMing on 154.561346184 meters Centerline goodness [0,1] 0.8737906680318449 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.18, Z:-0.99 [[ 0.9898147 -0.1289732 -0.06027253 3.99922005] [ 0.12954596 0.99155717 0.00567735 -0.17986087] [ 0.05903144 -0.01342759 0.99816581 -0.98708335] [ 0. 0. 0. 1. ]] SLAMing on 154.591346184 meters Centerline goodness [0,1] 0.8766003586471496 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.18, Z:-0.99 [[ 9.89432583e-01 -1.31762307e-01 -6.05132911e-02 4.00236147e+00] [ 1.32188418e-01 9.91219836e-01 3.07560014e-03 -1.81150756e-01] [ 5.95767263e-02 -1.10422552e-02 9.98162653e-01 -9.88690930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.621346184 meters Centerline goodness [0,1] 0.8736660356555928 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.18, Z:-0.99 [[ 9.89468449e-01 -1.31317019e-01 -6.08935941e-02 4.00423850e+00] [ 1.31789194e-01 9.91270535e-01 3.78623097e-03 -1.82135372e-01] [ 5.98648291e-02 -1.17714738e-02 9.98137082e-01 -9.89948662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.651346184 meters Centerline goodness [0,1] 0.87046783625731 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.18, Z:-0.99 [[ 9.89479210e-01 -1.31123187e-01 -6.11359364e-02 4.00515211e+00] [ 1.31609596e-01 9.91293633e-01 3.98094270e-03 -1.81913627e-01] [ 6.00816706e-02 -1.19851359e-02 9.98121510e-01 -9.90371724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.681346184 meters Centerline goodness [0,1] 0.8540966145235062 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.18, Z:-0.99 [[ 0.98950129 -0.13076814 -0.06153765 4.00656263] [ 0.13127422 0.99133704 0.00423655 -0.18092201] [ 0.06045054 -0.01227038 0.99809577 -0.99103838] [ 0. 0. 0. 1. ]] SLAMing on 154.711346184 meters Centerline goodness [0,1] 0.8639099001211918 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.18, Z:-0.99 [[ 0.98951161 -0.1305457 -0.06184322 4.00789245] [ 0.13108086 0.99136073 0.00465927 -0.18195367] [ 0.06070069 -0.01271687 0.998075 -0.99180901] [ 0. 0. 0. 1. ]] SLAMing on 154.74134618399998 meters Centerline goodness [0,1] 0.8420668363302599 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.18, Z:-0.99 [[ 0.98952388 -0.13030371 -0.06215658 4.00964216] [ 0.13087422 0.99138545 0.00517976 -0.18368529] [ 0.06094619 -0.01326019 0.99805297 -0.99295561] [ 0. 0. 0. 1. ]] SLAMing on 154.77134618399998 meters Centerline goodness [0,1] 0.8519306589899243 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.19, Z:-0.99 [[ 0.98948768 -0.13042952 -0.06246813 4.01124178] [ 0.13102668 0.99136335 0.00554269 -0.18631506] [ 0.06120568 -0.01366941 0.99803157 -0.99382121] [ 0. 0. 0. 1. ]] SLAMing on 154.80134618399998 meters Centerline goodness [0,1] 0.8519113931979039 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.19, Z:-0.99 [[ 0.98946807 -0.13052571 -0.06257771 4.011912 ] [ 0.13112619 0.99135004 0.00556932 -0.1866017 ] [ 0.06130947 -0.01371624 0.99802456 -0.99419725] [ 0. 0. 0. 1. ]] SLAMing on 154.83134618399998 meters Centerline goodness [0,1] 0.8524230455770798 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.19, Z:-0.99 [[ 0.98945056 -0.13056516 -0.06277203 4.01259327] [ 0.13115877 0.9913466 0.00541301 -0.18577389] [ 0.06152209 -0.01358901 0.99801321 -0.99443448] [ 0. 0. 0. 1. ]] SLAMing on 154.86134618399998 meters Centerline goodness [0,1] 0.8554018239111835 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.18, Z:-1.00 [[ 0.98947013 -0.13027198 -0.06307197 4.01396755] [ 0.13087226 0.99138418 0.00546372 -0.18420123] [ 0.06181679 -0.01366055 0.99799403 -0.99527638] [ 0. 0. 0. 1. ]] SLAMing on 154.89134618399999 meters Centerline goodness [0,1] 0.8491035752390117 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98947354 -0.13008432 -0.06340488 4.01511427] [ 0.1306822 0.99140983 0.00535773 -0.18266471] [ 0.06216327 -0.01358722 0.9979735 -0.99576776] [ 0. 0. 0. 1. ]] SLAMing on 154.921346184 meters Centerline goodness [0,1] 0.8560259224417268 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98952685 -0.12947881 -0.06381101 4.01770285] [ 0.13012292 0.99147956 0.00602611 -0.18329994] [ 0.06248705 -0.01426627 0.99794381 -0.99781814] [ 0. 0. 0. 1. ]] SLAMing on 154.951346184 meters Centerline goodness [0,1] 0.8198590727151435 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98956446 -0.12900455 -0.06418724 4.01985748] [ 0.1296902 0.9915325 0.0066151 -0.18412363] [ 0.06279035 -0.01487053 0.99791595 -0.9993934 ] [ 0. 0. 0. 1. ]] SLAMing on 154.981346184 meters Centerline goodness [0,1] 0.8578661087866108 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.9895548 -0.12907814 -0.06418832 4.02067133] [ 0.1297531 0.9915254 0.00644269 -0.18280717] [ 0.06281274 -0.01470402 0.99791701 -1.00029938] [ 0. 0. 0. 1. ]] SLAMing on 155.011346184 meters Centerline goodness [0,1] 0.8575852688847039 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98954843 -0.12902072 -0.06440152 4.02172671] [ 0.12969683 0.99153296 0.00641282 -0.18200499] [ 0.06302885 -0.01469846 0.99790346 -1.00102809] [ 0. 0. 0. 1. ]] SLAMing on 155.041346184 meters Centerline goodness [0,1] 0.8565301981130102 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98955288 -0.12893295 -0.06450882 4.02246289] [ 0.12960458 0.99154562 0.00631977 -0.18140794] [ 0.06314862 -0.01461438 0.99789713 -1.00141659] [ 0. 0. 0. 1. ]] SLAMing on 155.071346184 meters Centerline goodness [0,1] 0.8565301981130102 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98955288 -0.12893295 -0.06450882 4.02246289] [ 0.12960458 0.99154562 0.00631977 -0.18140794] [ 0.06314862 -0.01461438 0.99789713 -1.00141659] [ 0. 0. 0. 1. ]] SLAMing on 155.101346184 meters Centerline goodness [0,1] 0.8590535194758985 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98955218 -0.12886482 -0.06465552 4.0230916 ] [ 0.12953425 0.99155523 0.00625332 -0.18100268] [ 0.06330368 -0.01456309 0.99788805 -1.00157025] [ 0. 0. 0. 1. ]] SLAMing on 155.131346184 meters Centerline goodness [0,1] 0.8639157155399473 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98955422 -0.1288789 -0.06459617 4.02316409] [ 0.12952037 0.99155965 0.00582566 -0.17934185] [ 0.06330015 -0.01413133 0.99789448 -1.00135787] [ 0. 0. 0. 1. ]] SLAMing on 155.161346184 meters Centerline goodness [0,1] 0.8602260618849633 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.18, Z:-1.00 [[ 0.98954573 -0.12880251 -0.06487808 4.02436812] [ 0.12944107 0.99157062 0.00571952 -0.1780338 ] [ 0.06359451 -0.01405762 0.99787681 -1.00207455] [ 0. 0. 0. 1. ]] SLAMing on 155.191346184 meters Centerline goodness [0,1] 0.8409993727785908 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.18, Z:-1.00 [[ 0.98952915 -0.12883618 -0.06506386 4.02523809] [ 0.12946027 0.99156963 0.00545114 -0.17636808] [ 0.06381304 -0.01381725 0.99786621 -1.00264511] [ 0. 0. 0. 1. ]] SLAMing on 155.221346184 meters Centerline goodness [0,1] 0.8590276183120055 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.18, Z:-1.00 [[ 0.98951471 -0.12885807 -0.06523988 4.02615123] [ 0.12947379 0.99156878 0.00528169 -0.17517981] [ 0.06400924 -0.01367316 0.99785563 -1.00320909] [ 0. 0. 0. 1. ]] SLAMing on 155.251346184 meters Centerline goodness [0,1] 0.8527884916084645 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.17, Z:-1.00 [[ 0.98948979 -0.12899917 -0.06533886 4.0269077 ] [ 0.12959702 0.99155425 0.00497792 -0.17477157] [ 0.06414488 -0.01339332 0.99785072 -1.0034895 ] [ 0. 0. 0. 1. ]] SLAMing on 155.281346184 meters Centerline goodness [0,1] 0.86585009598531 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.17, Z:-1.00 [[ 0.98949726 -0.12889133 -0.06543845 4.02755004] [ 0.12948109 0.9915701 0.00483499 -0.1738862 ] [ 0.06426362 -0.01325725 0.99784489 -1.00384154] [ 0. 0. 0. 1. ]] SLAMing on 155.311346184 meters Centerline goodness [0,1] 0.8685082182363603 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.17, Z:-1.00 [[ 0.98951187 -0.12865917 -0.06567406 4.02868915] [ 0.12924006 0.9916024 0.00465682 -0.17172101] [ 0.06452341 -0.0130957 0.99783026 -1.00451511] [ 0. 0. 0. 1. ]] SLAMing on 155.341346184 meters Centerline goodness [0,1] 0.8719453611261958 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.17, Z:-1.00 [[ 0.98993762 -0.12521246 -0.06591925 4.02798318] [ 0.12598162 0.99200325 0.00762716 -0.16907394] [ 0.06443709 -0.01585502 0.99779581 -1.00429912] [ 0. 0. 0. 1. ]] SLAMing on 155.371346184 meters Centerline goodness [0,1] 0.8753870616788015 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.17, Z:-1.00 [[ 0.98993948 -0.12508852 -0.0661263 4.02851911] [ 0.12583149 0.99202567 0.00717616 -0.16671307] [ 0.06470133 -0.01542473 0.99778546 -1.00428067] [ 0. 0. 0. 1. ]] SLAMing on 155.401346184 meters Centerline goodness [0,1] 0.8813977819627538 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.00 [[ 0.98993286 -0.1250381 -0.06632053 4.02913224] [ 0.12575442 0.99203863 0.00672193 -0.16461977] [ 0.06495203 -0.01499435 0.99777573 -1.00435415] [ 0. 0. 0. 1. ]] SLAMing on 155.431346184 meters Centerline goodness [0,1] 0.8817664114812575 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98996487 -0.1245719 -0.06671884 4.03138636] [ 0.12530461 0.99209435 0.00689593 -0.16383367] [ 0.06533234 -0.01518691 0.99774799 -1.00592028] [ 0. 0. 0. 1. ]] SLAMing on 155.461346184 meters Centerline goodness [0,1] 0.8804297838538401 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98994789 -0.12465169 -0.06682161 4.03229568] [ 0.12538495 0.99208433 0.00687778 -0.16389755] [ 0.06543534 -0.01518706 0.99774123 -1.00667767] [ 0. 0. 0. 1. ]] SLAMing on 155.49134618399998 meters Centerline goodness [0,1] 0.8765514787450028 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98990954 -0.12490108 -0.06692399 4.03293127] [ 0.12562637 0.99205484 0.00672444 -0.16355553] [ 0.06555238 -0.01506401 0.99773542 -1.00715599] [ 0. 0. 0. 1. ]] SLAMing on 155.52134618399998 meters Centerline goodness [0,1] 0.8734219477077813 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98989287 -0.1249216 -0.06713199 4.03402792] [ 0.12564631 0.9920527 0.00666713 -0.16279344] [ 0.0657656 -0.01503463 0.99772183 -1.00786213] [ 0. 0. 0. 1. ]] SLAMing on 155.55134618399998 meters Centerline goodness [0,1] 0.8703483396990378 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98986752 -0.12507008 -0.06722922 4.03462712] [ 0.12578979 0.9920352 0.00656413 -0.16225289] [ 0.06587278 -0.01495437 0.99771596 -1.00826319] [ 0. 0. 0. 1. ]] SLAMing on 155.58134618399998 meters Centerline goodness [0,1] 0.8699657419786097 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.16, Z:-1.01 [[ 0.98982827 -0.1253785 -0.0672327 4.03472378] [ 0.12608909 0.99199818 0.00641499 -0.16303915] [ 0.06589041 -0.01482705 0.9977167 -1.00811034] [ 0. 0. 0. 1. ]] SLAMing on 155.61134618399998 meters Centerline goodness [0,1] 0.8674608307429119 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98983484 -0.125283 -0.06731383 4.03531101] [ 0.12599393 0.99201033 0.00640519 -0.16274046] [ 0.06597355 -0.01482121 0.99771129 -1.00842181] [ 0. 0. 0. 1. ]] SLAMing on 155.64134618399999 meters Centerline goodness [0,1] 0.8701731719007231 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98987539 -0.12496012 -0.06731783 4.03541446] [ 0.125654 0.99205502 0.00615723 -0.16056969] [ 0.06601358 -0.01455365 0.99771258 -1.00825101] [ 0. 0. 0. 1. ]] SLAMing on 155.671346184 meters Centerline goodness [0,1] 0.8711090711841776 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98987107 -0.12492151 -0.06745284 4.0361699 ] [ 0.12561689 0.99205976 0.00615124 -0.16025872] [ 0.06614882 -0.01456215 0.9977035 -1.00868086] [ 0. 0. 0. 1. ]] SLAMing on 155.701346184 meters Centerline goodness [0,1] 0.8693476765276127 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98987108 -0.12479892 -0.06767919 4.0373317 ] [ 0.12550803 0.99207252 0.00631205 -0.1604993 ] [ 0.06635493 -0.0147424 0.99768717 -1.00941745] [ 0. 0. 0. 1. ]] SLAMing on 155.731346184 meters Centerline goodness [0,1] 0.8711876420188038 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98985794 -0.12483614 -0.06780266 4.03812785] [ 0.12555035 0.99206686 0.0063599 -0.16060323] [ 0.06647082 -0.01480804 0.99767848 -1.00991845] [ 0. 0. 0. 1. ]] SLAMing on 155.761346184 meters Centerline goodness [0,1] 0.8592367429368533 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98977361 -0.12544385 -0.06791197 4.03860582] [ 0.12614743 0.99199241 0.0061558 -0.16106894] [ 0.06659595 -0.01465977 0.99767233 -1.01020054] [ 0. 0. 0. 1. ]] SLAMing on 155.791346184 meters Centerline goodness [0,1] 0.8477663516382864 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98972567 -0.12580635 -0.06794018 4.03899283] [ 0.12650553 0.99194732 0.00607154 -0.16155527] [ 0.06662924 -0.01460397 0.99767092 -1.01054298] [ 0. 0. 0. 1. ]] SLAMing on 155.821346184 meters Centerline goodness [0,1] 0.8495503372470647 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98968607 -0.12613476 -0.06790803 4.03948745] [ 0.1268388 0.99190434 0.00614047 -0.16244646] [ 0.06658374 -0.01469051 0.99767269 -1.01118391] [ 0. 0. 0. 1. ]] SLAMing on 155.851346184 meters Centerline goodness [0,1] 0.8464254559049558 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98965012 -0.12629376 -0.06813609 4.04074347] [ 0.12701065 0.99188149 0.00627662 -0.16295092] [ 0.06679023 -0.01486566 0.99765629 -1.01209228] [ 0. 0. 0. 1. ]] SLAMing on 155.881346184 meters Centerline goodness [0,1] 0.8238223222284726 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98954439 -0.12718782 -0.06800859 4.04060318] [ 0.12786643 0.991775 0.00570235 -0.16220829] [ 0.06672395 -0.01433875 0.99766844 -1.01231381] [ 0. 0. 0. 1. ]] SLAMing on 155.911346184 meters Centerline goodness [0,1] 0.8213215088683488 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98949187 -0.12761411 -0.06797414 4.04047529] [ 0.12826712 0.99172543 0.00531246 -0.16139125] [ 0.06673374 -0.01397549 0.99767294 -1.01217257] [ 0. 0. 0. 1. ]] SLAMing on 155.941346184 meters Centerline goodness [0,1] 0.8047162552766745 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98944267 -0.12803088 -0.06790652 4.0406054 ] [ 0.12866415 0.99167553 0.00501723 -0.16094352] [ 0.06669887 -0.0137014 0.99767907 -1.01237416] [ 0. 0. 0. 1. ]] SLAMing on 155.971346184 meters Centerline goodness [0,1] 0.7992756187423242 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98935562 -0.12875789 -0.06780014 4.0406129 ] [ 0.12935248 0.99158876 0.0044355 -0.16054368] [ 0.06665875 -0.0131584 0.99768906 -1.01264308] [ 0. 0. 0. 1. ]] SLAMing on 156.001346184 meters Centerline goodness [0,1] 0.8050912724018067 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 0.98932855 -0.12888869 -0.06794655 4.04121769] [ 0.12946392 0.9915756 0.00411316 -0.15902381] [ 0.066844 -0.0128659 0.99768048 -1.01301599] [ 0. 0. 0. 1. ]] SLAMing on 156.031346184 meters Centerline goodness [0,1] 0.8034494250958174 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 9.89315619e-01 -1.28905715e-01 -6.81023012e-02 4.04190870e+00] [ 1.29458086e-01 9.91577833e-01 3.74227407e-03 -1.56806534e-01] [ 6.70463317e-02 -1.25186838e-02 9.97671325e-01 -1.01347598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.061346184 meters Centerline goodness [0,1] 0.7970230040595399 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.16, Z:-1.01 [[ 9.89297104e-01 -1.28938978e-01 -6.83079851e-02 4.04262965e+00] [ 1.29474109e-01 9.91576811e-01 3.44704371e-03 -1.55006413e-01] [ 6.72881557e-02 -1.22542658e-02 9.97658327e-01 -1.01390245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.091346184 meters Centerline goodness [0,1] 0.8057284402905851 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.15, Z:-1.01 [[ 9.89260599e-01 -1.29228323e-01 -6.82898834e-02 4.04298529e+00] [ 1.29723582e-01 9.91546102e-01 2.84944608e-03 -1.52959297e-01] [ 6.73443386e-02 -1.16776530e-02 9.97661452e-01 -1.01433840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.121346184 meters Centerline goodness [0,1] 0.7981823097560469 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.15, Z:-1.01 [[ 9.89235677e-01 -1.29371810e-01 -6.83791684e-02 4.04334021e+00] [ 1.29833266e-01 9.91533105e-01 2.32916610e-03 -1.50567226e-01] [ 6.74988807e-02 -1.11819850e-02 9.97656687e-01 -1.01451672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.151346184 meters Centerline goodness [0,1] 0.7936454988950506 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.15, Z:-1.01 [[ 9.89190194e-01 -1.29677684e-01 -6.84577101e-02 4.04322199e+00] [ 1.30080990e-01 9.91502315e-01 1.44784350e-03 -1.47284934e-01] [ 6.76882250e-02 -1.03372393e-02 9.97652969e-01 -1.01410414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.181346184 meters Centerline goodness [0,1] 0.7929710326404541 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.01 [[ 9.89126903e-01 -1.30199922e-01 -6.83809137e-02 4.04254943e+00] [ 1.30513605e-01 9.91446511e-01 1.20789317e-04 -1.42448313e-01] [ 6.77802915e-02 -9.04411554e-03 9.97659279e-01 -1.01331587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.211346184 meters Centerline goodness [0,1] 0.7943774932642703 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.01 [[ 9.89102530e-01 -1.30369541e-01 -6.84102960e-02 4.04284174e+00] [ 1.30662186e-01 9.91426928e-01 -1.98428097e-04 -1.41485087e-01] [ 6.78496786e-02 -8.74237309e-03 9.97657252e-01 -1.01354066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24134618399998 meters Centerline goodness [0,1] 0.781882622745752 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.01 [[ 9.89087374e-01 -1.30452523e-01 -6.84712090e-02 4.04344125e+00] [ 1.30731815e-01 9.91417686e-01 -4.05286107e-04 -1.40668870e-01] [ 6.79364381e-02 -8.55050207e-03 9.97653010e-01 -1.01403540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27134618399998 meters Centerline goodness [0,1] 0.78543565781514 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.01 [[ 9.89061737e-01 -1.30616343e-01 -6.85291968e-02 4.04380302e+00] [ 1.30864613e-01 9.91399864e-01 -8.73253379e-04 -1.39033663e-01] [ 6.80538976e-02 -8.10434530e-03 9.97648729e-01 -1.01427538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30134618399998 meters Centerline goodness [0,1] 0.7941256345442771 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.14, Z:-1.01 [[ 9.89042352e-01 -1.30762099e-01 -6.85310104e-02 4.04409543e+00] [ 1.30971614e-01 9.91385064e-01 -1.44633642e-03 -1.36611485e-01] [ 6.81297461e-02 -7.54512904e-03 9.97647938e-01 -1.01457868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33134618399998 meters Centerline goodness [0,1] 0.7971147623123656 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.01 [[ 9.89427932e-01 -1.27677384e-01 -6.87811909e-02 4.04307046e+00] [ 1.28052188e-01 9.91766875e-01 1.04986849e-03 -1.32574387e-01] [ 6.80808623e-02 -9.84635120e-03 9.97631217e-01 -1.01418449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36134618399998 meters Centerline goodness [0,1] 0.79710538406917 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.01 [[ 9.89429602e-01 -1.27573825e-01 -6.89491244e-02 4.04369908e+00] [ 1.27915720e-01 9.91784890e-01 5.48340447e-04 -1.29506482e-01] [ 6.83127459e-02 -9.36222113e-03 9.97620027e-01 -1.01446239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39134618399999 meters Centerline goodness [0,1] 0.8113100966567639 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.13, Z:-1.02 [[ 9.89439497e-01 -1.27420737e-01 -6.90900684e-02 4.04459036e+00] [ 1.27734816e-01 9.91808349e-01 1.29126341e-04 -1.26503123e-01] [ 6.85076533e-02 -8.95296986e-03 9.97610418e-01 -1.01520512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.421346184 meters Centerline goodness [0,1] 0.8279311138546528 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.12, Z:-1.02 [[ 9.89423490e-01 -1.27446679e-01 -6.92712181e-02 4.04515967e+00] [ 1.27721078e-01 9.91810014e-01 -4.71451600e-04 -1.23560993e-01] [ 6.87639727e-02 -8.38092934e-03 9.97597753e-01 -1.01541502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.451346184 meters Centerline goodness [0,1] 0.824414890285404 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.12, Z:-1.02 [[ 9.89425637e-01 -1.27321256e-01 -6.94709003e-02 4.04597528e+00] [ 1.27573746e-01 9.91828758e-01 -8.08230312e-04 -1.21446625e-01] [ 6.90061417e-02 -8.06297921e-03 9.97583651e-01 -1.01583748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.481346184 meters Centerline goodness [0,1] 0.8242402738353648 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.12, Z:-1.02 [[ 9.89421810e-01 -1.27388725e-01 -6.94016893e-02 4.04617286e+00] [ 1.27593914e-01 9.91825379e-01 -1.48656292e-03 -1.19168957e-01] [ 6.90237282e-02 -7.38439536e-03 9.97587688e-01 -1.01588468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.511346184 meters Centerline goodness [0,1] 0.8313545150501672 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.12, Z:-1.02 [[ 9.89389142e-01 -1.27591462e-01 -6.94949315e-02 4.04624272e+00] [ 1.27753946e-01 9.91803628e-01 -2.11969169e-03 -1.16708081e-01] [ 6.91957798e-02 -6.78105178e-03 9.97580053e-01 -1.01570252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.541346184 meters Centerline goodness [0,1] 0.8269577240541333 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.12, Z:-1.02 [[ 9.89754109e-01 -1.24600899e-01 -6.97238883e-02 4.04492767e+00] [ 1.24965123e-01 9.92160754e-01 8.69470540e-04 -1.15502073e-01] [ 6.90689687e-02 -9.57361634e-03 9.97565949e-01 -1.01502231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.571346184 meters Centerline goodness [0,1] 0.8296114570883395 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.11, Z:-1.01 [[ 9.90093687e-01 -1.21707546e-01 -7.00125992e-02 4.04384467e+00] [ 1.22236459e-01 9.92495506e-01 3.30446979e-03 -1.12042326e-01] [ 6.90850111e-02 -1.18298269e-02 9.97540634e-01 -1.01441954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.601346184 meters Centerline goodness [0,1] 0.8220950224346878 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.11, Z:-1.01 [[ 9.90074416e-01 -1.21833252e-01 -7.00664682e-02 4.04422642e+00] [ 1.22338264e-01 9.92484090e-01 2.94606531e-03 -1.10848763e-01] [ 6.91809262e-02 -1.14886340e-02 9.97537975e-01 -1.01468548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.631346184 meters Centerline goodness [0,1] 0.8227440921705491 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.11, Z:-1.02 [[ 9.90063287e-01 -1.21913795e-01 -7.00836291e-02 4.04469498e+00] [ 1.22403353e-01 9.92476717e-01 2.71765689e-03 -1.10336656e-01] [ 6.92250503e-02 -1.12691235e-02 9.97537417e-01 -1.01516063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.661346184 meters Centerline goodness [0,1] 0.8345836301915259 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-1.02 [[ 9.90088253e-01 -1.21590640e-01 -7.02920240e-02 4.04637656e+00] [ 1.22092427e-01 9.92514583e-01 2.87079901e-03 -1.09815222e-01] [ 6.94167966e-02 -1.14244681e-02 9.97522326e-01 -1.01659469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.691346184 meters Centerline goodness [0,1] 0.8212048597973683 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.11, Z:-1.02 [[ 9.90179044e-01 -1.20542830e-01 -7.08158695e-02 4.04901176e+00] [ 1.21074868e-01 9.92638046e-01 3.25346753e-03 -1.06755118e-01] [ 6.99023442e-02 -1.17955374e-02 9.97484099e-01 -1.01858644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.721346184 meters Centerline goodness [0,1] 0.8338484829369835 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-1.02 [[ 9.90189839e-01 -1.20314680e-01 -7.10525131e-02 4.04986986e+00] [ 1.20822867e-01 9.92669898e-01 2.88258132e-03 -1.03915848e-01] [ 7.01848740e-02 -1.14390711e-02 9.97468411e-01 -1.01890796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.751346184 meters Centerline goodness [0,1] 0.8344974572158096 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-1.02 [[ 9.90209538e-01 -1.19991846e-01 -7.13233963e-02 4.05082160e+00] [ 1.20479424e-01 9.92712528e-01 2.55828817e-03 -1.01081826e-01] [ 7.04966553e-02 -1.11262431e-02 9.97449963e-01 -1.01926025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.781346184 meters Centerline goodness [0,1] 0.8358822283414531 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.10, Z:-1.02 [[ 9.90223176e-01 -1.19767710e-01 -7.15105441e-02 4.05146323e+00] [ 1.20223891e-01 9.92744595e-01 2.09390221e-03 -9.81433466e-02] [ 7.07409243e-02 -1.06707064e-02 9.97437646e-01 -1.01945489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.811346184 meters Centerline goodness [0,1] 0.8510873493335601 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:-1.02 [[ 0.99054705 -0.11681997 -0.07190023 4.05324871] [ 0.11742807 0.99307219 0.00427478 -0.09481525] [ 0.07090274 -0.01267747 0.99740267 -1.02116302] [ 0. 0. 0. 1. ]] SLAMing on 156.841346184 meters Centerline goodness [0,1] 0.8548407724772988 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.09, Z:-1.02 [[ 0.99055468 -0.11667494 -0.07203044 4.05418581] [ 0.1172703 0.99309166 0.00407786 -0.09373069] [ 0.07105705 -0.01248637 0.9973941 -1.02186306] [ 0. 0. 0. 1. ]] SLAMing on 156.871346184 meters Centerline goodness [0,1] 0.8651079520023871 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.09, Z:-1.02 [[ 9.90560509e-01 -1.16521487e-01 -7.21984824e-02 4.05518975e+00] [ 1.17105860e-01 9.93111780e-01 3.90007391e-03 -9.27812751e-02] [ 7.12467209e-02 -1.23181246e-02 9.97382659e-01 -1.02248766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.901346184 meters Centerline goodness [0,1] 0.8712457392758377 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.09, Z:-1.02 [[ 9.90621827e-01 -1.15967892e-01 -7.22484847e-02 4.05598380e+00] [ 1.16522754e-01 9.93181860e-01 3.49871505e-03 -8.91448026e-02] [ 7.13501458e-02 -1.18844959e-02 9.97380527e-01 -1.02301019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.931346184 meters Centerline goodness [0,1] 0.8770368782161235 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.09, Z:-1.02 [[ 9.90609114e-01 -1.15981806e-01 -7.24003049e-02 4.05641925e+00] [ 1.16498487e-01 9.93186516e-01 2.94055364e-03 -8.62873629e-02] [ 7.15659559e-02 -1.13474652e-02 9.97371320e-01 -1.02305597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.961346184 meters Centerline goodness [0,1] 0.8757000321853878 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.02 [[ 9.90634225e-01 -1.15574975e-01 -7.27066542e-02 4.05772827e+00] [ 1.16091200e-01 9.93234323e-01 2.90048443e-03 -8.40161690e-02] [ 7.18795210e-02 -1.13139219e-02 9.97349151e-01 -1.02373825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99134618399998 meters Centerline goodness [0,1] 0.8757000321853878 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.02 [[ 9.90634225e-01 -1.15574975e-01 -7.27066542e-02 4.05772827e+00] [ 1.16091200e-01 9.93234323e-01 2.90048443e-03 -8.40161690e-02] [ 7.18795210e-02 -1.13139219e-02 9.97349151e-01 -1.02373825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02134618399998 meters Centerline goodness [0,1] 0.874731090267619 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.02 [[ 9.90621956e-01 -1.15553458e-01 -7.29077447e-02 4.05830798e+00] [ 1.16040020e-01 9.93241494e-01 2.45929392e-03 -8.17004382e-02] [ 7.21308174e-02 -1.08964467e-02 9.97335657e-01 -1.02382764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05134618399998 meters Centerline goodness [0,1] 0.8784380451872752 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.02 [[ 9.90624871e-01 -1.15330092e-01 -7.32211334e-02 4.05948430e+00] [ 1.15807813e-01 9.93268980e-01 2.29847863e-03 -7.99473168e-02] [ 7.24631968e-02 -1.07565094e-02 9.97313082e-01 -1.02439047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08134618399998 meters Centerline goodness [0,1] 0.8792653747494126 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.03 [[ 9.90621588e-01 -1.15283872e-01 -7.33382503e-02 4.06030341e+00] [ 1.15748826e-01 9.93276280e-01 2.10735643e-03 -7.86723020e-02] [ 7.26022002e-02 -1.05764091e-02 9.97304898e-01 -1.02502550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11134618399998 meters Centerline goodness [0,1] 0.8800947867298579 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.03 [[ 9.90630563e-01 -1.15124554e-01 -7.34671667e-02 4.06204502e+00] [ 1.15594563e-01 9.93294123e-01 2.16374283e-03 -7.82210611e-02] [ 7.27254050e-02 -1.06358748e-02 9.97295289e-01 -1.02666049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14134618399999 meters Centerline goodness [0,1] 0.877197523673936 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.03 [[ 9.90615374e-01 -1.15147912e-01 -7.36351699e-02 4.06280968e+00] [ 1.15605717e-01 9.93293226e-01 1.97134106e-03 -7.72684775e-02] [ 7.29143196e-02 -1.04654874e-02 9.97283298e-01 -1.02711682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.171346184 meters Centerline goodness [0,1] 0.8752592912705273 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.08, Z:-1.03 [[ 9.90600385e-01 -1.15194352e-01 -7.37640662e-02 4.06329745e+00] [ 1.15631934e-01 9.93290718e-01 1.67503481e-03 -7.54228963e-02] [ 7.30762077e-02 -1.01887718e-02 9.97274314e-01 -1.02732502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.201346184 meters Centerline goodness [0,1] 0.8740910664819945 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.07, Z:-1.03 [[ 9.90576355e-01 -1.15322248e-01 -7.38868340e-02 4.06344971e+00] [ 1.15727083e-01 9.93280315e-01 1.20715508e-03 -7.35624800e-02] [ 7.32511259e-02 -9.74648704e-03 9.97265902e-01 -1.02706883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.231346184 meters Centerline goodness [0,1] 0.8826571459482851 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.07, Z:-1.03 [[ 9.90580605e-01 -1.15066354e-01 -7.42280201e-02 4.06496691e+00] [ 1.15456876e-01 9.93312013e-01 9.77395725e-04 -7.17729375e-02] [ 7.36191187e-02 -9.53832456e-03 9.97240816e-01 -1.02767669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.261346184 meters Centerline goodness [0,1] 0.8853095578983904 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.07, Z:-1.03 [[ 9.90578515e-01 -1.15044413e-01 -7.42898970e-02 4.06543571e+00] [ 1.15419087e-01 9.93316598e-01 7.55719732e-04 -7.09350041e-02] [ 7.37064464e-02 -9.32307180e-03 9.97236401e-01 -1.02787566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.291346184 meters Centerline goodness [0,1] 0.8819233110164334 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.07, Z:-1.03 [[ 9.90569732e-01 -1.15076115e-01 -7.43578699e-02 4.06566004e+00] [ 1.15423847e-01 9.93316259e-01 3.81838641e-04 -6.95624832e-02] [ 7.38169407e-02 -8.96090917e-03 9.97231549e-01 -1.02772096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.321346184 meters Centerline goodness [0,1] 0.8915211427078343 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90589097e-01 -1.14609595e-01 -7.48189978e-02 4.06721161e+00] [ 1.14916307e-01 9.93375155e-01 -2.06945496e-04 -6.49625211e-02] [ 7.43470516e-02 -8.39292501e-03 9.97197109e-01 -1.02787586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.351346184 meters Centerline goodness [0,1] 0.892626838918399 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90592731e-01 -1.14524397e-01 -7.49012975e-02 4.06777752e+00] [ 1.14808059e-01 9.93387556e-01 -5.21776299e-04 -6.32128104e-02] [ 7.44657730e-02 -8.08240480e-03 9.97190816e-01 -1.02813321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.381346184 meters Centerline goodness [0,1] 0.8911174785100286 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90607599e-01 -1.14379309e-01 -7.49263602e-02 4.06843671e+00] [ 1.14650998e-01 9.93405601e-01 -6.79279225e-04 -6.23135873e-02] [ 7.45099614e-02 -7.91748282e-03 9.97188838e-01 -1.02861459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.411346184 meters Centerline goodness [0,1] 0.8955442407290051 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90644644e-01 -1.14027744e-01 -7.49724132e-02 4.06997491e+00] [ 1.14298801e-01 9.93446185e-01 -6.79344676e-04 -6.14589754e-02] [ 7.45585220e-02 -7.89626778e-03 9.97185377e-01 -1.02989029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.441346184 meters Centerline goodness [0,1] 0.8941593850601143 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90636464e-01 -1.14133798e-01 -7.49191040e-02 4.07001925e+00] [ 1.14377868e-01 9.93436774e-01 -1.03878325e-03 -6.00496545e-02] [ 7.45459532e-02 -7.54003084e-03 9.97189074e-01 -1.02980645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.471346184 meters Centerline goodness [0,1] 0.8928133485153718 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90604876e-01 -1.14424699e-01 -7.48930439e-02 4.07009552e+00] [ 1.14619969e-01 9.93407959e-01 -1.69984496e-03 -5.79631137e-02] [ 7.45938501e-02 -6.90036369e-03 9.97190124e-01 -1.02956774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.501346184 meters Centerline goodness [0,1] 0.8890883222064134 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90585346e-01 -1.14587301e-01 -7.49027503e-02 4.07019455e+00] [ 1.14753831e-01 9.93391759e-01 -2.09094522e-03 -5.62557414e-02] [ 7.46473706e-02 -6.52411785e-03 9.97188651e-01 -1.02938294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.531346184 meters Centerline goodness [0,1] 0.8837234788707697 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90549842e-01 -1.14774378e-01 -7.50856396e-02 4.07120461e+00] [ 1.14933582e-01 9.93370716e-01 -2.21166829e-03 -5.59075966e-02] [ 7.48417185e-02 -6.43909385e-03 9.97174636e-01 -1.02994380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.561346184 meters Centerline goodness [0,1] 0.8784365393061045 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90544941e-01 -1.14863761e-01 -7.50135706e-02 4.07190425e+00] [ 1.15035236e-01 9.93359306e-01 -2.04516554e-03 -5.71463008e-02] [ 7.47503439e-02 -6.60337542e-03 9.97180416e-01 -1.03078548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.591346184 meters Centerline goodness [0,1] 0.8745527580832803 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.06, Z:-1.03 [[ 9.90547419e-01 -1.14918082e-01 -7.48975604e-02 4.07253417e+00] [ 1.15104900e-01 9.93351653e-01 -1.83190582e-03 -5.81123784e-02] [ 7.46101345e-02 -6.80648663e-03 9.97189550e-01 -1.03163649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.621346184 meters Centerline goodness [0,1] 0.8753623188405797 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91189243e-01 -1.17220240e-01 -6.16708966e-02 4.07800799e+00] [ 1.17363070e-01 9.93088205e-01 -1.31382413e-03 -5.79886341e-02] [ 6.13986468e-02 -5.93563742e-03 9.98095674e-01 -1.03811867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.651346184 meters Centerline goodness [0,1] 0.8718974652098401 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91187876e-01 -1.17326010e-01 -6.14914788e-02 4.07804458e+00] [ 1.17473212e-01 9.93075292e-01 -1.22842821e-03 -5.81466447e-02] [ 6.12097948e-02 -6.00599838e-03 9.98106852e-01 -1.03841707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.681346184 meters Centerline goodness [0,1] 0.8678300954889694 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91185577e-01 -1.17296336e-01 -6.15850725e-02 4.07876980e+00] [ 1.17448269e-01 9.93078325e-01 -1.15966865e-03 -5.75390274e-02] [ 6.12948255e-02 -6.08361333e-03 9.98101164e-01 -1.03895362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.711346184 meters Centerline goodness [0,1] 0.8648250703234881 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91182394e-01 -1.17273965e-01 -6.16788419e-02 4.07946482e+00] [ 1.17429670e-01 9.93080584e-01 -1.10696703e-03 -5.70012175e-02] [ 6.13818788e-02 -6.14571982e-03 9.98095434e-01 -1.03943148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74134618399998 meters Centerline goodness [0,1] 0.861305027637693 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91183691e-01 -1.17313036e-01 -6.15836145e-02 4.08034132e+00] [ 1.17484179e-01 9.93074393e-01 -8.47142830e-04 -5.88423718e-02] [ 6.12564915e-02 -6.39542623e-03 9.98101568e-01 -1.04050469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77134618399998 meters Centerline goodness [0,1] 0.8619376705695924 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91206070e-01 -1.17155767e-01 -6.15227897e-02 4.08118045e+00] [ 1.17340036e-01 9.93091602e-01 -6.21763096e-04 -5.96158114e-02] [ 6.11706089e-02 -6.60279099e-03 9.98105485e-01 -1.04149842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80134618399998 meters Centerline goodness [0,1] 0.8627979320014021 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91242455e-01 -1.16761911e-01 -6.16851071e-02 4.08282852e+00] [ 1.16972557e-01 9.93135128e-01 -1.97629243e-04 -6.01784572e-02] [ 6.12847223e-02 -7.01956620e-03 9.98095641e-01 -1.04283585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83134618399998 meters Centerline goodness [0,1] 0.8687778827769598 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91254072e-01 -1.16676571e-01 -6.16598874e-02 4.08333110e+00] [ 1.16886524e-01 9.93145256e-01 -2.03372537e-04 -6.01402024e-02] [ 6.12609535e-02 -7.00561605e-03 9.98097198e-01 -1.04324124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86134618399998 meters Centerline goodness [0,1] 0.8715812672176309 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91273573e-01 -1.16601979e-01 -6.14872489e-02 4.08320028e+00] [ 1.16798171e-01 9.93155588e-01 -4.06045568e-04 -5.93235995e-02] [ 6.11137506e-02 -6.77909596e-03 9.98107786e-01 -1.04297245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89134618399999 meters Centerline goodness [0,1] 0.8667371994092883 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91284858e-01 -1.16456703e-01 -6.15805715e-02 4.08371953e+00] [ 1.16645696e-01 9.93173450e-01 -5.29278742e-04 -5.81377622e-02] [ 6.12218267e-02 -6.65844260e-03 9.98101975e-01 -1.04306110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.921346184 meters Centerline goodness [0,1] 0.8655731937909503 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.06, Z:-1.04 [[ 9.91301570e-01 -1.16262956e-01 -6.16775607e-02 4.08442828e+00] [ 1.16457345e-01 9.93195594e-01 -4.45979692e-04 -5.74789417e-02] [ 6.13097324e-02 -6.74070460e-03 9.98096027e-01 -1.04342801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.951346184 meters Centerline goodness [0,1] 0.8701387661304578 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.04 [[ 9.91309541e-01 -1.16203167e-01 -6.16621309e-02 4.08505492e+00] [ 1.16409703e-01 9.93201249e-01 -2.44580649e-04 -5.87442518e-02] [ 6.12713265e-02 -6.93561520e-03 9.98097050e-01 -1.04392270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.981346184 meters Centerline goodness [0,1] 0.8665695621468926 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.04 [[ 9.91324311e-01 -1.16083655e-01 -6.16497739e-02 4.08576454e+00] [ 1.16307057e-01 9.93213304e-01 3.54063621e-05 -5.95926387e-02] [ 6.12272655e-02 -7.20540295e-03 9.98097843e-01 -1.04468773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.011346184 meters Centerline goodness [0,1] 0.8675435305541456 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91319640e-01 -1.16181501e-01 -6.15404772e-02 4.08617692e+00] [ 1.16406220e-01 9.93201685e-01 6.67786573e-05 -6.00481574e-02] [ 6.11143472e-02 -7.22989332e-03 9.98104586e-01 -1.04527319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.041346184 meters Centerline goodness [0,1] 0.8662501931524691 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91319601e-01 -1.16186587e-01 -6.15315090e-02 4.08681701e+00] [ 1.16423626e-01 9.93199611e-01 2.68953846e-04 -6.07237854e-02] [ 6.10818220e-02 -7.43034061e-03 9.98105105e-01 -1.04593991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.071346184 meters Centerline goodness [0,1] 0.850952748100011 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91244859e-01 -1.16849893e-01 -6.14795330e-02 4.08738876e+00] [ 1.17086530e-01 9.93121686e-01 2.48182036e-04 -6.22294135e-02] [ 6.10276574e-02 -7.44443435e-03 9.98108313e-01 -1.04673688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.101346184 meters Centerline goodness [0,1] 0.8433389879050913 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91217574e-01 -1.17158304e-01 -6.13323187e-02 4.08742070e+00] [ 1.17386889e-01 9.93086251e-01 1.24665300e-04 -6.24192359e-02] [ 6.08936769e-02 -7.32318051e-03 9.98117393e-01 -1.04698012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.131346184 meters Centerline goodness [0,1] 0.8365365563701208 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91203608e-01 -1.17269737e-01 -6.13450658e-02 4.08797686e+00] [ 1.17505352e-01 9.93072222e-01 2.34911930e-04 -6.25390157e-02] [ 6.08925327e-02 -7.44121908e-03 9.98116590e-01 -1.04755525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.161346184 meters Centerline goodness [0,1] 0.8203190227182845 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91144647e-01 -1.17877545e-01 -6.11324239e-02 4.08823796e+00] [ 1.18103906e-01 9.93001238e-01 9.00654583e-05 -6.30301405e-02] [ 6.06939559e-02 -7.30924592e-03 9.98129660e-01 -1.04834613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.191346184 meters Centerline goodness [0,1] 0.8353832637821217 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91131834e-01 -1.18043333e-01 -6.10201541e-02 4.08868096e+00] [ 1.18265978e-01 9.92981952e-01 3.73165674e-05 -6.31287710e-02] [ 6.05875067e-02 -7.25359387e-03 9.98136533e-01 -1.04903241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.221346184 meters Centerline goodness [0,1] 0.8333553210202287 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91123816e-01 -1.18164657e-01 -6.09154719e-02 4.08907751e+00] [ 1.18379175e-01 9.92968460e-01 -8.79492162e-05 -6.26847080e-02] [ 6.04975349e-02 -7.12395477e-03 9.98142924e-01 -1.04974559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.251346184 meters Centerline goodness [0,1] 0.8301061561792566 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91127880e-01 -1.18103825e-01 -6.09673088e-02 4.08982962e+00] [ 1.18312943e-01 9.92976341e-01 -1.81197837e-04 -6.15441461e-02] [ 6.05604954e-02 -7.03363151e-03 9.98139747e-01 -1.05042858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.281346184 meters Centerline goodness [0,1] 0.8286361736299034 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91116235e-01 -1.18160854e-01 -6.10460566e-02 4.09048038e+00] [ 1.18354952e-01 9.92971255e-01 -4.39293084e-04 -5.97933100e-02] [ 6.06688866e-02 -6.78971259e-03 9.98134854e-01 -1.05096173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.311346184 meters Centerline goodness [0,1] 0.8180877529005129 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91109750e-01 -1.18173693e-01 -6.11264404e-02 4.09165962e+00] [ 1.18357692e-01 9.92970835e-01 -6.14601211e-04 -5.82619969e-02] [ 6.07694022e-02 -6.62564713e-03 9.98129842e-01 -1.05203925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.341346184 meters Centerline goodness [0,1] 0.816807166596967 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91109440e-01 -1.18178654e-01 -6.11218757e-02 4.09226053e+00] [ 1.18360059e-01 9.92970526e-01 -6.56857746e-04 -5.83804354e-02] [ 6.07698476e-02 -6.58337089e-03 9.98130094e-01 -1.05259904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.371346184 meters Centerline goodness [0,1] 0.8164148291311605 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91108433e-01 -1.18219066e-01 -6.10600245e-02 4.09283008e+00] [ 1.18393607e-01 9.92966449e-01 -7.64226643e-04 -5.80862968e-02] [ 6.07209019e-02 -6.47168510e-03 9.98133803e-01 -1.05330306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.401346184 meters Centerline goodness [0,1] 0.8075503208227125 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.06, Z:-1.05 [[ 9.91099090e-01 -1.18300522e-01 -6.10539158e-02 4.09344873e+00] [ 1.18472382e-01 9.92957017e-01 -8.10157978e-04 -5.73311888e-02] [ 6.07197562e-02 -6.43025602e-03 9.98134141e-01 -1.05406696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.431346184 meters Centerline goodness [0,1] 0.8017960513283297 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.91105323e-01 -1.18139661e-01 -6.12638555e-02 4.09544626e+00] [ 1.18315882e-01 9.92975720e-01 -7.55991135e-04 -5.45133878e-02] [ 6.09228336e-02 -6.49922023e-03 9.98121320e-01 -1.05599420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.461346184 meters Centerline goodness [0,1] 0.7983556329490599 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.91094306e-01 -1.18244011e-01 -6.12407671e-02 4.09591212e+00] [ 1.18397795e-01 9.92965608e-01 -1.12434053e-03 -5.23878780e-02] [ 6.09429220e-02 -6.13644428e-03 9.98122389e-01 -1.05652728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49134618399998 meters Centerline goodness [0,1] 0.7852340086702645 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.91075025e-01 -1.18418484e-01 -6.12156617e-02 4.09626635e+00] [ 1.18547342e-01 9.92947214e-01 -1.53546322e-03 -5.02981603e-02] [ 6.09657479e-02 -5.73519470e-03 9.98123382e-01 -1.05691752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52134618399998 meters Centerline goodness [0,1] 0.8009965673790278 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.91057952e-01 -1.18621818e-01 -6.10982826e-02 4.09654079e+00] [ 1.18734334e-01 9.92924430e-01 -1.79866919e-03 -4.89427424e-02] [ 6.08793388e-02 -5.47187849e-03 9.98130134e-01 -1.05751398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55134618399998 meters Centerline goodness [0,1] 0.7871013402928296 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.90681166e-01 -1.21787982e-01 -6.09796323e-02 4.09923774e+00] [ 1.21682454e-01 9.92554091e-01 -5.45501389e-03 -4.59088671e-02] [ 6.11899387e-02 -2.01597176e-03 9.98124104e-01 -1.05939108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58134618399998 meters Centerline goodness [0,1] 0.7864703277236492 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.05, Z:-1.06 [[ 9.90681155e-01 -1.21783896e-01 -6.09879620e-02 4.10004017e+00] [ 1.21672563e-01 9.92554778e-01 -5.54981377e-03 -4.53640811e-02] [ 6.12097710e-02 -1.92246577e-03 9.98123073e-01 -1.06023110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61134618399998 meters Centerline goodness [0,1] 0.7874506498691389 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.04, Z:-1.06 [[ 9.90695636e-01 -1.21533709e-01 -6.12512357e-02 4.10158678e+00] [ 1.21417100e-01 9.92585575e-01 -5.63604297e-03 -4.33774137e-02] [ 6.14820622e-02 -1.85334426e-03 9.98106468e-01 -1.06142592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64134618399999 meters Centerline goodness [0,1] 0.7751542795814328 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.04, Z:-1.06 [[ 9.91096998e-01 -1.17945936e-01 -6.17697040e-02 4.10235616e+00] [ 1.18018229e-01 9.93008308e-01 -2.48959517e-03 -3.82220858e-02] [ 6.16314669e-02 -4.82252079e-03 9.98087324e-01 -1.06245822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.671346184 meters Centerline goodness [0,1] 0.7811875631383993 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.04, Z:-1.06 [[ 9.91454505e-01 -1.14743061e-01 -6.20644385e-02 4.10190704e+00] [ 1.15007022e-01 9.93364442e-01 6.85627005e-04 -3.72619885e-02] [ 6.15739354e-02 -7.81761424e-03 9.98071909e-01 -1.06237033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.701346184 meters Centerline goodness [0,1] 0.7871150985077319 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.04, Z:-1.06 [[ 9.91449458e-01 -1.14716116e-01 -6.21947380e-02 4.10283039e+00] [ 1.14952425e-01 9.93370973e-01 2.22843621e-04 -3.50613997e-02] [ 6.17568837e-02 -7.37037414e-03 9.98064008e-01 -1.06293441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.731346184 meters Centerline goodness [0,1] 0.7986510568225396 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.03, Z:-1.06 [[ 9.91449951e-01 -1.14655789e-01 -6.22980248e-02 4.10382313e+00] [ 1.14871396e-01 9.93380364e-01 -1.21498656e-04 -3.33502500e-02] [ 6.18995650e-02 -7.03580124e-03 9.98057584e-01 -1.06369563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.761346184 meters Centerline goodness [0,1] 0.8045134951236108 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.03, Z:-1.07 [[ 9.91528736e-01 -1.13806320e-01 -6.26010184e-02 4.10607771e+00] [ 1.14017365e-01 9.93478736e-01 -2.02322218e-04 -2.90115401e-02] [ 6.22158062e-02 -6.93699485e-03 9.98038612e-01 -1.06520585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.791346184 meters Centerline goodness [0,1] 0.8045266554560742 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.03, Z:-1.07 [[ 9.91529785e-01 -1.13727141e-01 -6.27281654e-02 4.10696087e+00] [ 1.13911128e-01 9.93490733e-01 -6.46978493e-04 -2.66394424e-02] [ 6.23934300e-02 -6.50393765e-03 9.98030440e-01 -1.06572371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.821346184 meters Centerline goodness [0,1] 0.8019344560764678 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.02, Z:-1.07 [[ 9.91538023e-01 -1.13571941e-01 -6.28789636e-02 4.10800729e+00] [ 1.13741728e-01 9.93509958e-01 -8.84333855e-04 -2.48801582e-02] [ 6.25713121e-02 -6.27511136e-03 9.98020768e-01 -1.06643816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.851346184 meters Centerline goodness [0,1] 0.8150691202050718 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.02, Z:-1.07 [[ 9.91603349e-01 -1.12731596e-01 -6.33591745e-02 4.11100776e+00] [ 1.12909656e-01 9.93604957e-01 -7.74638432e-04 -2.11869264e-02] [ 6.30413160e-02 -6.38572850e-03 9.97990488e-01 -1.06835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.881346184 meters Centerline goodness [0,1] 0.8150691202050718 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.02, Z:-1.07 [[ 9.91603349e-01 -1.12731596e-01 -6.33591745e-02 4.11100776e+00] [ 1.12909656e-01 9.93604957e-01 -7.74638432e-04 -2.11869264e-02] [ 6.30413160e-02 -6.38572850e-03 9.97990488e-01 -1.06835045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.911346184 meters Centerline goodness [0,1] 0.8155024848150193 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.02, Z:-1.07 [[ 9.91598717e-01 -1.12644783e-01 -6.35856763e-02 4.11193190e+00] [ 1.12791713e-01 9.93617822e-01 -1.28561120e-03 -1.85471392e-02] [ 6.33246786e-02 -5.89712693e-03 9.97975555e-01 -1.06861231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.941346184 meters Centerline goodness [0,1] 0.8156476063217066 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.02, Z:-1.07 [[ 9.91625492e-01 -1.12152100e-01 -6.40374072e-02 4.11384335e+00] [ 1.12300827e-01 9.93673426e-01 -1.28359169e-03 -1.64093274e-02] [ 6.37762273e-02 -5.91861157e-03 9.97946673e-01 -1.06958335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.971346184 meters Centerline goodness [0,1] 0.8167545320014798 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.01, Z:-1.07 [[ 9.91642601e-01 -1.11850247e-01 -6.42998764e-02 4.11527755e+00] [ 1.11987125e-01 9.93708551e-01 -1.48277551e-03 -1.39114415e-02] [ 6.40611859e-02 -5.73037496e-03 9.97929520e-01 -1.07046380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.001346184 meters Centerline goodness [0,1] 0.8207595407428067 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.01, Z:-1.07 [[ 9.91729503e-01 -1.10840240e-01 -6.47072982e-02 4.11791763e+00] [ 1.10984443e-01 9.93821195e-01 -1.37284643e-03 -9.42620454e-03] [ 6.44596511e-02 -5.82001117e-03 9.97903342e-01 -1.07230361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.031346184 meters Centerline goodness [0,1] 0.8235718776926481 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.01, Z:-1.07 [[ 9.91736608e-01 -1.10547698e-01 -6.50976792e-02 4.11979022e+00] [ 1.10687254e-01 9.93854200e-01 -1.46996823e-03 -7.99495689e-03] [ 6.48601035e-02 -5.74766207e-03 9.97877814e-01 -1.07341444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.061346184 meters Centerline goodness [0,1] 0.8236364484673168 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.01, Z:-1.07 [[ 9.91743640e-01 -1.10411081e-01 -6.52222738e-02 4.12110574e+00] [ 1.10547301e-01 9.93869690e-01 -1.52776406e-03 -7.05469106e-03] [ 6.49911231e-02 -5.69499603e-03 9.97869591e-01 -1.07459785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.091346184 meters Centerline goodness [0,1] 0.8198540554402817 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.01, Z:-1.08 [[ 9.91736403e-01 -1.10412217e-01 -6.53303091e-02 4.12222135e+00] [ 1.10536254e-01 9.93870597e-01 -1.72400032e-03 -5.64747963e-03] [ 6.51202240e-02 -5.51161374e-03 9.97862204e-01 -1.07559809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.121346184 meters Centerline goodness [0,1] 0.8085662906653588 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.00, Z:-1.08 [[ 9.91711861e-01 -1.10527226e-01 -6.55081385e-02 4.12358877e+00] [ 1.10631374e-01 9.93859402e-01 -2.04671897e-03 -2.88407830e-03] [ 6.53320975e-02 -5.21749986e-03 9.97849936e-01 -1.07672809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.151346184 meters Centerline goodness [0,1] 0.8071785530801925 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.00, Z:-1.08 [[ 9.91701292e-01 -1.10582399e-01 -6.55749987e-02 4.12435538e+00] [ 1.10675539e-01 9.93854108e-01 -2.22183207e-03 -2.05949329e-03] [ 6.54176774e-02 -5.05415458e-03 9.97845170e-01 -1.07738487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.181346184 meters Centerline goodness [0,1] 0.8058241063695311 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.00, Z:-1.08 [[ 9.91697358e-01 -1.10579125e-01 -6.56399892e-02 4.12508703e+00] [ 1.10656955e-01 9.93855617e-01 -2.45999163e-03 -5.09097673e-04] [ 6.55086956e-02 -4.82395415e-03 9.97840338e-01 -1.07800977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.211346184 meters Centerline goodness [0,1] 0.80660044254037 Centerline is valid? [False, False] Translation: X:4.13, Y:0.00, Z:-1.08 [[ 9.91773522e-01 -1.09729025e-01 -6.59152597e-02 4.12679436e+00] [ 1.09804140e-01 9.93950117e-01 -2.49317852e-03 4.62631809e-03] [ 6.57900541e-02 -4.76509996e-03 9.97822110e-01 -1.07874961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24134618399998 meters Centerline goodness [0,1] 0.8060555884092253 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-1.08 [[ 9.91764784e-01 -1.09648036e-01 -6.61809685e-02 4.12751565e+00] [ 1.09693630e-01 9.93961052e-01 -2.95549564e-03 7.10619097e-03] [ 6.61053694e-02 -4.32847418e-03 9.97803259e-01 -1.07867140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27134618399998 meters Centerline goodness [0,1] 0.8096434071792442 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-1.08 [[ 9.91770680e-01 -1.09440185e-01 -6.64361607e-02 4.12855905e+00] [ 1.09467532e-01 9.93985093e-01 -3.23956509e-03 8.82750215e-03] [ 6.63910919e-02 -4.05969685e-03 9.97785419e-01 -1.07894271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30134618399998 meters Centerline goodness [0,1] 0.8132770238208219 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-1.08 [[ 9.91777157e-01 -1.09247630e-01 -6.66560239e-02 4.12957440e+00] [ 1.09256551e-01 9.94007343e-01 -3.52248184e-03 1.04586150e-02] [ 6.66414000e-02 -3.78909027e-03 9.97769796e-01 -1.07931388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33134618399998 meters Centerline goodness [0,1] 0.8216237961144371 Centerline is valid? [False, False] Translation: X:4.13, Y:0.01, Z:-1.08 [[ 9.91799401e-01 -1.08682341e-01 -6.72465412e-02 4.13202437e+00] [ 1.08661987e-01 9.94070823e-01 -3.97122062e-03 1.38406349e-02] [ 6.72794261e-02 -3.36848854e-03 9.97728486e-01 -1.07990103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36134618399998 meters Centerline goodness [0,1] 0.8528697886921759 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-1.08 [[ 9.91801020e-01 -1.08582616e-01 -6.73836149e-02 4.13290790e+00] [ 1.08546818e-01 9.94082452e-01 -4.20321410e-03 1.54148414e-02] [ 6.74412651e-02 -3.14552498e-03 9.97718288e-01 -1.08050342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39134618399999 meters Centerline goodness [0,1] 0.8406563311185731 Centerline is valid? [False, False] Translation: X:4.13, Y:0.02, Z:-1.08 [[ 9.91798523e-01 -1.08470222e-01 -6.76010480e-02 4.13378974e+00] [ 1.08415682e-01 9.94095527e-01 -4.48587321e-03 1.69356854e-02] [ 6.76884831e-02 -2.87993127e-03 9.97702348e-01 -1.08076100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.421346184 meters Centerline goodness [0,1] 0.8411172598034539 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.08 [[ 9.91808301e-01 -1.08220907e-01 -6.78566877e-02 4.13506789e+00] [ 1.08161217e-01 9.94122891e-01 -4.56384965e-03 1.85038695e-02] [ 6.79517905e-02 -2.81299798e-03 9.97684640e-01 -1.08150940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.451346184 meters Centerline goodness [0,1] 0.8542070384458958 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.08 [[ 9.91844689e-01 -1.07554819e-01 -6.83818221e-02 4.13748690e+00] [ 1.07512664e-01 9.94194385e-01 -4.30717351e-03 2.04881124e-02] [ 6.84480808e-02 -3.07986468e-03 9.97649926e-01 -1.08276837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.481346184 meters Centerline goodness [0,1] 0.8289807241593725 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.08 [[ 9.91849523e-01 -1.07382949e-01 -6.85815261e-02 4.13849881e+00] [ 1.07351012e-01 9.94212472e-01 -4.16172806e-03 2.05515538e-02] [ 6.86315073e-02 -3.23448824e-03 9.97636835e-01 -1.08340724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.511346184 meters Centerline goodness [0,1] 0.8506905383087197 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.08 [[ 9.91844158e-01 -1.07413107e-01 -6.86118837e-02 4.13913645e+00] [ 1.07382994e-01 9.94209119e-01 -4.13768466e-03 2.04213398e-02] [ 6.86590020e-02 -3.26381117e-03 9.97634848e-01 -1.08395948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.541346184 meters Centerline goodness [0,1] 0.8500813085900134 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.08 [[ 9.91843593e-01 -1.07327131e-01 -6.87544514e-02 4.13996874e+00] [ 1.07313872e-01 9.94217555e-01 -3.89707911e-03 2.04172002e-02] [ 6.87751449e-02 -3.51301344e-03 9.97626001e-01 -1.08472393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.571346184 meters Centerline goodness [0,1] 0.8480552700150605 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.09 [[ 9.91836962e-01 -1.07213136e-01 -6.90274153e-02 4.14100207e+00] [ 1.07205810e-01 9.94229506e-01 -3.82136020e-03 2.08855125e-02] [ 6.90387931e-02 -3.60997368e-03 9.97607444e-01 -1.08521445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.601346184 meters Centerline goodness [0,1] 0.8433700403697776 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.09 [[ 9.91837971e-01 -1.06965308e-01 -6.93964194e-02 4.14264757e+00] [ 1.06982823e-01 9.94254797e-01 -3.47488089e-03 2.11486095e-02] [ 6.93694146e-02 -3.97770604e-03 9.97583110e-01 -1.08634874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.631346184 meters Centerline goodness [0,1] 0.8425890371508111 Centerline is valid? [False, False] Translation: X:4.14, Y:0.02, Z:-1.09 [[ 9.91818448e-01 -1.07038509e-01 -6.95623788e-02 4.14341309e+00] [ 1.07065311e-01 9.94246333e-01 -3.35374378e-03 2.07883817e-02] [ 6.95211198e-02 -4.12141274e-03 9.97571966e-01 -1.08696246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.661346184 meters Centerline goodness [0,1] 0.8291679621170449 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91428824e-01 -1.10557740e-01 -6.96123061e-02 4.14550184e+00] [ 1.10330642e-01 9.93869503e-01 -7.11063276e-03 2.08610834e-02] [ 6.99716835e-02 -6.30684152e-04 9.97548779e-01 -1.08752037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.691346184 meters Centerline goodness [0,1] 0.8373908062437347 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91426190e-01 -1.10524562e-01 -6.97024524e-02 4.14623857e+00] [ 1.10312860e-01 9.93873023e-01 -6.89103648e-03 2.01351503e-02] [ 7.00370159e-02 -8.57122815e-04 9.97544025e-01 -1.08816717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.721346184 meters Centerline goodness [0,1] 0.8375712301872337 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91412813e-01 -1.10645262e-01 -6.97012256e-02 4.14640337e+00] [ 1.10428722e-01 9.93859647e-01 -6.96416142e-03 2.01384974e-02] [ 7.00437869e-02 -7.92658414e-04 9.97543603e-01 -1.08829038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.751346184 meters Centerline goodness [0,1] 0.8336441002103653 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91404511e-01 -1.10692836e-01 -6.97437610e-02 4.14684891e+00] [ 1.10485375e-01 9.93854233e-01 -6.83710139e-03 1.97295074e-02] [ 7.00719503e-02 -9.27332421e-04 9.97541509e-01 -1.08873207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.781346184 meters Centerline goodness [0,1] 0.8117762231083308 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91408799e-01 -1.10694197e-01 -6.96806187e-02 4.14734437e+00] [ 1.10516122e-01 9.93853613e-01 -6.41745386e-03 1.85972195e-02] [ 6.99627095e-02 -1.33851151e-03 9.97548709e-01 -1.08961799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.811346184 meters Centerline goodness [0,1] 0.827507108551767 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91413014e-01 -1.10554314e-01 -6.98425360e-02 4.14817444e+00] [ 1.10386591e-01 9.93868959e-01 -6.26837058e-03 1.88751308e-02] [ 7.01073240e-02 -1.49513526e-03 9.97538334e-01 -1.09018665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.841346184 meters Centerline goodness [0,1] 0.8245262781551662 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91429197e-01 -1.10331543e-01 -6.99649815e-02 4.14880317e+00] [ 1.10165603e-01 9.93893671e-01 -6.23779270e-03 1.96263796e-02] [ 7.02259776e-02 -1.52340457e-03 9.97529945e-01 -1.09016821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.871346184 meters Centerline goodness [0,1] 0.829544911895325 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91434743e-01 -1.10162727e-01 -7.01521544e-02 4.14951007e+00] [ 1.10001069e-01 9.93912286e-01 -6.17522551e-03 1.96089771e-02] [ 7.04053678e-02 -1.59447889e-03 9.97517189e-01 -1.09035318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.901346184 meters Centerline goodness [0,1] 0.8294971586839215 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91435330e-01 -1.10099379e-01 -7.02432377e-02 4.14997368e+00] [ 1.09942577e-01 9.93919183e-01 -6.10635165e-03 1.92506669e-02] [ 7.04884069e-02 -1.66866979e-03 9.97511203e-01 -1.09053488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.931346184 meters Centerline goodness [0,1] 0.8262263926832165 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91444700e-01 -1.09896314e-01 -7.04287365e-02 4.15093899e+00] [ 1.09761686e-01 9.93941066e-01 -5.79049124e-03 1.82255028e-02] [ 7.06383670e-02 -1.98942503e-03 9.97500007e-01 -1.09109232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.961346184 meters Centerline goodness [0,1] 0.8285115603495488 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91427396e-01 -1.10136999e-01 -7.02962330e-02 4.15079123e+00] [ 1.10005393e-01 9.93914343e-01 -5.75254960e-03 1.64743422e-02] [ 7.05020028e-02 -2.02972946e-03 9.97509573e-01 -1.09115768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99134618399998 meters Centerline goodness [0,1] 0.826639031827711 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91425146e-01 -1.09972718e-01 -7.05845739e-02 4.15174053e+00] [ 1.09859179e-01 9.93931942e-01 -5.50042825e-03 1.59430076e-02] [ 7.07611596e-02 -2.30110043e-03 9.97490633e-01 -1.09157624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02134618399998 meters Centerline goodness [0,1] 0.8292561039455524 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91428944e-01 -1.09777337e-01 -7.08349171e-02 4.15287043e+00] [ 1.09682499e-01 9.93952868e-01 -5.23887197e-03 1.55582845e-02] [ 7.09816784e-02 -2.57538141e-03 9.97474295e-01 -1.09231713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05134618399998 meters Centerline goodness [0,1] 0.8241510330087864 Centerline is valid? [False, False] Translation: X:4.15, Y:0.01, Z:-1.09 [[ 9.91440198e-01 -1.09527400e-01 -7.10639385e-02 4.15398749e+00] [ 1.09459803e-01 9.93979359e-01 -4.85654977e-03 1.49099147e-02] [ 7.11680133e-02 -2.96366605e-03 9.97459939e-01 -1.09310912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08134618399998 meters Centerline goodness [0,1] 0.8269649621212121 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91458134e-01 -1.09344696e-01 -7.10950422e-02 4.15420263e+00] [ 1.09274724e-01 9.93999585e-01 -4.88456469e-03 1.51628396e-02] [ 7.12025437e-02 -2.92604973e-03 9.97457586e-01 -1.09281917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11134618399998 meters Centerline goodness [0,1] 0.8347283302596114 Centerline is valid? [False, False] Translation: X:4.15, Y:0.02, Z:-1.09 [[ 9.91459592e-01 -1.09231350e-01 -7.12487882e-02 4.15454499e+00] [ 1.09160496e-01 9.94012065e-01 -4.89915608e-03 1.51157300e-02] [ 7.13572965e-02 -2.92023777e-03 9.97446544e-01 -1.09261372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14134618399999 meters Centerline goodness [0,1] 0.840164997053624 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.09 [[ 9.91486069e-01 -1.08819937e-01 -7.15094152e-02 4.15576284e+00] [ 1.08779145e-01 9.94055864e-01 -4.47618426e-03 1.43983110e-02] [ 7.15714516e-02 -3.34065873e-03 9.97429881e-01 -1.09327581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.171346184 meters Centerline goodness [0,1] 0.8439393582156414 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.09 [[ 9.91507350e-01 -1.08387766e-01 -7.18697961e-02 4.15700399e+00] [ 1.08366433e-01 9.94102114e-01 -4.20750600e-03 1.35999343e-02] [ 7.19019584e-02 -3.61650028e-03 9.97405148e-01 -1.09354810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.201346184 meters Centerline goodness [0,1] 0.8511270803586058 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.09 [[ 9.91575035e-01 -1.07213874e-01 -7.26920595e-02 4.15988662e+00] [ 1.07233708e-01 9.94227174e-01 -3.64110367e-03 1.27352638e-02] [ 7.26627977e-02 -4.18461159e-03 9.97347786e-01 -1.09402894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.231346184 meters Centerline goodness [0,1] 0.8552397452706499 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.09 [[ 9.91588520e-01 -1.06837261e-01 -7.30616694e-02 4.16126772e+00] [ 1.06874527e-01 9.94266667e-01 -3.41044305e-03 1.28028458e-02] [ 7.30071449e-02 -4.42667521e-03 9.97321594e-01 -1.09463601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.261346184 meters Centerline goodness [0,1] 0.8587611698759293 Centerline is valid? [False, False] Translation: X:4.16, Y:0.01, Z:-1.10 [[ 9.91595090e-01 -1.06473253e-01 -7.35025474e-02 4.16293464e+00] [ 1.06527461e-01 9.94304632e-01 -3.19364793e-03 1.33692362e-02] [ 7.34239615e-02 -4.66323414e-03 9.97289916e-01 -1.09548617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.291346184 meters Centerline goodness [0,1] 0.8574605032182563 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91650018e-01 -1.05647819e-01 -7.39512005e-02 4.16531850e+00] [ 1.05759131e-01 9.94388832e-01 -2.42007034e-03 1.33354372e-02] [ 7.37919230e-02 -5.42115193e-03 9.97258925e-01 -1.09715568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.321346184 meters Centerline goodness [0,1] 0.8563904494382022 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91665401e-01 -1.05353738e-01 -7.41641535e-02 4.16644876e+00] [ 1.05498745e-01 9.94417484e-01 -1.97054022e-03 1.21235065e-02] [ 7.39577347e-02 -5.87010857e-03 9.97244100e-01 -1.09793733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.351346184 meters Centerline goodness [0,1] 0.8636331767510341 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91669307e-01 -1.05233294e-01 -7.42828354e-02 4.16724278e+00] [ 1.05396802e-01 9.94428747e-01 -1.72637110e-03 1.10426172e-02] [ 7.40506586e-02 -6.11718404e-03 9.97235719e-01 -1.09851182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.381346184 meters Centerline goodness [0,1] 0.8666308712298068 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91672259e-01 -1.05001885e-01 -7.45703343e-02 4.16850581e+00] [ 1.05189348e-01 9.94451198e-01 -1.42002949e-03 1.01562435e-02] [ 7.43056640e-02 -6.43580101e-03 9.97214746e-01 -1.09922852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.411346184 meters Centerline goodness [0,1] 0.8652732368052312 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91694644e-01 -1.04655752e-01 -7.47589848e-02 4.16977480e+00] [ 1.04869276e-01 9.94485435e-01 -1.07440719e-03 1.01291159e-02] [ 7.44591644e-02 -6.77443674e-03 9.97201053e-01 -1.10017603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.441346184 meters Centerline goodness [0,1] 0.8644079702170503 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91695088e-01 -1.04518199e-01 -7.49452991e-02 4.17058152e+00] [ 1.04747486e-01 9.94498465e-01 -8.75575538e-04 9.85033112e-03] [ 7.46244985e-02 -6.98202774e-03 9.97187262e-01 -1.10063088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.471346184 meters Centerline goodness [0,1] 0.8681575746233742 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91681681e-01 -1.04425019e-01 -7.52519692e-02 4.17182848e+00] [ 1.04682460e-01 9.94505559e-01 -5.26026564e-04 8.83563758e-03] [ 7.48934320e-02 -7.35591032e-03 9.97164412e-01 -1.10142512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.501346184 meters Centerline goodness [0,1] 0.8654295051353875 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91664071e-01 -1.04361717e-01 -7.55711758e-02 4.17313770e+00] [ 1.04659228e-01 9.94508142e-01 -2.35771235e-05 7.27051345e-03] [ 7.51586103e-02 -7.88584032e-03 9.97140410e-01 -1.10235609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.531346184 meters Centerline goodness [0,1] 0.8612733028491031 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91602393e-01 -1.04876146e-01 -7.56682819e-02 4.17352583e+00] [ 1.05189082e-01 9.94452228e-01 1.51027390e-04 6.03075976e-03] [ 7.52326524e-02 -8.10923624e-03 9.97133034e-01 -1.10296093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.561346184 meters Centerline goodness [0,1] 0.8575745508210546 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91564153e-01 -1.05153452e-01 -7.57844462e-02 4.17372833e+00] [ 1.05450854e-01 9.94424513e-01 -7.76335852e-05 6.43997614e-03] [ 7.53700744e-02 -7.91455591e-03 9.97124221e-01 -1.10287791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.591346184 meters Centerline goodness [0,1] 0.857183025985894 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91531388e-01 -1.05272616e-01 -7.60472421e-02 4.17431475e+00] [ 1.05560665e-01 9.94412838e-01 -2.33118561e-04 7.09001855e-03] [ 7.56468948e-02 -7.79645309e-03 9.97104188e-01 -1.10286339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.621346184 meters Centerline goodness [0,1] 0.8524806019280508 Centerline is valid? [False, False] Translation: X:4.17, Y:0.01, Z:-1.10 [[ 9.91496845e-01 -1.05570281e-01 -7.60849653e-02 4.17434372e+00] [ 1.05838094e-01 9.94383242e-01 -5.14976826e-04 7.42696567e-03] [ 7.57119808e-02 -7.54208979e-03 9.97101205e-01 -1.10274790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.651346184 meters Centerline goodness [0,1] 0.8520701721425049 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91480010e-01 -1.05523834e-01 -7.63682603e-02 4.17538580e+00] [ 1.05796268e-01 9.94387710e-01 -4.80807475e-04 7.34461665e-03] [ 7.59903961e-02 -7.60276593e-03 9.97079564e-01 -1.10315717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.681346184 meters Centerline goodness [0,1] 0.851687242798354 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91446775e-01 -1.05813721e-01 -7.63986239e-02 4.17532333e+00] [ 1.06057957e-01 9.94359574e-01 -8.64766859e-04 8.11976964e-03] [ 7.60592073e-02 -7.24531165e-03 9.97076979e-01 -1.10290489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.711346184 meters Centerline goodness [0,1] 0.8500919247631169 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91422058e-01 -1.05918297e-01 -7.65742615e-02 4.17564986e+00] [ 1.06146177e-01 9.94349928e-01 -1.09944561e-03 8.75663109e-03] [ 7.62580628e-02 -7.03805052e-03 9.97063275e-01 -1.10269463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74134618399998 meters Centerline goodness [0,1] 0.854370992078461 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91383880e-01 -1.06151580e-01 -7.67453245e-02 4.17583217e+00] [ 1.06356332e-01 9.94327058e-01 -1.42596059e-03 9.15521226e-03] [ 7.64613206e-02 -6.74867684e-03 9.97049709e-01 -1.10232796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77134618399998 meters Centerline goodness [0,1] 0.854370992078461 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91383880e-01 -1.06151580e-01 -7.67453245e-02 4.17583217e+00] [ 1.06356332e-01 9.94327058e-01 -1.42596059e-03 9.15521226e-03] [ 7.64613206e-02 -6.74867684e-03 9.97049709e-01 -1.10232796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80134618399998 meters Centerline goodness [0,1] 0.8544209656475032 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91341516e-01 -1.06534599e-01 -7.67618288e-02 4.17630603e+00] [ 1.06748110e-01 9.94285209e-01 -1.32803794e-03 7.77703033e-03] [ 7.64646330e-02 -6.87764103e-03 9.97048574e-01 -1.10315721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83134618399998 meters Centerline goodness [0,1] 0.8353498903276021 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91316442e-01 -1.06649105e-01 -7.69264643e-02 4.17700902e+00] [ 1.06868203e-01 9.94272378e-01 -1.27462825e-03 7.46877928e-03] [ 7.66217966e-02 -6.95743303e-03 9.97035954e-01 -1.10370492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86134618399998 meters Centerline goodness [0,1] 0.8484855633138328 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91290752e-01 -1.06698386e-01 -7.71887308e-02 4.17786467e+00] [ 1.06922463e-01 9.94266594e-01 -1.23583323e-03 7.89950433e-03] [ 7.68780378e-02 -7.02813917e-03 9.97015733e-01 -1.10416157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89134618399999 meters Centerline goodness [0,1] 0.8426098661062177 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91249396e-01 -1.06798883e-01 -7.75798522e-02 4.17876191e+00] [ 1.07020653e-01 9.94255941e-01 -1.30531747e-03 8.53374457e-03] [ 7.72736354e-02 -7.00875126e-03 9.96985287e-01 -1.10435188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.921346184 meters Centerline goodness [0,1] 0.8444313494401886 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.10 [[ 9.91236570e-01 -1.06670638e-01 -7.79194278e-02 4.17988473e+00] [ 1.06911464e-01 9.94267951e-01 -1.08630733e-03 7.88364449e-03] [ 7.75886669e-02 -7.25369253e-03 9.96959068e-01 -1.10479572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.951346184 meters Centerline goodness [0,1] 0.8396800679501699 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91227295e-01 -1.06588504e-01 -7.81494703e-02 4.18078965e+00] [ 1.06843808e-01 9.94275392e-01 -9.19099148e-04 7.17638941e-03] [ 7.78000607e-02 -7.43875086e-03 9.96941230e-01 -1.10528950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.981346184 meters Centerline goodness [0,1] 0.8415324950052885 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91215508e-01 -1.06471078e-01 -7.84584344e-02 4.18181065e+00] [ 1.06741756e-01 9.94286497e-01 -7.47794217e-04 6.59989066e-03] [ 7.80897804e-02 -7.63356587e-03 9.96917105e-01 -1.10564288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.011346184 meters Centerline goodness [0,1] 0.8314545925211212 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91165810e-01 -1.06712189e-01 -7.87581441e-02 4.18231294e+00] [ 1.06964981e-01 9.94262271e-01 -1.01413212e-03 7.65185912e-03] [ 7.84144715e-02 -7.41919028e-03 9.96893237e-01 -1.10548153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.041346184 meters Centerline goodness [0,1] 0.8292058270676692 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91151006e-01 -1.06704267e-01 -7.89549437e-02 4.18290995e+00] [ 1.06960298e-01 9.94262798e-01 -9.91400970e-04 7.94696501e-03] [ 7.86077499e-02 -7.46241625e-03 9.96877693e-01 -1.10567785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.071346184 meters Centerline goodness [0,1] 0.824900805296645 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91132300e-01 -1.06764193e-01 -7.91086009e-02 4.18340168e+00] [ 1.07023844e-01 9.94255988e-01 -9.62595369e-04 7.70542358e-03] [ 7.87569709e-02 -7.51244716e-03 9.96865539e-01 -1.10578644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.101346184 meters Centerline goodness [0,1] 0.8234532746570024 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91087877e-01 -1.07146081e-01 -7.91488270e-02 4.18308598e+00] [ 1.07384883e-01 9.94216745e-01 -1.24540541e-03 7.43589881e-03] [ 7.88245295e-02 -7.26508134e-03 9.96862033e-01 -1.10519834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.131346184 meters Centerline goodness [0,1] 0.8268973135591229 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91072713e-01 -1.06995789e-01 -7.95410471e-02 4.18417321e+00] [ 1.07240114e-01 9.94232419e-01 -1.20606208e-03 7.54801313e-03] [ 7.92113313e-02 -7.33469574e-03 9.96830862e-01 -1.10533613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.161346184 meters Centerline goodness [0,1] 0.8245143058989757 Centerline is valid? [False, False] Translation: X:4.18, Y:0.01, Z:-1.11 [[ 9.91060416e-01 -1.06956153e-01 -7.97473099e-02 4.18483279e+00] [ 1.07198485e-01 9.94236856e-01 -1.24861775e-03 7.51596769e-03] [ 7.94212620e-02 -7.31133517e-03 9.96814330e-01 -1.10545636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.191346184 meters Centerline goodness [0,1] 0.8324945912896247 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.91048626e-01 -1.06901228e-01 -7.99671742e-02 4.18580821e+00] [ 1.07158889e-01 9.94241328e-01 -1.07480428e-03 6.86285581e-03] [ 7.96215674e-02 -7.50401022e-03 9.96796918e-01 -1.10607228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.221346184 meters Centerline goodness [0,1] 0.8242690608254207 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.91025468e-01 -1.06899731e-01 -8.02556454e-02 4.18674034e+00] [ 1.07154792e-01 9.94241703e-01 -1.13440996e-03 6.84365622e-03] [ 7.99147777e-02 -7.47554782e-03 9.96773668e-01 -1.10635005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.251346184 meters Centerline goodness [0,1] 0.817678777461207 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.90981114e-01 -1.07050709e-01 -8.06013535e-02 4.18749683e+00] [ 1.07259578e-01 9.94229517e-01 -1.74635650e-03 1.01029745e-02] [ 8.03231935e-02 -6.91466087e-03 9.96744888e-01 -1.10636324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.281346184 meters Centerline goodness [0,1] 0.8303011735872178 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.90944658e-01 -1.07062899e-01 -8.10322250e-02 4.18828492e+00] [ 1.07234598e-01 9.94231216e-01 -2.24261061e-03 1.20770912e-02] [ 8.08048680e-02 -6.46715508e-03 9.96708959e-01 -1.10591708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.311346184 meters Centerline goodness [0,1] 0.8342838367481049 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.90924097e-01 -1.06836563e-01 -8.15805356e-02 4.18962691e+00] [ 1.06987646e-01 9.94257132e-01 -2.52975186e-03 1.30366310e-02] [ 8.13822993e-02 -6.22131736e-03 9.96663542e-01 -1.10563703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.341346184 meters Centerline goodness [0,1] 0.8408983896788775 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.11 [[ 9.90918763e-01 -1.06797027e-01 -8.16970011e-02 4.19006283e+00] [ 1.06924750e-01 9.94263109e-01 -2.82267337e-03 1.38753087e-02] [ 8.15297675e-02 -5.93839138e-03 9.96653216e-01 -1.10560885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.371346184 meters Centerline goodness [0,1] 0.8510613151798799 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.10 [[ 9.91267732e-01 -1.03349484e-01 -8.18972947e-02 4.18886002e+00] [ 1.03720337e-01 9.94606463e-01 2.75442229e-04 1.51754382e-02] [ 8.14271118e-02 -8.76745197e-03 9.96640736e-01 -1.10480026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.401346184 meters Centerline goodness [0,1] 0.8552999762864596 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.10 [[ 9.91240706e-01 -1.03437189e-01 -8.21133995e-02 4.18892013e+00] [ 1.03734567e-01 9.94604806e-01 -6.47878354e-04 1.86051037e-02] [ 8.17373965e-02 -7.87579455e-03 9.96622782e-01 -1.10381423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.431346184 meters Centerline goodness [0,1] 0.8514569331971787 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.10 [[ 9.91199780e-01 -1.03371190e-01 -8.26885325e-02 4.18988705e+00] [ 1.03590767e-01 9.94618649e-01 -1.64192931e-03 2.16691768e-02] [ 8.24132846e-02 -6.93828849e-03 9.96574087e-01 -1.10268599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.461346184 meters Centerline goodness [0,1] 0.8621658295046064 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.91154824e-01 -1.03828486e-01 -8.26544605e-02 4.18929087e+00] [ 1.03926340e-01 9.94580074e-01 -3.12928602e-03 2.55283919e-02] [ 8.25313885e-02 -5.48836865e-03 9.96573353e-01 -1.10136464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49134618399998 meters Centerline goodness [0,1] 0.858718649708784 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.91132306e-01 -1.03871974e-01 -8.28695698e-02 4.19013803e+00] [ 1.03951305e-01 9.94576684e-01 -3.36850907e-03 2.65296025e-02] [ 8.27700356e-02 -5.27576172e-03 9.96554709e-01 -1.10171583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52134618399998 meters Centerline goodness [0,1] 0.8553059273422562 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.91102731e-01 -1.04096261e-01 -8.29418187e-02 4.19035239e+00] [ 1.04137257e-01 9.94555508e-01 -3.84353917e-03 2.80222166e-02] [ 8.28903407e-02 -4.82799129e-03 9.96546979e-01 -1.10168775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55134618399998 meters Centerline goodness [0,1] 0.8578129861426896 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 0.99107097 -0.10428517 -0.0830839 4.19071321] [ 0.10428947 0.99453769 -0.00430005 0.02970451] [ 0.0830785 -0.00440312 0.99653328 -1.1016535 ] [ 0. 0. 0. 1. ]] SLAMing on 161.58134618399998 meters Centerline goodness [0,1] 0.8445351909680519 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.91010354e-01 -1.04903105e-01 -8.30290072e-02 4.19040760e+00] [ 1.04850990e-01 9.94475375e-01 -4.99991648e-03 3.18784329e-02] [ 8.30948098e-02 -3.75070457e-03 9.96534588e-01 -1.10158344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61134618399998 meters Centerline goodness [0,1] 0.8404744148002021 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90989350e-01 -1.05186675e-01 -8.29208795e-02 4.19017283e+00] [ 1.05119067e-01 9.94446085e-01 -5.19291921e-03 3.23466077e-02] [ 8.30065699e-02 -3.57043782e-03 9.96542604e-01 -1.10166965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64134618399999 meters Centerline goodness [0,1] 0.8405932528272954 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90970812e-01 -1.05083949e-01 -8.32719262e-02 4.19125976e+00] [ 1.05027460e-01 9.94456394e-01 -5.07082408e-03 3.22991828e-02] [ 8.33431616e-02 -3.72080027e-03 9.96513960e-01 -1.10206127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.671346184 meters Centerline goodness [0,1] 0.8483791003826623 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90921985e-01 -1.05731410e-01 -8.30330566e-02 4.18972387e+00] [ 1.05600552e-01 9.94390658e-01 -5.97856061e-03 3.33442789e-02] [ 8.31994174e-02 -2.84404946e-03 9.96528860e-01 -1.10039052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.701346184 meters Centerline goodness [0,1] 0.8500350216167911 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90904981e-01 -1.05665772e-01 -8.33190428e-02 4.19003244e+00] [ 1.05497789e-01 9.94398758e-01 -6.42863388e-03 3.51008931e-02] [ 8.35316392e-02 -2.41980949e-03 9.96502188e-01 -1.09964170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.731346184 meters Centerline goodness [0,1] 0.8546590141796084 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90904306e-01 -1.05271621e-01 -8.38244714e-02 4.19134170e+00] [ 1.05083918e-01 9.94441053e-01 -6.66053020e-03 3.73082360e-02] [ 8.40596604e-02 -2.20865580e-03 9.96458276e-01 -1.09950301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.761346184 meters Centerline goodness [0,1] 0.8564284678938977 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90889057e-01 -1.05043282e-01 -8.42898949e-02 4.19216141e+00] [ 1.04831359e-01 9.94465737e-01 -6.94861756e-03 3.83780009e-02] [ 8.45533180e-02 -1.95091511e-03 9.96417046e-01 -1.09882090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.791346184 meters Centerline goodness [0,1] 0.8622689641894494 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90889013e-01 -1.04848415e-01 -8.45326833e-02 4.19293060e+00] [ 1.04651404e-01 9.94485918e-01 -6.77071645e-03 3.71291702e-02] [ 8.47764621e-02 -2.13743541e-03 9.96397703e-01 -1.09889278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.821346184 meters Centerline goodness [0,1] 0.8641205884484383 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90877318e-01 -1.04917826e-01 -8.45836329e-02 4.19315247e+00] [ 1.04725794e-01 9.94478455e-01 -6.71647677e-03 3.67675826e-02] [ 8.48212787e-02 -2.20288362e-03 9.96393746e-01 -1.09904659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.851346184 meters Centerline goodness [0,1] 0.8634599156118143 Centerline is valid? [False, False] Translation: X:4.19, Y:0.04, Z:-1.10 [[ 9.90856085e-01 -1.05009547e-01 -8.47184407e-02 4.19338522e+00] [ 1.04819197e-01 9.94468697e-01 -6.70418885e-03 3.65062401e-02] [ 8.49538412e-02 -2.23723260e-03 9.96382376e-01 -1.09898379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.881346184 meters Centerline goodness [0,1] 0.8609601231420463 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90840828e-01 -1.05149441e-01 -8.47233688e-02 4.19338559e+00] [ 1.04978806e-01 9.94453353e-01 -6.47904923e-03 3.48684685e-02] [ 8.49347066e-02 -2.47445161e-03 9.96383447e-01 -1.09910472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.911346184 meters Centerline goodness [0,1] 0.8611606497324915 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90832660e-01 -1.05184485e-01 -8.47753722e-02 4.19366369e+00] [ 1.05032823e-01 9.94449055e-01 -6.25959650e-03 3.34747738e-02] [ 8.49632012e-02 -2.70198405e-03 9.96380426e-01 -1.09929605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.941346184 meters Centerline goodness [0,1] 0.8606770207241429 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90823608e-01 -1.05140263e-01 -8.49358785e-02 4.19422282e+00] [ 1.05008680e-01 9.94453037e-01 -6.02778908e-03 3.25371916e-02] [ 8.50985057e-02 -2.94652872e-03 9.96368186e-01 -1.09958561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.971346184 meters Centerline goodness [0,1] 0.8632057324228143 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90804726e-01 -1.05225143e-01 -8.50509538e-02 4.19446661e+00] [ 1.05113581e-01 9.94443302e-01 -5.80129401e-03 3.15934465e-02] [ 8.51887933e-02 -3.19206080e-03 9.96359714e-01 -1.09971756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.001346184 meters Centerline goodness [0,1] 0.8598672704185534 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.90809939e-01 -1.05063759e-01 -8.51896246e-02 4.19506057e+00] [ 1.04981442e-01 9.94459203e-01 -5.45801267e-03 3.03935841e-02] [ 8.52910456e-02 -3.53547645e-03 9.96349807e-01 -1.10000758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.031346184 meters Centerline goodness [0,1] 0.8603853259435207 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90803500e-01 -1.05101021e-01 -8.52185396e-02 4.19498948e+00] [ 1.05032514e-01 9.94454668e-01 -5.29952920e-03 2.89670605e-02] [ 8.53029604e-02 -3.69992537e-03 9.96348190e-01 -1.09977285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.061346184 meters Centerline goodness [0,1] 0.8542106272779589 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.90797715e-01 -1.05024613e-01 -8.53798507e-02 4.19532818e+00] [ 1.04978879e-01 9.94461692e-01 -5.03773779e-03 2.76303545e-02] [ 8.54360772e-02 -3.97170189e-03 9.96335738e-01 -1.09969230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.091346184 meters Centerline goodness [0,1] 0.863245405975227 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.90796619e-01 -1.05021048e-01 -8.53969523e-02 4.19511071e+00] [ 1.04983088e-01 9.94461699e-01 -4.94773294e-03 2.58830361e-02] [ 8.54436144e-02 -4.06303866e-03 9.96334723e-01 -1.09911349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.121346184 meters Centerline goodness [0,1] 0.8666650653343582 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90772574e-01 -1.05268590e-01 -8.53711367e-02 4.19440912e+00] [ 1.05201507e-01 9.94436819e-01 -5.29679948e-03 2.56660320e-02] [ 8.54537882e-02 -3.73324860e-03 9.96335141e-01 -1.09803007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.151346184 meters Centerline goodness [0,1] 0.8649690065337577 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.10 [[ 9.90748370e-01 -1.05307443e-01 -8.56037899e-02 4.19446535e+00] [ 1.05218328e-01 9.94433576e-01 -5.56482828e-03 2.55982563e-02] [ 8.57133007e-02 -3.49374307e-03 9.96313718e-01 -1.09700459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.181346184 meters Centerline goodness [0,1] 0.865559708644815 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90700153e-01 -1.06044346e-01 -8.52514188e-02 4.19222093e+00] [ 1.05875931e-01 9.94358056e-01 -6.50721166e-03 2.63728170e-02] [ 8.54604881e-02 -2.57937774e-03 9.96338222e-01 -1.09470681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.211346184 meters Centerline goodness [0,1] 0.8630019120458892 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90696543e-01 -1.06004383e-01 -8.53430209e-02 4.19217303e+00] [ 1.05825821e-01 9.94362603e-01 -6.62641941e-03 2.59650677e-02] [ 8.55643379e-02 -2.46672445e-03 9.96329594e-01 -1.09405181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24134618399998 meters Centerline goodness [0,1] 0.870528557413921 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90690920e-01 -1.05925865e-01 -8.55056318e-02 4.19258867e+00] [ 1.05744046e-01 9.94371041e-01 -6.66558999e-03 2.58009646e-02] [ 8.57303825e-02 -2.43817202e-03 9.96315390e-01 -1.09392127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27134618399998 meters Centerline goodness [0,1] 0.8631410409597094 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90685463e-01 -1.05791793e-01 -8.57345314e-02 4.19326953e+00] [ 1.05612333e-01 9.94385216e-01 -6.63900268e-03 2.58843783e-02] [ 8.59555025e-02 -2.47746042e-03 9.96295897e-01 -1.09400767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30134618399998 meters Centerline goodness [0,1] 0.868286261369076 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90657843e-01 -1.06116587e-01 -8.56522560e-02 4.19239989e+00] [ 1.05895991e-01 9.94351665e-01 -7.12779471e-03 2.63552525e-02] [ 8.59248406e-02 -2.00902478e-03 9.96299596e-01 -1.09286488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33134618399998 meters Centerline goodness [0,1] 0.8661016542219875 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90637624e-01 -1.06362633e-01 -8.55808860e-02 4.19182520e+00] [ 1.06122808e-01 9.94325793e-01 -7.35985875e-03 2.62437636e-02] [ 8.58780962e-02 -1.79113096e-03 9.96304042e-01 -1.09221941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36134618399998 meters Centerline goodness [0,1] 0.8628657631339496 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90634645e-01 -1.06337432e-01 -8.56466573e-02 4.19203664e+00] [ 1.06104364e-01 9.94328336e-01 -7.28180880e-03 2.60959113e-02] [ 8.59352270e-02 -1.87387204e-03 9.96298964e-01 -1.09223252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39134618399999 meters Centerline goodness [0,1] 0.8639509543310104 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90619425e-01 -1.06430403e-01 -8.57071979e-02 4.19189818e+00] [ 1.06183114e-01 9.94318669e-01 -7.45189855e-03 2.64784431e-02] [ 8.60133755e-02 -1.71866174e-03 9.96292500e-01 -1.09177176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.421346184 meters Centerline goodness [0,1] 0.8571121513183034 Centerline is valid? [False, False] Translation: X:4.19, Y:0.03, Z:-1.09 [[ 9.90617377e-01 -1.06453767e-01 -8.57018492e-02 4.19165578e+00] [ 1.06208152e-01 9.94316133e-01 -7.43341209e-03 2.61475662e-02] [ 8.60060461e-02 -1.73856783e-03 9.96293098e-01 -1.09131234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.451346184 meters Centerline goodness [0,1] 0.8573334604021728 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90623481e-01 -1.06405551e-01 -8.56911740e-02 4.19168017e+00] [ 1.06184575e-01 9.94320761e-01 -7.14559930e-03 2.45340300e-02] [ 8.59648448e-02 -2.02048245e-03 9.96296122e-01 -1.09133802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.481346184 meters Centerline goodness [0,1] 0.8568911324888084 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90633353e-01 -1.06320250e-01 -8.56829273e-02 4.19172537e+00] [ 1.06124223e-01 9.94329268e-01 -6.85248919e-03 2.31097138e-02] [ 8.59256007e-02 -2.30472974e-03 9.96298891e-01 -1.09131071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.511346184 meters Centerline goodness [0,1] 0.8451407379231647 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90590938e-01 -1.06644390e-01 -8.57704358e-02 4.19114396e+00] [ 1.06461930e-01 9.94294127e-01 -6.71172396e-03 2.18735388e-02] [ 8.59968083e-02 -2.48271323e-03 9.96292319e-01 -1.09053989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.541346184 meters Centerline goodness [0,1] 0.8427320822756281 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90579804e-01 -1.06699702e-01 -8.58302171e-02 4.19101423e+00] [ 1.06529824e-01 9.94287800e-01 -6.57018737e-03 2.12784947e-02] [ 8.60409748e-02 -2.63518298e-03 9.96288114e-01 -1.09023741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.571346184 meters Centerline goodness [0,1] 0.8618854114683586 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90566651e-01 -1.06803336e-01 -8.58531144e-02 4.19081026e+00] [ 1.06639261e-01 9.94276476e-01 -6.50819797e-03 2.07549786e-02] [ 8.60568294e-02 -2.70850885e-03 9.96286548e-01 -1.08989508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.601346184 meters Centerline goodness [0,1] 0.8497228932783857 Centerline is valid? [False, False] Translation: X:4.19, Y:0.02, Z:-1.09 [[ 9.90158588e-01 -1.10499657e-01 -8.58824594e-02 4.19234757e+00] [ 1.10068334e-01 9.93876141e-01 -9.75596321e-03 1.85111330e-02] [ 8.64345578e-02 2.07011498e-04 9.96257509e-01 -1.09032066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.631346184 meters Centerline goodness [0,1] 0.8485333584443712 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.09 [[ 9.90164593e-01 -1.10412774e-01 -8.59249603e-02 4.19302800e+00] [ 1.10054952e-01 9.93885613e-01 -8.90486194e-03 1.48810481e-02] [ 8.63827923e-02 -6.39188417e-04 9.96261815e-01 -1.09123304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.661346184 meters Centerline goodness [0,1] 0.8460995909155029 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.09 [[ 9.90187163e-01 -1.10228299e-01 -8.59017073e-02 4.19367973e+00] [ 1.09947519e-01 9.93905138e-01 -8.00742109e-03 1.18905854e-02] [ 8.62607927e-02 -1.51583403e-03 9.96271438e-01 -1.09234075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.691346184 meters Centerline goodness [0,1] 0.8460995909155029 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.09 [[ 9.90187163e-01 -1.10228299e-01 -8.59017073e-02 4.19367973e+00] [ 1.09947519e-01 9.93905138e-01 -8.00742109e-03 1.18905854e-02] [ 8.62607927e-02 -1.51583403e-03 9.96271438e-01 -1.09234075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.721346184 meters Centerline goodness [0,1] 0.8429451024628689 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.09 [[ 9.90177597e-01 -1.10065575e-01 -8.62200382e-02 4.19445543e+00] [ 1.09835676e-01 9.93922061e-01 -7.42029305e-03 1.03172626e-02] [ 8.65127169e-02 -2.12262822e-03 9.96248485e-01 -1.09267293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.751346184 meters Centerline goodness [0,1] 0.8363375376506024 Centerline is valid? [False, False] Translation: X:4.19, Y:0.01, Z:-1.09 [[ 9.90170262e-01 -1.09923513e-01 -8.64851079e-02 4.19480521e+00] [ 1.09696302e-01 9.93937680e-01 -7.38976922e-03 1.05540480e-02] [ 8.67731169e-02 -2.16996682e-03 9.96225736e-01 -1.09225191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.781346184 meters Centerline goodness [0,1] 0.8453986863479059 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90168320e-01 -1.09743965e-01 -8.67349998e-02 4.19522354e+00] [ 1.09514634e-01 9.93957544e-01 -7.41246621e-03 1.09735976e-02] [ 8.70243809e-02 -2.15916256e-03 9.96203842e-01 -1.09189241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.811346184 meters Centerline goodness [0,1] 0.851065329230191 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90203348e-01 -1.09167663e-01 -8.70617597e-02 4.19654286e+00] [ 1.09010856e-01 9.94018862e-01 -6.56776412e-03 8.15276539e-03] [ 8.72580188e-02 -2.98725496e-03 9.96181266e-01 -1.09256104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.841346184 meters Centerline goodness [0,1] 0.8495448573573574 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90219729e-01 -1.08795922e-01 -8.73403404e-02 4.19765845e+00] [ 1.08680708e-01 9.94058070e-01 -6.08747954e-03 6.68856260e-03] [ 8.74836632e-02 -3.46426772e-03 9.96159931e-01 -1.09307140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.871346184 meters Centerline goodness [0,1] 0.8475885147310042 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90235489e-01 -1.08562568e-01 -8.74519617e-02 4.19829150e+00] [ 1.08486114e-01 9.94081961e-01 -5.64070284e-03 5.54906195e-03] [ 8.75467868e-02 -3.90169935e-03 9.96152768e-01 -1.09355505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.901346184 meters Centerline goodness [0,1] 0.846582006127365 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90215010e-01 -1.08713292e-01 -8.74965952e-02 4.19822451e+00] [ 1.08630171e-01 9.94065746e-01 -5.72518472e-03 5.40288720e-03] [ 8.75997719e-02 -3.83560625e-03 9.96148367e-01 -1.09332795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.931346184 meters Centerline goodness [0,1] 0.8365299153295598 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90180087e-01 -1.09184767e-01 -8.73045366e-02 4.19708094e+00] [ 1.09061256e-01 9.94015709e-01 -6.19773440e-03 6.12764660e-03] [ 8.74587791e-02 -3.38466920e-03 9.96162389e-01 -1.09228896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.961346184 meters Centerline goodness [0,1] 0.8327809932785661 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90173940e-01 -1.09341098e-01 -8.71785147e-02 4.19674736e+00] [ 1.09218705e-01 9.93998489e-01 -6.18696499e-03 5.62056271e-03] [ 8.73318014e-02 -3.39535299e-03 9.96173493e-01 -1.09212161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99134618399998 meters Centerline goodness [0,1] 0.825567029534488 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-1.09 [[ 9.90169460e-01 -1.09639191e-01 -8.68544059e-02 4.19586300e+00] [ 1.09521627e-01 9.93965498e-01 -6.13212829e-03 4.65560038e-03] [ 8.70026043e-02 -3.44058968e-03 9.96202143e-01 -1.09192318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02134618399998 meters Centerline goodness [0,1] 0.8281567218164423 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-1.09 [[ 9.90174501e-01 -1.09527174e-01 -8.69382307e-02 4.19644382e+00] [ 1.09419529e-01 9.93977445e-01 -6.01707546e-03 4.84716101e-03] [ 8.70736737e-02 -3.55478553e-03 9.96195532e-01 -1.09241010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05134618399998 meters Centerline goodness [0,1] 0.8214085559499347 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-1.09 [[ 9.90180485e-01 -1.09318204e-01 -8.71328757e-02 4.19742174e+00] [ 1.09236102e-01 9.93999350e-01 -5.72421065e-03 4.52246970e-03] [ 8.72357822e-02 -3.85005406e-03 9.96180252e-01 -1.09317170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08134618399998 meters Centerline goodness [0,1] 0.8358873883329835 Centerline is valid? [False, False] Translation: X:4.20, Y:0.00, Z:-1.09 [[ 9.90186104e-01 -1.09151471e-01 -8.72779216e-02 4.19823300e+00] [ 1.09077736e-01 9.94017291e-01 -5.62789854e-03 4.75702420e-03] [ 8.73700566e-02 -3.94741116e-03 9.96168104e-01 -1.09373601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11134618399998 meters Centerline goodness [0,1] 0.8325007003455038 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90180584e-01 -1.09158068e-01 -8.73322858e-02 4.19859907e+00] [ 1.09049903e-01 9.94018030e-01 -6.02287053e-03 6.99226680e-03] [ 8.74673116e-02 -3.55984785e-03 9.96161030e-01 -1.09396066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14134618399999 meters Centerline goodness [0,1] 0.8368475066473854 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90167015e-01 -1.09251450e-01 -8.73693430e-02 4.19877117e+00] [ 1.09116508e-01 9.94008791e-01 -6.33328854e-03 8.41367304e-03] [ 8.75378160e-02 -3.26242418e-03 9.96155855e-01 -1.09402337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.171346184 meters Centerline goodness [0,1] 0.8326785463729479 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90145817e-01 -1.09439451e-01 -8.73743013e-02 4.19881764e+00] [ 1.09260928e-01 9.93989586e-01 -6.83752696e-03 1.03857294e-02] [ 8.75974408e-02 -2.77644853e-03 9.96152087e-01 -1.09399309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.201346184 meters Centerline goodness [0,1] 0.8213877284290616 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90126435e-01 -1.09441543e-01 -8.75910517e-02 4.19944350e+00] [ 1.09228091e-01 9.93990341e-01 -7.24065203e-03 1.25723321e-02] [ 8.78570874e-02 -2.39824237e-03 9.96130203e-01 -1.09405571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.231346184 meters Centerline goodness [0,1] 0.8364692925932 Centerline is valid? [False, False] Translation: X:4.20, Y:0.01, Z:-1.09 [[ 9.90469830e-01 -1.06122326e-01 -8.77927501e-02 4.19859293e+00] [ 1.06179674e-01 9.94338794e-01 -4.02973855e-03 1.38333891e-02] [ 8.77233825e-02 -5.33047113e-03 9.96130611e-01 -1.09405708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.261346184 meters Centerline goodness [0,1] 0.8360114307130142 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.09 [[ 0.99045444 -0.10622878 -0.08783757 4.19889204] [ 0.10624985 0.99432951 -0.00444882 0.01541199] [ 0.08781208 -0.00492637 0.99612488 -1.09420059] [ 0. 0. 0. 1. ]] SLAMing on 163.291346184 meters Centerline goodness [0,1] 0.8342076912267553 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.09 [[ 0.99044193 -0.106316 -0.08787314 4.19912825] [ 0.10629802 0.99432226 -0.00489736 0.01719524] [ 0.08789489 -0.00449019 0.99611963 -1.09425261] [ 0. 0. 0. 1. ]] SLAMing on 163.321346184 meters Centerline goodness [0,1] 0.8494889548302011 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.09 [[ 9.90808738e-01 -1.03061012e-01 -8.76154806e-02 4.19736929e+00] [ 1.03288834e-01 9.94649510e-01 -1.94149946e-03 1.99017351e-02] [ 8.73467877e-02 -7.12604622e-03 9.96152477e-01 -1.09426337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.351346184 meters Centerline goodness [0,1] 0.8514283013964039 Centerline is valid? [False, False] Translation: X:4.20, Y:0.02, Z:-1.09 [[ 9.90817933e-01 -1.02640537e-01 -8.80042303e-02 4.19891260e+00] [ 1.02835025e-01 9.94695690e-01 -2.33299021e-03 2.34209435e-02] [ 8.77768879e-02 -6.73834871e-03 9.96117369e-01 -1.09482223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.381346184 meters Centerline goodness [0,1] 0.853769106617298 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.90820559e-01 -1.02356479e-01 -8.83049830e-02 4.20010662e+00] [ 1.02503527e-01 9.94728472e-01 -2.87981471e-03 2.69522257e-02] [ 8.81342486e-02 -6.19819262e-03 9.96089322e-01 -1.09518050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.411346184 meters Centerline goodness [0,1] 0.8670329670329671 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.91238374e-01 -9.80334268e-02 -8.85208016e-02 4.20053742e+00] [ 9.84598946e-02 9.95140916e-01 4.53585108e-04 3.00744807e-02] [ 8.80462051e-02 -9.16535976e-03 9.96074225e-01 -1.09609594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.441346184 meters Centerline goodness [0,1] 0.8793609857439645 Centerline is valid? [False, False] Translation: X:4.20, Y:0.03, Z:-1.10 [[ 9.91239328e-01 -9.76263340e-02 -8.89589420e-02 4.20211776e+00] [ 9.80030066e-02 9.95186110e-01 -1.34186933e-04 3.34156768e-02] [ 8.85438036e-02 -8.58523241e-03 9.96035285e-01 -1.09632297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.471346184 meters Centerline goodness [0,1] 0.8820977445411183 Centerline is valid? [False, False] Translation: X:4.20, Y:0.04, Z:-1.10 [[ 9.91244494e-01 -9.72213473e-02 -8.93440745e-02 4.20352537e+00] [ 9.75550925e-02 9.95229924e-01 -6.34019414e-04 3.68890550e-02] [ 8.89795367e-02 -8.08750119e-03 9.96000620e-01 -1.09659232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.501346184 meters Centerline goodness [0,1] 0.8851760969976905 Centerline is valid? [False, False] Translation: X:4.20, Y:0.04, Z:-1.10 [[ 9.91229678e-01 -9.70079123e-02 -8.97395687e-02 4.20470760e+00] [ 9.72856046e-02 9.95255676e-01 -1.28479377e-03 4.06814105e-02] [ 8.94384503e-02 -7.45684249e-03 9.95964437e-01 -1.09659171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.531346184 meters Centerline goodness [0,1] 0.8865313429947016 Centerline is valid? [False, False] Translation: X:4.20, Y:0.04, Z:-1.10 [[ 9.91571792e-01 -9.32553966e-02 -8.99378252e-02 4.20436205e+00] [ 9.37985020e-02 9.95589535e-01 1.82183378e-03 4.43527194e-02] [ 8.93712617e-02 -1.02425123e-02 9.95945716e-01 -1.09687095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.561346184 meters Centerline goodness [0,1] 0.8859847105933746 Centerline is valid? [False, False] Translation: X:4.20, Y:0.05, Z:-1.10 [[ 9.91537401e-01 -9.35605935e-02 -8.99999851e-02 4.20426829e+00] [ 9.40258024e-02 9.95569323e-01 9.33812127e-04 4.71876756e-02] [ 8.95138562e-02 -9.38823046e-03 9.95941329e-01 -1.09631841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.591346184 meters Centerline goodness [0,1] 0.8851451475768249 Centerline is valid? [False, False] Translation: X:4.20, Y:0.05, Z:-1.10 [[ 9.91507669e-01 -9.38659740e-02 -9.00095570e-02 4.20409677e+00] [ 9.42737673e-02 9.95546271e-01 2.80447069e-04 4.91275785e-02] [ 8.95823544e-02 -8.76360545e-03 9.95940862e-01 -1.09589732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.621346184 meters Centerline goodness [0,1] 0.8772379766004739 Centerline is valid? [False, False] Translation: X:4.20, Y:0.05, Z:-1.10 [[ 9.91464949e-01 -9.43453822e-02 -8.99789076e-02 4.20447577e+00] [ 9.46872225e-02 9.95506960e-01 -4.71470273e-04 5.22766684e-02] [ 8.96191099e-02 -8.05240660e-03 9.95943560e-01 -1.09661925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.651346184 meters Centerline goodness [0,1] 0.8743734565637302 Centerline is valid? [False, False] Translation: X:4.20, Y:0.05, Z:-1.10 [[ 9.91436829e-01 -9.46606784e-02 -8.99576065e-02 4.20482460e+00] [ 9.49703882e-02 9.95479743e-01 -8.40921654e-04 5.37867597e-02] [ 8.96305772e-02 -7.70958812e-03 9.95945240e-01 -1.09725908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.681346184 meters Centerline goodness [0,1] 0.8665407076605978 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-1.10 [[ 9.91394670e-01 -9.49353449e-02 -9.01326220e-02 4.20534269e+00] [ 9.52067354e-02 9.95456682e-01 -1.29335439e-03 5.54194165e-02] [ 8.98459058e-02 -7.29900804e-03 9.95928932e-01 -1.09750012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.711346184 meters Centerline goodness [0,1] 0.8665383381456528 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-1.10 [[ 9.91351589e-01 -9.53723804e-02 -9.01450789e-02 4.20566167e+00] [ 9.55518341e-02 9.95421723e-01 -2.33264680e-03 5.94835647e-02] [ 8.99548398e-02 -6.30105451e-03 9.95925913e-01 -1.09775648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74134618399998 meters Centerline goodness [0,1] 0.8637544215499542 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-1.10 [[ 9.91339422e-01 -9.54786992e-02 -9.01663358e-02 4.20604021e+00] [ 9.56124280e-02 9.95414572e-01 -2.84495697e-03 6.14224665e-02] [ 9.00245174e-02 -5.80070430e-03 9.95922657e-01 -1.09798583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77134618399998 meters Centerline goodness [0,1] 0.8687475188566891 Centerline is valid? [False, False] Translation: X:4.21, Y:0.06, Z:-1.10 [[ 9.91338001e-01 -9.53263462e-02 -9.03429905e-02 4.20691512e+00] [ 9.54190700e-02 9.95431714e-01 -3.30206083e-03 6.37615336e-02] [ 9.02450513e-02 -5.34698576e-03 9.95905237e-01 -1.09825325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80134618399998 meters Centerline goodness [0,1] 0.8703758875813099 Centerline is valid? [False, False] Translation: X:4.21, Y:0.07, Z:-1.10 [[ 9.91305980e-01 -9.53942777e-02 -9.06222138e-02 4.20747038e+00] [ 9.54100461e-02 9.95429330e-01 -4.16799283e-03 6.70739847e-02] [ 9.06056122e-02 -4.51451337e-03 9.95876620e-01 -1.09772722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83134618399998 meters Centerline goodness [0,1] 0.8725814536340852 Centerline is valid? [False, False] Translation: X:4.21, Y:0.07, Z:-1.10 [[ 9.91612804e-01 -9.22313496e-02 -9.05396364e-02 4.20529227e+00] [ 9.24706252e-02 9.95714195e-01 -1.55741811e-03 7.12915712e-02] [ 9.02952439e-02 -6.82790104e-03 9.95891635e-01 -1.09663055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86134618399998 meters Centerline goodness [0,1] 0.8708698161017587 Centerline is valid? [False, False] Translation: X:4.20, Y:0.07, Z:-1.10 [[ 9.91564822e-01 -9.28547086e-02 -9.04279117e-02 4.20420285e+00] [ 9.29794068e-02 9.95663976e-01 -2.84181633e-03 7.46539800e-02] [ 9.02996902e-02 -5.59008849e-03 9.95898949e-01 -1.09513087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89134618399999 meters Centerline goodness [0,1] 0.8666566181827317 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91529524e-01 -9.32793439e-02 -9.03779142e-02 4.20360714e+00] [ 9.33402964e-02 9.95627896e-01 -3.56123807e-03 7.66419901e-02] [ 9.03149625e-02 -4.90482861e-03 9.95901175e-01 -1.09437806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.921346184 meters Centerline goodness [0,1] 0.8519723567393058 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91459054e-01 -9.43040495e-02 -9.00871263e-02 4.20213287e+00] [ 9.42854023e-02 9.95535164e-01 -4.47213284e-03 7.80137675e-02] [ 9.01066423e-02 -4.05996435e-03 9.95923847e-01 -1.09349629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.951346184 meters Centerline goodness [0,1] 0.8424659266189597 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91427820e-01 -9.50481461e-02 -8.96478016e-02 4.20064211e+00] [ 9.49847052e-02 9.95466259e-01 -4.98331551e-03 7.83451140e-02] [ 8.97150166e-02 -3.57457238e-03 9.95961063e-01 -1.09300762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.981346184 meters Centerline goodness [0,1] 0.8290359168241965 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91394612e-01 -9.54611081e-02 -8.95762267e-02 4.20032296e+00] [ 9.53728110e-02 9.95427646e-01 -5.27522983e-03 7.86696550e-02] [ 8.96702318e-02 -3.31330211e-03 9.95965999e-01 -1.09287728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.011346184 meters Centerline goodness [0,1] 0.8117849114742505 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91357886e-01 -9.59673404e-02 -8.94416602e-02 4.19989623e+00] [ 9.58596081e-02 9.95379618e-01 -5.50924637e-03 7.88651354e-02] [ 8.95571133e-02 -3.11220766e-03 9.95976826e-01 -1.09301868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.041346184 meters Centerline goodness [0,1] 0.8394123606889564 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91310076e-01 -9.65237786e-02 -8.93727753e-02 4.19993418e+00] [ 9.64000968e-02 9.95326290e-01 -5.70942580e-03 8.02064084e-02] [ 8.95061682e-02 -2.95573286e-03 9.95981882e-01 -1.09391721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.071346184 meters Centerline goodness [0,1] 0.8319525727749487 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91295025e-01 -9.64384432e-02 -8.96314728e-02 4.20081117e+00] [ 9.62938192e-02 9.95335190e-01 -5.94648616e-03 8.13608844e-02] [ 8.97868288e-02 -2.73623469e-03 9.95957247e-01 -1.09407092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.101346184 meters Centerline goodness [0,1] 0.8403274035781259 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91299100e-01 -9.60485204e-02 -9.00043099e-02 4.20231338e+00] [ 9.58989803e-02 9.95373021e-01 -5.99452383e-03 8.25203902e-02] [ 9.01636270e-02 -2.68895546e-03 9.95923335e-01 -1.09455065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.131346184 meters Centerline goodness [0,1] 0.8417231487827787 Centerline is valid? [False, False] Translation: X:4.20, Y:0.08, Z:-1.09 [[ 9.91314503e-01 -9.55896213e-02 -9.03226501e-02 4.20364464e+00] [ 9.54293815e-02 9.95417506e-01 -6.10093517e-03 8.37322049e-02] [ 9.04919332e-02 -2.57148912e-03 9.95893869e-01 -1.09485548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.161346184 meters Centerline goodness [0,1] 0.8557175943600316 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91332716e-01 -9.49469337e-02 -9.07993730e-02 4.20517944e+00] [ 9.47690562e-02 9.95479487e-01 -6.27822657e-03 8.52595976e-02] [ 9.09850117e-02 -2.38115949e-03 9.95849415e-01 -1.09467407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.191346184 meters Centerline goodness [0,1] 0.8668762299062076 Centerline is valid? [False, False] Translation: X:4.20, Y:0.09, Z:-1.09 [[ 9.91688491e-01 -9.09556594e-02 -9.10000228e-02 4.20399892e+00] [ 9.10039486e-02 9.95843926e-01 -3.62716874e-03 8.83563696e-02] [ 9.09517315e-02 -4.68433990e-03 9.95844285e-01 -1.09272034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.221346184 meters Centerline goodness [0,1] 0.8695095402740427 Centerline is valid? [False, False] Translation: X:4.20, Y:0.09, Z:-1.09 [[ 9.92030926e-01 -8.68971597e-02 -9.12333616e-02 4.20342627e+00] [ 8.72951497e-02 9.96182422e-01 3.73384949e-04 8.78520333e-02] [ 9.08526250e-02 -8.33463938e-03 9.95829470e-01 -1.09263851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.251346184 meters Centerline goodness [0,1] 0.8700554813521011 Centerline is valid? [False, False] Translation: X:4.20, Y:0.09, Z:-1.09 [[ 9.92015326e-01 -8.67540799e-02 -9.15386409e-02 4.20406428e+00] [ 8.70979370e-02 9.96199725e-01 -2.39266513e-04 9.01263917e-02] [ 9.12115262e-02 -7.73547073e-03 9.95801496e-01 -1.09194578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.281346184 meters Centerline goodness [0,1] 0.871896467440245 Centerline is valid? [False, False] Translation: X:4.20, Y:0.09, Z:-1.09 [[ 9.92010228e-01 -8.67431569e-02 -9.16042195e-02 4.20423926e+00] [ 8.70154069e-02 9.96206438e-01 -1.02525642e-03 9.24502244e-02] [ 9.13456472e-02 -6.95391357e-03 9.95794967e-01 -1.09116793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.311346184 meters Centerline goodness [0,1] 0.8722440894239922 Centerline is valid? [False, False] Translation: X:4.20, Y:0.09, Z:-1.09 [[ 9.92001556e-01 -8.67497062e-02 -9.16918839e-02 4.20481034e+00] [ 8.70163666e-02 9.96206282e-01 -1.09313114e-03 9.23048478e-02] [ 9.14388596e-02 -6.89430680e-03 9.95786826e-01 -1.09145800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.341346184 meters Centerline goodness [0,1] 0.8708757323465927 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91999498e-01 -8.64938726e-02 -9.19554516e-02 4.20604872e+00] [ 8.67898045e-02 9.96226338e-01 -7.83329507e-04 9.12935799e-02] [ 9.16761960e-02 -7.20373319e-03 9.95762814e-01 -1.09217006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.371346184 meters Centerline goodness [0,1] 0.8721731085526316 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.92005132e-01 -8.62292515e-02 -9.21430049e-02 4.20723144e+00] [ 8.65534328e-02 9.96247094e-01 -4.79599404e-04 9.01601416e-02] [ 9.18385564e-02 -7.49952831e-03 9.95745669e-01 -1.09292496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.401346184 meters Centerline goodness [0,1] 0.8701048906213936 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.92007415e-01 -8.57753143e-02 -9.25412584e-02 4.20879206e+00] [ 8.61036246e-02 9.96286087e-01 -4.46483438e-04 9.05131879e-02] [ 9.22358655e-02 -7.52522290e-03 9.95708751e-01 -1.09323123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.431346184 meters Centerline goodness [0,1] 0.8763657865645166 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91988027e-01 -8.55317324e-02 -9.29735299e-02 4.20983664e+00] [ 8.58250950e-02 9.96309860e-01 -8.45850515e-04 9.22166446e-02] [ 9.27027917e-02 -7.14038845e-03 9.95668221e-01 -1.09276741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.461346184 meters Centerline goodness [0,1] 0.875823723228995 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91972352e-01 -8.52518279e-02 -9.33968867e-02 4.21078511e+00] [ 8.55052224e-02 9.96336884e-01 -1.29259097e-03 9.39297570e-02] [ 9.31649588e-02 -6.70370706e-03 9.95628119e-01 -1.09206313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49134618399998 meters Centerline goodness [0,1] 0.8780135998351535 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-1.09 [[ 9.91956421e-01 -8.50756479e-02 -9.37261563e-02 4.21136450e+00] [ 8.52879892e-02 9.96354813e-01 -1.74511278e-03 9.53644349e-02] [ 9.35329735e-02 -6.26263958e-03 9.95596486e-01 -1.09124333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52134618399998 meters Centerline goodness [0,1] 0.8815120629596181 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-1.09 [[ 9.91943641e-01 -8.49186316e-02 -9.40034030e-02 4.21135064e+00] [ 8.50730615e-02 9.96371895e-01 -2.37071752e-03 9.65095583e-02] [ 9.38636669e-02 -5.64553912e-03 9.95569053e-01 -1.08950554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55134618399998 meters Centerline goodness [0,1] 0.8790297661963127 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-1.09 [[ 9.91948449e-01 -8.47578189e-02 -9.40977540e-02 4.21176784e+00] [ 8.49289476e-02 9.96384599e-01 -2.19184439e-03 9.53918500e-02] [ 9.39433288e-02 -5.81742657e-03 9.95560550e-01 -1.08952854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58134618399998 meters Centerline goodness [0,1] 0.8790297661963127 Centerline is valid? [False, False] Translation: X:4.21, Y:0.10, Z:-1.09 [[ 9.91948449e-01 -8.47578189e-02 -9.40977540e-02 4.21176784e+00] [ 8.49289476e-02 9.96384599e-01 -2.19184439e-03 9.53918500e-02] [ 9.39433288e-02 -5.81742657e-03 9.95560550e-01 -1.08952854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61134618399998 meters Centerline goodness [0,1] 0.8782156822391438 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91954230e-01 -8.47198360e-02 -9.40710097e-02 4.21196758e+00] [ 8.49212303e-02 9.96385918e-01 -1.86750352e-03 9.34515598e-02] [ 9.38892439e-02 -6.13614787e-03 9.95563739e-01 -1.08980306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64134618399999 meters Centerline goodness [0,1] 0.8755038640273178 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91913035e-01 -8.53688056e-02 -9.39185687e-02 4.21090263e+00] [ 8.55506242e-02 9.96331620e-01 -2.09608203e-03 9.14050745e-02] [ 9.37529797e-02 -5.95566109e-03 9.95577676e-01 -1.08895648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.671346184 meters Centerline goodness [0,1] 0.8728139904610492 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91878666e-01 -8.57195264e-02 -9.39620927e-02 4.21045272e+00] [ 8.58763332e-02 9.96302959e-01 -2.38090690e-03 9.11240738e-02] [ 9.38188013e-02 -5.70754923e-03 9.95572929e-01 -1.08820729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.701346184 meters Centerline goodness [0,1] 0.8735873715501115 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91861272e-01 -8.57793077e-02 -9.40910607e-02 4.21059153e+00] [ 8.59375577e-02 9.96297691e-01 -2.37632397e-03 9.01084751e-02] [ 9.39465460e-02 -5.72897225e-03 9.95560759e-01 -1.08781970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.731346184 meters Centerline goodness [0,1] 0.877679665169457 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91885342e-01 -8.52051249e-02 -9.43586519e-02 4.21211625e+00] [ 8.54366982e-02 9.96342331e-01 -1.59035941e-03 8.70451061e-02] [ 9.41490260e-02 -6.48423747e-03 9.95536999e-01 -1.08870994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.761346184 meters Centerline goodness [0,1] 0.8773741236456342 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91888182e-01 -8.46904661e-02 -9.47911378e-02 4.21361622e+00] [ 8.49354537e-02 9.96385394e-01 -1.45446846e-03 8.71660840e-02] [ 9.45716848e-02 -6.60845822e-03 9.95496120e-01 -1.08888554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.791346184 meters Centerline goodness [0,1] 0.8799837058913387 Centerline is valid? [False, False] Translation: X:4.21, Y:0.09, Z:-1.09 [[ 9.91880534e-01 -8.42825101e-02 -9.52337350e-02 4.21491518e+00] [ 8.45209953e-02 9.96420518e-01 -1.53404096e-03 8.79063441e-02] [ 9.50221404e-02 -6.52766470e-03 9.95453757e-01 -1.08875513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.821346184 meters Centerline goodness [0,1] 0.8822779322128994 Centerline is valid? [False, False] Translation: X:4.22, Y:0.09, Z:-1.09 [[ 9.91895344e-01 -8.36988392e-02 -9.55935758e-02 4.21566120e+00] [ 8.39109674e-02 9.96471620e-01 -1.80576968e-03 8.91236401e-02] [ 9.54074261e-02 -6.23021489e-03 9.95418810e-01 -1.08771334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.851346184 meters Centerline goodness [0,1] 0.8849456064813636 Centerline is valid? [False, False] Translation: X:4.22, Y:0.09, Z:-1.09 [[ 9.91893887e-01 -8.34932177e-02 -9.57883053e-02 4.21615176e+00] [ 8.36933475e-02 9.96489681e-01 -1.93353564e-03 8.89802274e-02] [ 9.56134949e-02 -6.09898175e-03 9.95399850e-01 -1.08724779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.881346184 meters Centerline goodness [0,1] 0.8850378884198749 Centerline is valid? [False, False] Translation: X:4.22, Y:0.09, Z:-1.09 [[ 9.91892737e-01 -8.32871529e-02 -9.59794140e-02 4.21675045e+00] [ 8.35003575e-02 9.96506122e-01 -1.79996386e-03 8.77347702e-02] [ 9.57939875e-02 -6.22894430e-03 9.95381692e-01 -1.08711929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.911346184 meters Centerline goodness [0,1] 0.8822525597269625 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91899403e-01 -8.29477933e-02 -9.62041447e-02 4.21765454e+00] [ 8.32253124e-02 9.96530114e-01 -1.13130433e-03 8.46040515e-02] [ 9.59641664e-02 -6.88447991e-03 9.95360981e-01 -1.08757670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.941346184 meters Centerline goodness [0,1] 0.8805852417302799 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91889090e-01 -8.26250252e-02 -9.65874679e-02 4.21874402e+00] [ 8.29246671e-02 9.96555399e-01 -9.14636124e-04 8.42235548e-02] [ 9.63303344e-02 -7.10226603e-03 9.95324080e-01 -1.08768143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.971346184 meters Centerline goodness [0,1] 0.8830667682152831 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91879784e-01 -8.22982594e-02 -9.69612878e-02 4.21970891e+00] [ 8.26091692e-02 9.96581692e-01 -8.10362003e-04 8.39933949e-02] [ 9.66965356e-02 -7.20610974e-03 9.95287824e-01 -1.08750903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.001346184 meters Centerline goodness [0,1] 0.8838100555823456 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91867100e-01 -8.20917468e-02 -9.72656210e-02 4.22045135e+00] [ 8.24052878e-02 9.96598583e-01 -7.96012520e-04 8.35777613e-02] [ 9.70001261e-02 -7.22566286e-03 9.95258140e-01 -1.08727266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.031346184 meters Centerline goodness [0,1] 0.886230876216968 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91888521e-01 -8.14923983e-02 -9.75507559e-02 4.22187512e+00] [ 8.18965688e-02 9.96640824e-01 1.39573745e-04 8.04048651e-02] [ 9.72116916e-02 -8.12751379e-03 9.95230541e-01 -1.08822048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.061346184 meters Centerline goodness [0,1] 0.8867752706668016 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91892364e-01 -8.10492594e-02 -9.78803184e-02 4.22316809e+00] [ 8.15126741e-02 9.96672032e-01 7.38339055e-04 7.82266003e-02] [ 9.74947340e-02 -8.71083936e-03 9.95197919e-01 -1.08878830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.091346184 meters Centerline goodness [0,1] 0.8860369350478741 Centerline is valid? [False, False] Translation: X:4.22, Y:0.08, Z:-1.09 [[ 9.91897467e-01 -8.06113792e-02 -9.81897125e-02 4.22445023e+00] [ 8.11378633e-02 9.96701941e-01 1.37410468e-03 7.58970894e-02] [ 9.77551085e-02 -9.32987441e-03 9.95166766e-01 -1.08938898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.121346184 meters Centerline goodness [0,1] 0.8872955974842768 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91893620e-01 -8.02527336e-02 -9.85218035e-02 4.22567633e+00] [ 8.08752955e-02 9.96721492e-01 2.33517057e-03 7.21116921e-02] [ 9.80113952e-02 -1.02842208e-02 9.95132153e-01 -1.09014404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.151346184 meters Centerline goodness [0,1] 0.8868702098253549 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91877536e-01 -8.02199727e-02 -9.87102335e-02 4.22595111e+00] [ 8.08524247e-02 9.96723152e-01 2.41717210e-03 7.13065914e-02] [ 9.81928696e-02 -1.03785004e-02 9.95113284e-01 -1.08983348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.181346184 meters Centerline goodness [0,1] 0.88705351547813 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91864173e-01 -8.01211307e-02 -9.89245457e-02 4.22620595e+00] [ 8.07568328e-02 9.96730866e-01 2.43220996e-03 7.05144747e-02] [ 9.84062767e-02 -1.04012549e-02 9.95091965e-01 -1.08925967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.211346184 meters Centerline goodness [0,1] 0.8902863728609727 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91864107e-01 -8.01278586e-02 -9.89197592e-02 4.22556971e+00] [ 8.07593776e-02 9.96730761e-01 2.39008287e-03 6.84086098e-02] [ 9.84048546e-02 -1.03593356e-02 9.95092543e-01 -1.08798515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24134618399998 meters Centerline goodness [0,1] 0.8887141073657927 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91854467e-01 -7.99960742e-02 -9.91228795e-02 4.22589091e+00] [ 8.06310618e-02 9.96741101e-01 2.41017699e-03 6.70046545e-02] [ 9.86070434e-02 -1.03829278e-02 9.95072282e-01 -1.08741179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27134618399998 meters Centerline goodness [0,1] 0.890693503387804 Centerline is valid? [False, False] Translation: X:4.23, Y:0.07, Z:-1.09 [[ 9.91850159e-01 -8.00398322e-02 -9.91306591e-02 4.22578734e+00] [ 8.06694575e-02 9.96738131e-01 2.35307071e-03 6.56631398e-02] [ 9.86189685e-02 -1.03307101e-02 9.95071643e-01 -1.08696157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30134618399998 meters Centerline goodness [0,1] 0.8869281696450794 Centerline is valid? [False, False] Translation: X:4.23, Y:0.06, Z:-1.09 [[ 9.91836745e-01 -8.00081170e-02 -9.92903461e-02 4.22607540e+00] [ 8.06370157e-02 9.96740809e-01 2.33053799e-03 6.45106475e-02] [ 9.87802779e-02 -1.03179904e-02 9.95055775e-01 -1.08655187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33134618399998 meters Centerline goodness [0,1] 0.8868266746173723 Centerline is valid? [False, False] Translation: X:4.22, Y:0.06, Z:-1.08 [[ 9.91813164e-01 -8.04564662e-02 -9.91635258e-02 4.22478772e+00] [ 8.10246583e-02 9.96710631e-01 1.70937396e-03 6.47961259e-02] [ 9.86998103e-02 -9.73007039e-03 9.95069683e-01 -1.08493181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36134618399998 meters Centerline goodness [0,1] 0.8875065057374408 Centerline is valid? [False, False] Translation: X:4.22, Y:0.06, Z:-1.08 [[ 9.91787500e-01 -8.06689566e-02 -9.92475359e-02 4.22451055e+00] [ 8.12134340e-02 9.96695676e-01 1.45160771e-03 6.44198741e-02] [ 9.88024902e-02 -9.49991959e-03 9.95061716e-01 -1.08413794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39134618399999 meters Centerline goodness [0,1] 0.8856413307551192 Centerline is valid? [False, False] Translation: X:4.22, Y:0.06, Z:-1.08 [[ 9.91785843e-01 -8.07210400e-02 -9.92217521e-02 4.22440213e+00] [ 8.12830065e-02 9.96689733e-01 1.62770031e-03 6.24161304e-02] [ 9.87619119e-02 -9.67937245e-03 9.95064015e-01 -1.08393165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.421346184 meters Centerline goodness [0,1] 0.8853411817080108 Centerline is valid? [False, False] Translation: X:4.22, Y:0.06, Z:-1.08 [[ 9.91786626e-01 -8.08496293e-02 -9.91091586e-02 4.22439533e+00] [ 8.14467499e-02 9.96675714e-01 1.98705406e-03 5.95813370e-02] [ 9.86190388e-02 -1.00428525e-02 9.95074583e-01 -1.08424774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.451346184 meters Centerline goodness [0,1] 0.8827148341372182 Centerline is valid? [False, False] Translation: X:4.23, Y:0.06, Z:-1.08 [[ 9.91450423e-01 -8.49495756e-02 -9.90435720e-02 4.22527323e+00] [ 8.51984753e-02 9.96362512e-01 -1.72154777e-03 5.80959575e-02] [ 9.88295470e-02 -6.73153206e-03 9.95081608e-01 -1.08419734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.481346184 meters Centerline goodness [0,1] 0.8849440188568061 Centerline is valid? [False, False] Translation: X:4.23, Y:0.06, Z:-1.08 [[ 9.91427041e-01 -8.52513138e-02 -9.90183585e-02 4.22505886e+00] [ 8.55155394e-02 9.96335583e-01 -1.58050707e-03 5.65749766e-02] [ 9.87902542e-02 -6.90065089e-03 9.95084352e-01 -1.08414298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.511346184 meters Centerline goodness [0,1] 0.8835500697964881 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-1.08 [[ 9.91415294e-01 -8.53836588e-02 -9.90219438e-02 4.22497097e+00] [ 8.56714377e-02 9.96322529e-01 -1.35009743e-03 5.43951124e-02] [ 9.87730697e-02 -7.14484505e-03 9.95084334e-01 -1.08395773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.541346184 meters Centerline goodness [0,1] 0.8858064673820057 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-1.08 [[ 9.91409052e-01 -8.57078206e-02 -9.88041527e-02 4.22415542e+00] [ 8.60059980e-02 9.96293841e-01 -1.24538134e-03 5.20966710e-02] [ 9.85447077e-02 -7.26306743e-03 9.95106119e-01 -1.08353444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.571346184 meters Centerline goodness [0,1] 0.8827534223259659 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-1.08 [[ 9.91384457e-01 -8.63557631e-02 -9.84862503e-02 4.22238954e+00] [ 8.66605385e-02 9.96237192e-01 -1.18709032e-03 4.78402067e-02] [ 9.82181775e-02 -7.35800859e-03 9.95137704e-01 -1.08215199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.601346184 meters Centerline goodness [0,1] 0.8817086793919083 Centerline is valid? [False, False] Translation: X:4.22, Y:0.05, Z:-1.08 [[ 9.91383574e-01 -8.63338581e-02 -9.85143339e-02 4.22230602e+00] [ 8.66710049e-02 9.96236617e-01 -8.60181557e-04 4.54146261e-02] [ 9.82178495e-02 -7.68556644e-03 9.95135260e-01 -1.08182894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.631346184 meters Centerline goodness [0,1] 0.8847453536084963 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-1.08 [[ 9.91377038e-01 -8.62465657e-02 -9.86564654e-02 4.22253227e+00] [ 8.66122154e-02 9.96241933e-01 -5.78611945e-04 4.33495830e-02] [ 9.83356111e-02 -7.97123243e-03 9.95121383e-01 -1.08153055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.661346184 meters Centerline goodness [0,1] 0.8883911368015415 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-1.08 [[ 9.91396936e-01 -8.58181346e-02 -9.88299743e-02 4.22301212e+00] [ 8.62539086e-02 9.96273178e-01 1.37154905e-04 4.01921859e-02] [ 9.84498822e-02 -8.66044652e-03 9.95104325e-01 -1.08144602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.691346184 meters Centerline goodness [0,1] 0.8874499590025563 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-1.08 [[ 9.91400300e-01 -8.54611378e-02 -9.91051893e-02 4.22376288e+00] [ 8.59194741e-02 9.96302020e-01 3.58085586e-04 3.96607969e-02] [ 9.87080979e-02 -8.87007190e-03 9.95076898e-01 -1.08133071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.721346184 meters Centerline goodness [0,1] 0.8916782779993273 Centerline is valid? [False, False] Translation: X:4.22, Y:0.04, Z:-1.08 [[ 9.91397735e-01 -8.50301303e-02 -9.95007924e-02 4.22499174e+00] [ 8.55117720e-02 9.96336993e-01 5.78012854e-04 3.97318282e-02] [ 9.90871718e-02 -9.08152971e-03 9.95037315e-01 -1.08152227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.751346184 meters Centerline goodness [0,1] 0.8942735515524664 Centerline is valid? [False, False] Translation: X:4.23, Y:0.04, Z:-1.08 [[ 9.91412893e-01 -8.46794467e-02 -9.96487172e-02 4.22586606e+00] [ 8.51894184e-02 9.96364398e-01 8.66060688e-04 3.91013434e-02] [ 9.92130966e-02 -9.34764000e-03 9.95022303e-01 -1.08197995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.781346184 meters Centerline goodness [0,1] 0.8958756724447101 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91458031e-01 -8.41999993e-02 -9.96058876e-02 4.22671828e+00] [ 8.47893086e-02 9.96397469e-01 1.69040988e-03 3.49169776e-02] [ 9.91047218e-02 -1.01214848e-02 9.95025532e-01 -1.08289492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.811346184 meters Centerline goodness [0,1] 0.8979713746385989 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91460462e-01 -8.43120515e-02 -9.94868354e-02 4.22639183e+00] [ 8.49044852e-02 9.96387596e-01 1.72844878e-03 3.36262848e-02] [ 9.89817197e-02 -1.01605672e-02 9.95037377e-01 -1.08269048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.841346184 meters Centerline goodness [0,1] 0.8965615909199294 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91457767e-01 -8.44482769e-02 -9.93981113e-02 4.22602273e+00] [ 8.50342057e-02 9.96376641e-01 1.66535673e-03 3.29042149e-02] [ 9.88973197e-02 -1.01033703e-02 9.95046352e-01 -1.08233859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.871346184 meters Centerline goodness [0,1] 0.8977724836212031 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91439636e-01 -8.47382687e-02 -9.93321430e-02 4.22543893e+00] [ 8.53086413e-02 9.96353443e-01 1.50104920e-03 3.19608783e-02] [ 9.88427263e-02 -9.96208982e-03 9.95053201e-01 -1.08166869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.901346184 meters Centerline goodness [0,1] 0.8982094153919127 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91145315e-01 -8.82260815e-02 -9.92326758e-02 4.22673522e+00] [ 8.84571584e-02 9.96077816e-01 -2.07738531e-03 3.19211028e-02] [ 9.90267466e-02 -6.71884981e-03 9.95062089e-01 -1.08178565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.931346184 meters Centerline goodness [0,1] 0.8982094153919127 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91159911e-01 -8.80529619e-02 -9.92406532e-02 4.22721186e+00] [ 8.83272479e-02 9.96090169e-01 -1.63504087e-03 3.05814044e-02] [ 9.89966092e-02 -7.14506681e-03 9.95062118e-01 -1.08235439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.961346184 meters Centerline goodness [0,1] 0.8991405639605086 Centerline is valid? [False, False] Translation: X:4.23, Y:0.03, Z:-1.08 [[ 9.91164976e-01 -8.79434704e-02 -9.92871382e-02 4.22765911e+00] [ 8.82604513e-02 9.96096704e-01 -1.20391159e-03 2.87199831e-02] [ 9.90054673e-02 -7.56985262e-03 9.95058096e-01 -1.08276233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99134618399998 meters Centerline goodness [0,1] 0.896785907986889 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91162953e-01 -8.83089312e-02 -9.89824850e-02 4.22673994e+00] [ 8.86648041e-02 9.96061194e-01 -8.06509862e-04 2.42097825e-02] [ 9.86638342e-02 -7.97687995e-03 9.95088849e-01 -1.08246912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02134618399998 meters Centerline goodness [0,1] 0.9012846199175015 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91160707e-01 -8.83369904e-02 -9.89799376e-02 4.22662844e+00] [ 8.87070055e-02 9.96057541e-01 -6.65055053e-04 2.30863278e-02] [ 9.86484622e-02 -8.12103743e-03 9.95089207e-01 -1.08226416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05134618399998 meters Centerline goodness [0,1] 0.9009184656221372 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91160113e-01 -8.79938734e-02 -9.92910327e-02 4.22760242e+00] [ 8.84053023e-02 9.96084553e-01 -2.57109364e-04 2.21882287e-02] [ 9.89248879e-02 -8.52301721e-03 9.95058403e-01 -1.08247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08134618399998 meters Centerline goodness [0,1] 0.9012189107306419 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91160510e-01 -8.80539300e-02 -9.92338057e-02 4.22722688e+00] [ 8.84639969e-02 9.96079339e-01 -2.68860356e-04 2.14336496e-02] [ 9.88684178e-02 -8.51213532e-03 9.95064108e-01 -1.08200798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11134618399998 meters Centerline goodness [0,1] 0.900553263315829 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91167479e-01 -8.83208791e-02 -9.89264884e-02 4.22625686e+00] [ 8.87467687e-02 9.96054216e-01 -9.57580388e-05 1.81276228e-02] [ 9.85446033e-02 -8.68449393e-03 9.95094740e-01 -1.08144770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14134618399999 meters Centerline goodness [0,1] 0.9010122685077203 Centerline is valid? [False, False] Translation: X:4.23, Y:0.02, Z:-1.08 [[ 9.91170044e-01 -8.82729351e-02 -9.89435876e-02 4.22680270e+00] [ 8.87444697e-02 9.96054359e-01 3.66048601e-04 1.59318171e-02] [ 9.85208795e-02 -9.14351262e-03 9.95092977e-01 -1.08209384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.171346184 meters Centerline goodness [0,1] 0.9025990646159574 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.91173863e-01 -8.82080250e-02 -9.89632141e-02 4.22738944e+00] [ 8.87290563e-02 9.96055421e-01 8.67392987e-04 1.35681256e-02] [ 9.84963349e-02 -9.64064986e-03 9.95090714e-01 -1.08278060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.201346184 meters Centerline goodness [0,1] 0.8962235684608778 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.90829453e-01 -9.20595736e-02 -9.89041464e-02 4.22866534e+00] [ 9.22477364e-02 9.95732484e-01 -2.67869145e-03 1.24096161e-02] [ 9.87286706e-02 -6.46955724e-03 9.95093360e-01 -1.08317512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.231346184 meters Centerline goodness [0,1] 0.8944260472871268 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.90843718e-01 -9.19315696e-02 -9.88802940e-02 4.22924462e+00] [ 9.21732213e-02 9.95740707e-01 -2.13135274e-03 1.05467256e-02] [ 9.86550724e-02 -7.00227775e-03 9.95097053e-01 -1.08397623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.261346184 meters Centerline goodness [0,1] 0.8920668685981179 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.90845601e-01 -9.20139981e-02 -9.87847099e-02 4.22901022e+00] [ 9.22775854e-02 9.95731495e-01 -1.90714037e-03 9.26253929e-03] [ 9.85385305e-02 -7.22593286e-03 9.95107001e-01 -1.08395238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.291346184 meters Centerline goodness [0,1] 0.8938821578292717 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.90832011e-01 -9.21759827e-02 -9.87700114e-02 4.22864095e+00] [ 9.24567758e-02 9.95715178e-01 -1.74032630e-03 7.27107143e-03] [ 9.85072158e-02 -7.40758579e-03 9.95108766e-01 -1.08345088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.321346184 meters Centerline goodness [0,1] 0.8938831075936223 Centerline is valid? [False, False] Translation: X:4.23, Y:0.01, Z:-1.08 [[ 9.90842602e-01 -9.20034152e-02 -9.88246371e-02 4.22903071e+00] [ 9.23175081e-02 9.95728637e-01 -1.39960313e-03 5.84450568e-03] [ 9.85312895e-02 -7.73645783e-03 9.95103880e-01 -1.08370362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.351346184 meters Centerline goodness [0,1] 0.8970043911074327 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.08 [[ 9.90859082e-01 -9.17446922e-02 -9.88999072e-02 4.22956630e+00] [ 9.20986445e-02 9.95749396e-01 -9.90328608e-04 4.07637328e-03] [ 9.85703802e-02 -8.12727130e-03 9.95096894e-01 -1.08397859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.381346184 meters Centerline goodness [0,1] 0.9012819334681125 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.08 [[ 9.90886736e-01 -9.16400655e-02 -9.87196802e-02 4.22916292e+00] [ 9.20171493e-02 9.95757150e-01 -7.36203510e-04 2.19108434e-03] [ 9.83682932e-02 -8.35440926e-03 9.95115010e-01 -1.08371720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.411346184 meters Centerline goodness [0,1] 0.9001722751808889 Centerline is valid? [False, False] Translation: X:4.23, Y:0.00, Z:-1.08 [[ 9.90896857e-01 -9.13803516e-02 -9.88587410e-02 4.22983621e+00] [ 9.17998437e-02 9.95777432e-01 -3.06652800e-04 9.25642202e-04] [ 9.84693253e-02 -8.77135567e-03 9.95101430e-01 -1.08409892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.441346184 meters Centerline goodness [0,1] 0.8986160356856914 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.00, Z:-1.08 [[ 9.90909033e-01 -9.08896622e-02 -9.91884979e-02 4.23129713e+00] [ 9.13656434e-02 9.95817379e-01 2.57449817e-04 -3.32919933e-04] [ 9.87502306e-02 -9.31753028e-03 9.95068629e-01 -1.08481629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.471346184 meters Centerline goodness [0,1] 0.899788092145738 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.00, Z:-1.09 [[ 9.90944758e-01 -9.05077439e-02 -9.91808203e-02 4.23174211e+00] [ 9.10383259e-02 9.95847046e-01 8.27604030e-04 -2.91871577e-03] [ 9.86940223e-02 -9.84936571e-03 9.95069083e-01 -1.08509754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.501346184 meters Centerline goodness [0,1] 0.899788092145738 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.00, Z:-1.09 [[ 9.90944758e-01 -9.05077439e-02 -9.91808203e-02 4.23174211e+00] [ 9.10383259e-02 9.95847046e-01 8.27604030e-04 -2.91871577e-03] [ 9.86940223e-02 -9.84936571e-03 9.95069083e-01 -1.08509754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.531346184 meters Centerline goodness [0,1] 0.8994269275554236 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.00, Z:-1.09 [[ 9.90954557e-01 -9.03830180e-02 -9.91966514e-02 4.23203492e+00] [ 9.09483008e-02 9.95854914e-01 1.18210214e-03 -4.56066501e-03] [ 9.86786308e-02 -1.01931764e-02 9.95067147e-01 -1.08534697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.561346184 meters Centerline goodness [0,1] 0.8958010394820826 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.09 [[ 9.90969555e-01 -9.01636056e-02 -9.92464856e-02 4.23255675e+00] [ 9.07678477e-02 9.95870825e-01 1.58060391e-03 -6.30683738e-03] [ 9.86941665e-02 -1.05747203e-02 9.95061625e-01 -1.08565973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.591346184 meters Centerline goodness [0,1] 0.8964206885566706 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.09 [[ 9.90971221e-01 -9.00500933e-02 -9.93328745e-02 4.23298239e+00] [ 9.06846527e-02 9.95877879e-01 1.88240870e-03 -7.92444089e-03] [ 9.87539013e-02 -1.08733801e-02 9.95052479e-01 -1.08574597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.621346184 meters Centerline goodness [0,1] 0.8965579792299669 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.01, Z:-1.09 [[ 9.90656457e-01 -9.31278115e-02 -9.96343102e-02 4.23479310e+00] [ 9.34192512e-02 9.95625328e-01 -1.74662136e-03 -7.32469869e-03] [ 9.93611018e-02 -7.57746093e-03 9.95022589e-01 -1.08512128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.651346184 meters Centerline goodness [0,1] 0.89645727221279 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.01, Z:-1.09 [[ 9.90658304e-01 -9.28854823e-02 -9.98419331e-02 4.23547280e+00] [ 9.32117182e-02 9.95645323e-01 -1.40254976e-03 -8.66285587e-03] [ 9.95374302e-02 -7.91699057e-03 9.95002322e-01 -1.08514189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.681346184 meters Centerline goodness [0,1] 0.8934558239764092 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.01, Z:-1.08 [[ 9.90645182e-01 -9.29151934e-02 -9.99444402e-02 4.23539673e+00] [ 9.32625233e-02 9.95640828e-01 -1.20157574e-03 -1.01972978e-02] [ 9.96204099e-02 -8.13073546e-03 9.94992294e-01 -1.08465574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.711346184 meters Centerline goodness [0,1] 0.8943747744496572 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.01, Z:-1.09 [[ 0.99029024 -0.09609764 -0.10045141 4.2382309 ] [ 0.0961177 0.99535911 -0.00465145 -0.00952314] [ 0.10043222 -0.00504888 0.99493109 -1.0851266 ] [ 0. 0. 0. 1. ]] SLAMing on 166.74134618399998 meters Centerline goodness [0,1] 0.8926607158957713 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.01, Z:-1.08 [[ 9.90284773e-01 -9.63039620e-02 -1.00307608e-01 4.23772005e+00] [ 9.63770785e-02 9.95336334e-01 -4.12809391e-03 -1.38890525e-02] [ 1.00237358e-01 -5.57936563e-03 9.94947910e-01 -1.08478656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77134618399998 meters Centerline goodness [0,1] 0.8922019893571637 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.09 [[ 9.90304892e-01 -9.57157352e-02 -1.00671340e-01 4.23935191e+00] [ 9.58781565e-02 9.95387821e-01 -3.23497838e-03 -1.63619240e-02] [ 1.00516664e-01 -6.44856756e-03 9.94914477e-01 -1.08570275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80134618399998 meters Centerline goodness [0,1] 0.8898124227788387 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.02, Z:-1.09 [[ 9.90328999e-01 -9.54960705e-02 -1.00642803e-01 4.23958554e+00] [ 9.57454449e-02 9.95403052e-01 -2.36071916e-03 -1.97741462e-02] [ 1.00405593e-01 -7.29820135e-03 9.94919822e-01 -1.08613635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83134618399998 meters Centerline goodness [0,1] 0.8876776720761053 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.09 [[ 0.99069695 -0.0967621 -0.0956904 4.25495371] [ 0.09771614 0.99520009 0.00532381 -0.02203856] [ 0.09471595 -0.01462478 0.99539691 -1.0887868 ] [ 0. 0. 0. 1. ]] SLAMing on 166.86134618399998 meters Centerline goodness [0,1] 0.8871581397430732 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.02, Z:-1.09 [[ 0.99068707 -0.0969197 -0.09563313 4.25475657] [ 0.09788019 0.99518359 0.00539291 -0.02328979] [ 0.09464984 -0.01470327 0.99540204 -1.08850667] [ 0. 0. 0. 1. ]] SLAMing on 166.89134618399999 meters Centerline goodness [0,1] 0.8858056437547516 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:-1.09 [[ 0.99068619 -0.09683917 -0.09572378 4.25539343] [ 0.09785339 0.99518307 0.00594728 -0.0256966 ] [ 0.09468675 -0.01525879 0.99539017 -1.08900795] [ 0. 0. 0. 1. ]] SLAMing on 166.921346184 meters Centerline goodness [0,1] 0.881878144214645 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:-1.09 [[ 9.90318167e-01 -1.00534135e-01 -9.57225932e-02 4.25699270e+00] [ 1.01266914e-01 9.94855307e-01 2.81590992e-03 -2.80890441e-02] [ 9.49470348e-02 -1.24821783e-02 9.95404067e-01 -1.08964516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.951346184 meters Centerline goodness [0,1] 0.8806828311642004 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:-1.09 [[ 9.90321205e-01 -1.00277921e-01 -9.59596208e-02 4.25810155e+00] [ 1.01073398e-01 9.94872980e-01 3.45287091e-03 -3.05924327e-02] [ 9.51213872e-02 -1.31184163e-02 9.95379239e-01 -1.09023408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.981346184 meters Centerline goodness [0,1] 0.8769271900900097 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:-1.09 [[ 9.90314356e-01 -1.00203990e-01 -9.61074182e-02 4.25879567e+00] [ 1.01043087e-01 9.94874439e-01 3.89179824e-03 -3.28154902e-02] [ 9.52248401e-02 -1.35650939e-02 9.95363360e-01 -1.09057072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.011346184 meters Centerline goodness [0,1] 0.8654949944382647 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.03, Z:-1.09 [[ 9.89912965e-01 -1.04239107e-01 -9.59506627e-02 4.25956303e+00] [ 1.04771070e-01 9.94496236e-01 5.09021068e-04 -3.48272417e-02] [ 9.53695130e-02 -1.05567402e-02 9.95385961e-01 -1.09063644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.041346184 meters Centerline goodness [0,1] 0.8554251678001511 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.04, Z:-1.09 [[ 9.89884405e-01 -1.04443917e-01 -9.60225631e-02 4.26014427e+00] [ 1.05025575e-01 9.94469009e-01 1.00956038e-03 -3.74853460e-02] [ 9.53860207e-02 -1.10841730e-02 9.95378646e-01 -1.09121114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.071346184 meters Centerline goodness [0,1] 0.8465210248212779 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.04, Z:-1.09 [[ 9.89868678e-01 -1.04538544e-01 -9.60817038e-02 4.26081282e+00] [ 1.05176783e-01 9.94452272e-01 1.58833799e-03 -3.98221475e-02] [ 9.53826261e-02 -1.16778105e-02 9.95372183e-01 -1.09198623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.101346184 meters Centerline goodness [0,1] 0.8234826749062018 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.04, Z:-1.09 [[ 9.89468432e-01 -1.08244485e-01 -9.61007431e-02 4.26238928e+00] [ 1.08592660e-01 9.94085019e-01 -1.61510264e-03 -4.03242878e-02] [ 9.57071350e-02 -8.83774220e-03 9.95370302e-01 -1.09263459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.131346184 meters Centerline goodness [0,1] 0.8229512522263023 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.10 [[ 9.90653436e-01 -1.07857020e-01 -8.35022956e-02 4.26785725e+00] [ 1.08100932e-01 9.94138624e-01 -1.60797801e-03 -4.16985657e-02] [ 8.31862889e-02 -7.43372705e-03 9.96506288e-01 -1.09946866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.161346184 meters Centerline goodness [0,1] 0.8172780856866367 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.04, Z:-1.10 [[ 9.90652344e-01 -1.07901672e-01 -8.34575549e-02 4.26801738e+00] [ 1.08179869e-01 9.94130619e-01 -1.19479866e-03 -4.43479496e-02] [ 8.30966315e-02 -7.84479728e-03 9.96510617e-01 -1.09962890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.191346184 meters Centerline goodness [0,1] 0.8386160174207598 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.10 [[ 9.90670840e-01 -1.07649452e-01 -8.35636380e-02 4.26890597e+00] [ 1.07976744e-01 9.94153235e-01 -6.05994160e-04 -4.67725672e-02] [ 8.31402960e-02 -8.42258878e-03 9.96502258e-01 -1.10022551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.221346184 meters Centerline goodness [0,1] 0.8428905856870939 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.10 [[ 9.90722251e-01 -1.06860048e-01 -8.39663732e-02 4.27101347e+00] [ 1.07260079e-01 9.94230964e-01 2.54614281e-04 -4.80380559e-02] [ 8.34547601e-02 -9.25849188e-03 9.96468556e-01 -1.10156868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.251346184 meters Centerline goodness [0,1] 0.8447293136205805 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.10 [[ 9.90762961e-01 -1.06053845e-01 -8.45064339e-02 4.27330656e+00] [ 1.06502719e-01 9.94312082e-01 8.08574487e-04 -4.75451177e-02] [ 8.39400158e-02 -9.80127064e-03 9.96422606e-01 -1.10277574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.281346184 meters Centerline goodness [0,1] 0.8413764347005508 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.05, Z:-1.10 [[ 9.90770308e-01 -1.05653394e-01 -8.49208877e-02 4.27471760e+00] [ 1.06110317e-01 9.94353981e-01 8.72317170e-04 -4.66122621e-02] [ 8.43492595e-02 -9.87524824e-03 9.96387315e-01 -1.10327249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.311346184 meters Centerline goodness [0,1] 0.850437567170399 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.10 [[ 9.90804116e-01 -1.05139079e-01 -8.51644191e-02 4.27641984e+00] [ 1.05639233e-01 9.94403571e-01 1.37512689e-03 -4.67905945e-02] [ 8.45432229e-02 -1.03591853e-02 9.96365962e-01 -1.10458613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.341346184 meters Centerline goodness [0,1] 0.8503443133470766 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90812975e-01 -1.05069099e-01 -8.51477162e-02 4.27699125e+00] [ 1.05598505e-01 9.94407351e-01 1.72505828e-03 -4.80687341e-02] [ 8.44902646e-02 -1.07006817e-02 9.96366845e-01 -1.10534552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.371346184 meters Centerline goodness [0,1] 0.8484595804441324 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90809769e-01 -1.05233739e-01 -8.49815346e-02 4.27672085e+00] [ 1.05760023e-01 9.94390225e-01 1.70228286e-03 -4.87012734e-02] [ 8.43256697e-02 -1.06742875e-02 9.96381072e-01 -1.10532647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.401346184 meters Centerline goodness [0,1] 0.8431643322154271 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90804402e-01 -1.05182550e-01 -8.51073958e-02 4.27733161e+00] [ 1.05715552e-01 9.94394840e-01 1.76775829e-03 -4.88888956e-02] [ 8.44444178e-02 -1.07486781e-02 9.96370215e-01 -1.10555507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.431346184 meters Centerline goodness [0,1] 0.8469016860083205 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90812025e-01 -1.04864401e-01 -8.54107048e-02 4.27892065e+00] [ 1.05434753e-01 9.94423829e-01 2.18194744e-03 -4.94852356e-02] [ 8.47056315e-02 -1.11671563e-02 9.96343440e-01 -1.10657944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.461346184 meters Centerline goodness [0,1] 0.8393048890057634 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90821900e-01 -1.04582775e-01 -8.56411417e-02 4.28018684e+00] [ 1.05179801e-01 9.94450138e-01 2.47655243e-03 -4.99083447e-02] [ 8.49068405e-02 -1.14615406e-02 9.96322970e-01 -1.10740453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49134618399998 meters Centerline goodness [0,1] 0.8507960177185211 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90842738e-01 -1.04152429e-01 -8.59240325e-02 4.28183567e+00] [ 1.04788506e-01 9.94490261e-01 2.91366466e-03 -5.05431058e-02] [ 8.51471483e-02 -1.18908345e-02 9.96297431e-01 -1.10855450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52134618399998 meters Centerline goodness [0,1] 0.8501905471111306 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90878864e-01 -1.03700606e-01 -8.60538274e-02 4.28311035e+00] [ 1.04395112e-01 9.94529394e-01 3.59785237e-03 -5.27467831e-02] [ 8.52099614e-02 -1.25486348e-02 9.96283993e-01 -1.10961025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55134618399998 meters Centerline goodness [0,1] 0.8611220688143765 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90897574e-01 -1.03549663e-01 -8.60201482e-02 4.28351901e+00] [ 1.04262984e-01 9.94542390e-01 3.82943897e-03 -5.37219523e-02] [ 8.51541467e-02 -1.27632991e-02 9.96286038e-01 -1.10997084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58134618399998 meters Centerline goodness [0,1] 0.8568866727900976 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.05, Z:-1.11 [[ 9.90911934e-01 -1.03239163e-01 -8.62276921e-02 4.28465880e+00] [ 1.03981382e-01 9.94570590e-01 4.14898695e-03 -5.43543863e-02] [ 8.53311886e-02 -1.30773553e-02 9.96266817e-01 -1.11056819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61134618399998 meters Centerline goodness [0,1] 0.8537198574582978 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.11 [[ 0.99090093 -0.10316187 -0.08644632 4.28538263] [ 0.10394206 0.9945729 0.00456105 -0.05576512] [ 0.08550664 -0.01350496 0.99624607 -1.11076817] [ 0. 0. 0. 1. ]] SLAMing on 167.64134618399999 meters Centerline goodness [0,1] 0.8513425159096852 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.11 [[ 0.99089727 -0.1029933 -0.08668904 4.2866069 ] [ 0.1038149 0.99458401 0.0050111 -0.05675745] [ 0.08570342 -0.0139651 0.99622282 -1.11158436] [ 0. 0. 0. 1. ]] SLAMing on 167.671346184 meters Centerline goodness [0,1] 0.8366632382869772 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.11 [[ 0.9908891 -0.10304313 -0.08672318 4.28713479] [ 0.10388624 0.99457531 0.00525335 -0.05761491] [ 0.08571142 -0.01421483 0.9962186 -1.11214405] [ 0. 0. 0. 1. ]] SLAMing on 167.701346184 meters Centerline goodness [0,1] 0.8249814158905068 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.11 [[ 9.90509659e-01 -1.06608805e-01 -8.67477843e-02 4.28933969e+00] [ 1.07189671e-01 9.94236472e-01 2.05240383e-03 -5.86969058e-02] [ 8.60290067e-02 -1.13313922e-02 9.96228192e-01 -1.11353495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.731346184 meters Centerline goodness [0,1] 0.8196210122331494 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.11 [[ 9.90493382e-01 -1.06604354e-01 -8.69388947e-02 4.29050745e+00] [ 1.07225270e-01 9.94231633e-01 2.49025318e-03 -6.08863073e-02] [ 8.61719275e-02 -1.17886258e-02 9.96210534e-01 -1.11435413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.761346184 meters Centerline goodness [0,1] 0.818193728709931 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90484384e-01 -1.06670719e-01 -8.69600101e-02 4.29123458e+00] [ 1.07318772e-01 9.94220726e-01 2.79815974e-03 -6.23989732e-02] [ 8.61589626e-02 -1.21039750e-02 9.96207873e-01 -1.11513644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.791346184 meters Centerline goodness [0,1] 0.8106215921483098 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90472025e-01 -1.06712804e-01 -8.70491023e-02 4.29212630e+00] [ 1.07388974e-01 9.94212223e-01 3.10860069e-03 -6.35951840e-02] [ 8.62135540e-02 -1.24270958e-02 9.96199172e-01 -1.11595332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.821346184 meters Centerline goodness [0,1] 0.8032729805013927 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90444009e-01 -1.06932892e-01 -8.70977720e-02 4.29286071e+00] [ 1.07627227e-01 9.94185837e-01 3.30176382e-03 -6.44480606e-02] [ 8.62383042e-02 -1.26443039e-02 9.96194297e-01 -1.11678321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.851346184 meters Centerline goodness [0,1] 0.7966855647623201 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90419182e-01 -1.07112168e-01 -8.71597764e-02 4.29325001e+00] [ 1.07788995e-01 9.94169015e-01 3.08271836e-03 -6.35711099e-02] [ 8.63213524e-02 -1.24480481e-02 9.96189575e-01 -1.11709847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.881346184 meters Centerline goodness [0,1] 0.8061391452320178 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90420204e-01 -1.06991482e-01 -8.72962913e-02 4.29416101e+00] [ 1.07666091e-01 9.94182456e-01 3.04270893e-03 -6.25656018e-02] [ 8.64628973e-02 -1.24124108e-02 9.96177745e-01 -1.11773892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.911346184 meters Centerline goodness [0,1] 0.8081477765904085 Centerline is valid? [False, False] Translation: X:4.29, Y:-0.06, Z:-1.12 [[ 9.90418506e-01 -1.06905407e-01 -8.74209194e-02 4.29490117e+00] [ 1.07576154e-01 9.94192369e-01 2.98410855e-03 -6.20512018e-02] [ 8.65941936e-02 -1.23599226e-02 9.96166993e-01 -1.11815528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.941346184 meters Centerline goodness [0,1] 0.8098596147567744 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90411320e-01 -1.06989723e-01 -8.73991794e-02 4.29551476e+00] [ 1.07659605e-01 9.94183367e-01 2.97357896e-03 -6.31505451e-02] [ 8.65726680e-02 -1.23544274e-02 9.96168932e-01 -1.11875346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.971346184 meters Centerline goodness [0,1] 0.8028070938962029 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90384797e-01 -1.07286377e-01 -8.73360555e-02 4.29545625e+00] [ 1.07934598e-01 9.94154275e-01 2.72023224e-03 -6.32440282e-02] [ 8.65336691e-02 -1.21206587e-02 9.96175192e-01 -1.11870659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.001346184 meters Centerline goodness [0,1] 0.8004359197907585 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90367833e-01 -1.07508724e-01 -8.72549694e-02 4.29547380e+00] [ 1.08134860e-01 9.94133172e-01 2.46745526e-03 -6.24984609e-02] [ 8.64777865e-02 -1.18789922e-02 9.96182956e-01 -1.11885474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.031346184 meters Centerline goodness [0,1] 0.7898197335191153 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90340089e-01 -1.07696253e-01 -8.73385661e-02 4.29598144e+00] [ 1.08315801e-01 9.94113706e-01 2.37190437e-03 -6.19017823e-02] [ 8.65690205e-02 -1.18091388e-02 9.96175862e-01 -1.11919979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.061346184 meters Centerline goodness [0,1] 0.7869251499608798 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90341064e-01 -1.07455068e-01 -8.76241115e-02 4.29732244e+00] [ 1.08104759e-01 9.94135870e-01 2.68926429e-03 -6.24148185e-02] [ 8.68212973e-02 -1.21358723e-02 9.96149980e-01 -1.11993804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.091346184 meters Centerline goodness [0,1] 0.7888533019587337 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90329700e-01 -1.07520978e-01 -8.76716916e-02 4.29766914e+00] [ 1.08165249e-01 9.94129482e-01 2.61754279e-03 -6.21399013e-02] [ 8.68755726e-02 -1.20752607e-02 9.96145985e-01 -1.12016719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.121346184 meters Centerline goodness [0,1] 0.7897042477606084 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90325390e-01 -1.07449042e-01 -8.78084529e-02 4.29835687e+00] [ 1.08096921e-01 9.94136847e-01 2.64295781e-03 -6.19028927e-02] [ 8.70096352e-02 -1.21092117e-02 9.96133872e-01 -1.12052026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.151346184 meters Centerline goodness [0,1] 0.7866018486222532 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90332887e-01 -1.07380873e-01 -8.78072999e-02 4.29876262e+00] [ 1.08042765e-01 9.94142286e-01 2.80656330e-03 -6.25481509e-02] [ 8.69915786e-02 -1.22663754e-02 9.96133526e-01 -1.12086101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.181346184 meters Centerline goodness [0,1] 0.783534390611025 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.90327864e-01 -1.07291120e-01 -8.79734993e-02 4.29951371e+00] [ 1.07963084e-01 9.94150668e-01 2.90214607e-03 -6.29281806e-02] [ 8.71475386e-02 -1.23719664e-02 9.96118588e-01 -1.12113903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.211346184 meters Centerline goodness [0,1] 0.7832615223919572 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.06, Z:-1.12 [[ 9.89998222e-01 -1.10088572e-01 -8.82271357e-02 4.30202202e+00] [ 1.10474493e-01 9.93878828e-01 -5.11733233e-04 -6.05502957e-02] [ 8.77434182e-02 -9.24023311e-03 9.96100251e-01 -1.12180157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24134618399998 meters Centerline goodness [0,1] 0.7899165144795199 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.13 [[ 0.99034929 -0.11153211 -0.0822732 4.31620414] [ 0.11247697 0.99363019 0.00692596 -0.06209913] [ 0.08097667 -0.01611296 0.99658575 -1.12508043] [ 0. 0. 0. 1. ]] SLAMing on 168.27134618399998 meters Centerline goodness [0,1] 0.7861956521739131 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.13 [[ 0.99033704 -0.11173351 -0.08214725 4.31614523] [ 0.11265718 0.99361145 0.00668173 -0.06151905] [ 0.08087588 -0.01587164 0.9965978 -1.12518289] [ 0. 0. 0. 1. ]] SLAMing on 168.30134618399998 meters Centerline goodness [0,1] 0.787031192181276 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.13 [[ 0.99032995 -0.11181145 -0.08212669 4.3162042 ] [ 0.11271409 0.9936067 0.00642338 -0.06083005] [ 0.08088342 -0.0156181 0.9966012 -1.12516445] [ 0. 0. 0. 1. ]] SLAMing on 168.33134618399998 meters Centerline goodness [0,1] 0.7867445204584078 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.12 [[ 0.99032395 -0.11197555 -0.08197526 4.31596021] [ 0.11282438 0.99359812 0.00578208 -0.05862602] [ 0.08080301 -0.01497494 0.99661759 -1.12498128] [ 0. 0. 0. 1. ]] SLAMing on 168.36134618399998 meters Centerline goodness [0,1] 0.7876613747383112 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.12 [[ 0.9903083 -0.11215177 -0.08192347 4.31590153] [ 0.11296465 0.99358465 0.00534092 -0.05729701] [ 0.08079891 -0.01454362 0.99662431 -1.12487411] [ 0. 0. 0. 1. ]] SLAMing on 168.39134618399999 meters Centerline goodness [0,1] 0.7876613747383112 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.12 [[ 0.9903083 -0.11215177 -0.08192347 4.31590153] [ 0.11296465 0.99358465 0.00534092 -0.05729701] [ 0.08079891 -0.01454362 0.99662431 -1.12487411] [ 0. 0. 0. 1. ]] SLAMing on 168.421346184 meters Centerline goodness [0,1] 0.7874199820847261 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.13 [[ 0.99029504 -0.11216644 -0.0820635 4.31651207] [ 0.1129602 0.99358653 0.00507976 -0.05621763] [ 0.08096741 -0.01430037 0.99661416 -1.12514493] [ 0. 0. 0. 1. ]] SLAMing on 168.451346184 meters Centerline goodness [0,1] 0.7898190538478308 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.06, Z:-1.13 [[ 0.99029331 -0.11210607 -0.08216679 4.31717435] [ 0.11288996 0.9935952 0.00494268 -0.05551432] [ 0.08108642 -0.01417051 0.99660634 -1.12551986] [ 0. 0. 0. 1. ]] SLAMing on 168.481346184 meters Centerline goodness [0,1] 0.7860349561957896 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99025402 -0.11239128 -0.0822507 4.31740937] [ 0.11313594 0.99356962 0.00443468 -0.05411934] [ 0.08122338 -0.01369697 0.9966018 -1.12540675] [ 0. 0. 0. 1. ]] SLAMing on 168.511346184 meters Centerline goodness [0,1] 0.7938362285041738 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99024555 -0.11235621 -0.08240044 4.31819809] [ 0.11310327 0.99357332 0.00444025 -0.0541973 ] [ 0.08137199 -0.01371669 0.99658941 -1.12582033] [ 0. 0. 0. 1. ]] SLAMing on 168.541346184 meters Centerline goodness [0,1] 0.7973408892763731 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99023254 -0.11238409 -0.08251862 4.31892745] [ 0.11313264 0.99356998 0.00443737 -0.05413195] [ 0.08148934 -0.01372958 0.99657964 -1.12635766] [ 0. 0. 0. 1. ]] SLAMing on 168.571346184 meters Centerline goodness [0,1] 0.7979517861821993 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 9.90212983e-01 -1.12455895e-01 -8.26554339e-02 4.31946449e+00] [ 1.13193442e-01 9.93563764e-01 4.27694714e-03 -5.34628508e-02] [ 8.16424761e-02 -1.35911416e-02 9.96569008e-01 -1.12657580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.601346184 meters Centerline goodness [0,1] 0.8021421871250627 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99023104 -0.1121131 -0.0829044 4.32046879] [ 0.11286218 0.99360095 0.00438997 -0.05289215] [ 0.08188172 -0.01370386 0.99654784 -1.1270136 ] [ 0. 0. 0. 1. ]] SLAMing on 168.631346184 meters Centerline goodness [0,1] 0.8061817387505461 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99025777 -0.11158179 -0.08330095 4.32232825] [ 0.11236561 0.9936555 0.00476661 -0.05296665] [ 0.08224058 -0.01408034 0.99651304 -1.12803834] [ 0. 0. 0. 1. ]] SLAMing on 168.661346184 meters Centerline goodness [0,1] 0.798864132809087 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99025759 -0.11141342 -0.08352822 4.32322027] [ 0.11219296 0.9936754 0.00468296 -0.05229062] [ 0.08247819 -0.01400861 0.99649441 -1.12832782] [ 0. 0. 0. 1. ]] SLAMing on 168.691346184 meters Centerline goodness [0,1] 0.7998079063980267 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 0.99024059 -0.11125774 -0.08393621 4.32451437] [ 0.11202217 0.9936958 0.00443841 -0.05108371] [ 0.08291326 -0.01379781 0.99646124 -1.12850105] [ 0. 0. 0. 1. ]] SLAMing on 168.721346184 meters Centerline goodness [0,1] 0.7957481280378333 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.05, Z:-1.13 [[ 9.90229774e-01 -1.11357226e-01 -8.39318920e-02 4.32475642e+00] [ 1.12104750e-01 9.93687384e-01 4.23188106e-03 -5.03762684e-02] [ 8.29308116e-02 -1.35996984e-02 9.96462507e-01 -1.12870224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.751346184 meters Centerline goodness [0,1] 0.8067578827347279 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90201116e-01 -1.11570859e-01 -8.39862633e-02 4.32506943e+00] [ 1.12294005e-01 9.93667288e-01 3.92130581e-03 -4.93407971e-02] [ 8.30168990e-02 -1.33140352e-02 9.96459197e-01 -1.12885753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.781346184 meters Centerline goodness [0,1] 0.8047854242124903 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90168797e-01 -1.11796512e-01 -8.40671977e-02 4.32541583e+00] [ 1.12492921e-01 9.93646083e-01 3.57825731e-03 -4.83649282e-02] [ 8.31330050e-02 -1.30000433e-02 9.96453663e-01 -1.12895954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.811346184 meters Centerline goodness [0,1] 0.7900930967855261 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90113481e-01 -1.12292373e-01 -8.40578278e-02 4.32598449e+00] [ 1.12961413e-01 9.93594123e-01 3.23083139e-03 -4.83034978e-02] [ 8.31565659e-02 -1.26941807e-02 9.96455640e-01 -1.12967145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.841346184 meters Centerline goodness [0,1] 0.7941765081040664 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90106836e-01 -1.12262884e-01 -8.41753979e-02 4.32691755e+00] [ 1.12935637e-01 9.93596963e-01 3.25850046e-03 -4.86824054e-02] [ 8.32706110e-02 -1.27326658e-02 9.96445625e-01 -1.13037152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.871346184 meters Centerline goodness [0,1] 0.797750330833701 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90099130e-01 -1.12255304e-01 -8.42760959e-02 4.32753070e+00] [ 1.12913689e-01 9.93600052e-01 3.07167427e-03 -4.78807439e-02] [ 8.33919216e-02 -1.25571869e-02 9.96437707e-01 -1.13076576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.901346184 meters Centerline goodness [0,1] 0.7976767765826133 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.05, Z:-1.13 [[ 9.90093220e-01 -1.12178801e-01 -8.44472213e-02 4.32824684e+00] [ 1.12805460e-01 9.93613504e-01 2.67089989e-03 -4.58056228e-02] [ 8.36082811e-02 -1.21705476e-02 9.96424374e-01 -1.13093894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.931346184 meters Centerline goodness [0,1] 0.8037829744131766 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90088630e-01 -1.11718964e-01 -8.51080362e-02 4.32985140e+00] [ 1.12300068e-01 9.93672213e-01 2.05610459e-03 -4.16952352e-02] [ 8.43397848e-02 -1.15933641e-02 9.96369607e-01 -1.13064219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96134618399998 meters Centerline goodness [0,1] 0.8000840168918172 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90070420e-01 -1.11782251e-01 -8.52366824e-02 4.32995941e+00] [ 1.12323271e-01 9.93670489e-01 1.56299478e-03 -4.00326207e-02] [ 8.45224608e-02 -1.11215379e-02 9.96359506e-01 -1.13015378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99134618399998 meters Centerline goodness [0,1] 0.8098009390913299 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90069287e-01 -1.11459212e-01 -8.56717654e-02 4.33141697e+00] [ 1.12001527e-01 9.93706849e-01 1.53481064e-03 -3.93551519e-02] [ 8.49615513e-02 -1.11149375e-02 9.96322233e-01 -1.13045416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02134618399998 meters Centerline goodness [0,1] 0.8108453935757147 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90036150e-01 -1.11694496e-01 -8.57482439e-02 4.33155354e+00] [ 1.12198617e-01 9.93685227e-01 1.06727248e-03 -3.84526402e-02] [ 8.50875547e-02 -1.06774727e-02 9.96316265e-01 -1.13016334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05134618399998 meters Centerline goodness [0,1] 0.8013323921291803 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90026186e-01 -1.11624546e-01 -8.59541309e-02 4.33238740e+00] [ 1.12121023e-01 9.93694100e-01 9.55117671e-04 -3.81391119e-02] [ 8.53054982e-02 -1.05828566e-02 9.96298638e-01 -1.13040027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08134618399998 meters Centerline goodness [0,1] 0.8060852464812074 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90021233e-01 -1.11570888e-01 -8.60807477e-02 4.33309916e+00] [ 1.12058613e-01 9.93701244e-01 8.39638670e-04 -3.77990021e-02] [ 8.54448669e-02 -1.04773493e-02 9.96287810e-01 -1.13071800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11134618399998 meters Centerline goodness [0,1] 0.8077850270927789 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.04, Z:-1.13 [[ 9.90008390e-01 -1.11581250e-01 -8.62149182e-02 4.33383093e+00] [ 1.12052156e-01 9.93702129e-01 6.26912114e-04 -3.71539557e-02] [ 8.56019961e-02 -1.02812157e-02 9.96276365e-01 -1.13105254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14134618399999 meters Centerline goodness [0,1] 0.8111175013271987 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.03, Z:-1.13 [[ 9.89997266e-01 -1.11388051e-01 -8.65916543e-02 4.33494565e+00] [ 1.11813281e-01 9.93729232e-01 6.09822047e-05 -3.38637828e-02] [ 8.60418654e-02 -9.74246920e-03 9.96243887e-01 -1.13113431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.171346184 meters Centerline goodness [0,1] 0.8077859419263456 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89986482e-01 -1.11299709e-01 -8.68282177e-02 4.33578176e+00] [ 1.11702408e-01 9.93741678e-01 -2.22116605e-04 -3.21871415e-02] [ 8.63095403e-02 -9.47902856e-03 9.96223274e-01 -1.13133361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.201346184 meters Centerline goodness [0,1] 0.808877273029303 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89980072e-01 -1.11187098e-01 -8.70453129e-02 4.33681590e+00] [ 1.11578626e-01 9.93755540e-01 -3.69678494e-04 -3.10463284e-02] [ 8.65428654e-02 -9.34642206e-03 9.96204285e-01 -1.13184818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.231346184 meters Centerline goodness [0,1] 0.8137385586065938 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89972204e-01 -1.11333817e-01 -8.69472045e-02 4.33700398e+00] [ 1.11690480e-01 9.93742748e-01 -7.67168821e-04 -2.91862146e-02] [ 8.64885657e-02 -8.95169916e-03 9.96212625e-01 -1.13235912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.261346184 meters Centerline goodness [0,1] 0.8058379869624224 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89966969e-01 -1.11264696e-01 -8.70951617e-02 4.33798226e+00] [ 1.11615338e-01 9.93751124e-01 -8.48709819e-04 -2.84410418e-02] [ 8.66453462e-02 -8.88096123e-03 9.96199635e-01 -1.13305436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.291346184 meters Centerline goodness [0,1] 0.8197312210751158 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89959024e-01 -1.11220413e-01 -8.72419094e-02 4.33908701e+00] [ 1.11573417e-01 9.93755843e-01 -8.34737634e-04 -2.80315220e-02] [ 8.67899971e-02 -8.90752189e-03 9.96186806e-01 -1.13396902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.321346184 meters Centerline goodness [0,1] 0.8153448928261402 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89949694e-01 -1.11235585e-01 -8.73283942e-02 4.33982368e+00] [ 1.11561628e-01 9.93756848e-01 -1.15340188e-03 -2.64447547e-02] [ 8.69114891e-02 -8.60068796e-03 9.96178910e-01 -1.13450327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.351346184 meters Centerline goodness [0,1] 0.8182567989300045 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.13 [[ 9.89923771e-01 -1.11456201e-01 -8.73409546e-02 4.33997331e+00] [ 1.11752446e-01 9.93734936e-01 -1.50579534e-03 -2.55563703e-02] [ 8.69615881e-02 -8.26994273e-03 9.96177339e-01 -1.13449470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.381346184 meters Centerline goodness [0,1] 0.8185139801715495 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.13 [[ 9.89905579e-01 -1.11410351e-01 -8.76052428e-02 4.34091354e+00] [ 1.11692799e-01 9.93741352e-01 -1.68652473e-03 -2.45973481e-02] [ 8.72448487e-02 -8.11537452e-03 9.96153842e-01 -1.13473159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.411346184 meters Centerline goodness [0,1] 0.8199897328303908 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.13 [[ 9.89896087e-01 -1.11411575e-01 -8.77108795e-02 4.34110685e+00] [ 1.11653933e-01 9.93744817e-01 -2.15348912e-03 -2.26838702e-02] [ 8.74021556e-02 -7.66153418e-03 9.96143646e-01 -1.13440316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.441346184 meters Centerline goodness [0,1] 0.8191197159509613 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.13 [[ 9.89890498e-01 -1.11270793e-01 -8.79523330e-02 4.34215092e+00] [ 1.11520538e-01 9.93759943e-01 -2.08448593e-03 -2.29616071e-02] [ 8.76354478e-02 -7.74507873e-03 9.96122504e-01 -1.13480563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.471346184 meters Centerline goodness [0,1] 0.8211630081481811 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.02, Z:-1.14 [[ 9.89889842e-01 -1.11240133e-01 -8.79984884e-02 4.34282178e+00] [ 1.11501792e-01 9.93762316e-01 -1.95185976e-03 -2.39727329e-02] [ 8.76667067e-02 -7.87986301e-03 9.96118696e-01 -1.13529361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.501346184 meters Centerline goodness [0,1] 0.8263671310801503 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.14 [[ 9.89891566e-01 -1.11184048e-01 -8.80499536e-02 4.34373275e+00] [ 1.11471916e-01 9.93766204e-01 -1.65632953e-03 -2.54442341e-02] [ 8.76852256e-02 -8.17551043e-03 9.96114683e-01 -1.13602328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.531346184 meters Centerline goodness [0,1] 0.818317382595148 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.03, Z:-1.14 [[ 9.89888100e-01 -1.11192922e-01 -8.80777175e-02 4.34360206e+00] [ 1.11470539e-01 9.93766152e-01 -1.77572557e-03 -2.50636648e-02] [ 8.77261025e-02 -8.06030106e-03 9.96112023e-01 -1.13555078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.561346184 meters Centerline goodness [0,1] 0.8265177205931246 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89884400e-01 -1.10830347e-01 -8.85748817e-02 4.34502279e+00] [ 1.11123158e-01 9.93805300e-01 -1.63370820e-03 -2.50988071e-02] [ 8.82072514e-02 -8.22553832e-03 9.96068181e-01 -1.13561392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.591346184 meters Centerline goodness [0,1] 0.8332482747908669 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89924367e-01 -1.10306928e-01 -8.87813580e-02 4.34578835e+00] [ 1.10660008e-01 9.93857867e-01 -9.50307638e-04 -2.77052118e-02] [ 8.83408766e-02 -8.88381310e-03 9.96050685e-01 -1.13572768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.621346184 meters Centerline goodness [0,1] 0.8333185683912119 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89951680e-01 -1.09976232e-01 -8.88870079e-02 4.34671303e+00] [ 1.10371954e-01 9.93890243e-01 -4.65795566e-04 -2.93112896e-02] [ 8.83951564e-02 -9.34951763e-03 9.96041607e-01 -1.13636751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.651346184 meters Centerline goodness [0,1] 0.8339253800498643 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89957444e-01 -1.09761166e-01 -8.90884166e-02 4.34760795e+00] [ 1.10178337e-01 9.93911806e-01 -2.36331357e-04 -3.02050325e-02] [ 8.85719691e-02 -9.58165560e-03 9.96023694e-01 -1.13663484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.681346184 meters Centerline goodness [0,1] 0.8327149041434756 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89968881e-01 -1.09581759e-01 -8.91821372e-02 4.34801265e+00] [ 1.10017693e-01 9.93929629e-01 -2.76354475e-05 -3.08150946e-02] [ 8.86437968e-02 -9.78425473e-03 9.96015334e-01 -1.13669780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71134618399998 meters Centerline goodness [0,1] 0.8420959774170783 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.89997424e-01 -1.08962136e-01 -8.96233955e-02 4.34975807e+00] [ 1.09466580e-01 9.93990217e-01 7.17838979e-04 -3.30239072e-02] [ 8.90065611e-02 -1.05214254e-02 9.95975467e-01 -1.13740071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74134618399998 meters Centerline goodness [0,1] 0.835847479989445 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.03, Z:-1.14 [[ 9.90017820e-01 -1.08521970e-01 -8.99316244e-02 4.35147521e+00] [ 1.09083290e-01 9.94031716e-01 1.33568595e-03 -3.49305996e-02] [ 8.92499357e-02 -1.11323903e-02 9.95947046e-01 -1.13842514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77134618399998 meters Centerline goodness [0,1] 0.8376957592820693 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.04, Z:-1.14 [[ 9.90017299e-01 -1.08372405e-01 -9.01175361e-02 4.35238127e+00] [ 1.08978051e-01 9.94042503e-01 1.81295802e-03 -3.67449868e-02] [ 8.93841866e-02 -1.16156933e-02 9.95929487e-01 -1.13897667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80134618399998 meters Centerline goodness [0,1] 0.8337433014143899 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.04, Z:-1.14 [[ 9.90006708e-01 -1.08291648e-01 -9.03307116e-02 4.35337532e+00] [ 1.08935120e-01 9.94046406e-01 2.20939583e-03 -3.80563241e-02] [ 8.95536601e-02 -1.20275036e-02 9.95909374e-01 -1.13957507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83134618399998 meters Centerline goodness [0,1] 0.8211424819435325 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.14 [[ 9.89618272e-01 -1.11483612e-01 -9.07032514e-02 4.35639405e+00] [ 1.11894220e-01 9.93719965e-01 -5.61467632e-04 -3.96734371e-02] [ 9.01962262e-02 -9.59353090e-03 9.95877806e-01 -1.14079543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86134618399998 meters Centerline goodness [0,1] 0.8124054794520548 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.14 [[ 9.89585880e-01 -1.11766818e-01 -9.07081322e-02 4.35645154e+00] [ 1.12200792e-01 9.93685505e-01 -3.16927909e-04 -4.18043212e-02] [ 9.01707781e-02 -9.86389686e-03 9.95877470e-01 -1.14083080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89134618399999 meters Centerline goodness [0,1] 0.7984365788152062 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.04, Z:-1.14 [[ 9.89150606e-01 -1.15226446e-01 -9.11259884e-02 4.35903556e+00] [ 1.15394020e-01 9.93313823e-01 -3.44530176e-03 -4.30318363e-02] [ 9.09136938e-02 -7.10747179e-03 9.95833412e-01 -1.14135736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.921346184 meters Centerline goodness [0,1] 0.7942264340898645 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.14 [[ 9.89115508e-01 -1.15392363e-01 -9.12968472e-02 4.35942790e+00] [ 1.15584865e-01 9.93292474e-01 -3.19380001e-03 -4.53630353e-02] [ 9.10530113e-02 -7.39349662e-03 9.95818601e-01 -1.14120270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.951346184 meters Centerline goodness [0,1] 0.7980916197213852 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.14 [[ 9.89103500e-01 -1.15271005e-01 -9.15798053e-02 4.36059383e+00] [ 1.15514630e-01 9.93302234e-01 -2.65366124e-03 -4.78314150e-02] [ 9.12723154e-02 -7.95406174e-03 9.95794204e-01 -1.14168448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.981346184 meters Centerline goodness [0,1] 0.803518615170494 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.14 [[ 9.88911755e-01 -1.16523089e-01 -9.20647056e-02 4.36439931e+00] [ 1.16651879e-01 9.93164811e-01 -3.99954547e-03 -4.80686306e-02] [ 9.19014653e-02 -6.78432339e-03 9.95744994e-01 -1.14366182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.011346184 meters Centerline goodness [0,1] 0.8010630220197419 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.05, Z:-1.14 [[ 9.88894725e-01 -1.16625599e-01 -9.21178172e-02 4.36477754e+00] [ 1.16796983e-01 9.93149477e-01 -3.54690280e-03 -5.02631007e-02] [ 9.19004217e-02 -7.25156963e-03 9.95741797e-01 -1.14396476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.041346184 meters Centerline goodness [0,1] 0.7977119871975087 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.05, Z:-1.15 [[ 9.88919055e-01 -1.16132345e-01 -9.24790853e-02 4.36663919e+00] [ 1.16363365e-01 9.93202450e-01 -2.90855732e-03 -5.13231258e-02] [ 9.21882318e-02 -7.88484978e-03 9.95710379e-01 -1.14512732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.071346184 meters Centerline goodness [0,1] 0.8005966535518181 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.05, Z:-1.15 [[ 9.88918756e-01 -1.16005615e-01 -9.26411926e-02 4.36727871e+00] [ 1.16254523e-01 9.93215721e-01 -2.72364959e-03 -5.21698809e-02] [ 9.23286475e-02 -8.07648947e-03 9.95695833e-01 -1.14528393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.101346184 meters Centerline goodness [0,1] 0.7953325251125736 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.05, Z:-1.15 [[ 9.88922905e-01 -1.15831828e-01 -9.28141956e-02 4.36785178e+00] [ 1.16101957e-01 9.93234149e-01 -2.50223290e-03 -5.32338425e-02] [ 9.24760668e-02 -8.30139434e-03 9.95680302e-01 -1.14531816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.131346184 meters Centerline goodness [0,1] 0.8010075022160725 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.05, Z:-1.15 [[ 9.88933966e-01 -1.15494975e-01 -9.31156332e-02 4.36919632e+00] [ 1.15789900e-01 9.93271186e-01 -2.24736779e-03 -5.39205835e-02] [ 9.27486351e-02 -8.55935153e-03 9.95652765e-01 -1.14578332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.161346184 meters Centerline goodness [0,1] 0.8060418515072169 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.05, Z:-1.15 [[ 9.88957245e-01 -1.15120642e-01 -9.33316964e-02 4.36994253e+00] [ 1.15443986e-01 9.93312087e-01 -1.94529885e-03 -5.43002755e-02] [ 9.29314461e-02 -8.85076569e-03 9.95633171e-01 -1.14593236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.191346184 meters Centerline goodness [0,1] 0.8028608974773261 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.05, Z:-1.14 [[ 0.98859553 -0.11643644 -0.09550621 4.3772918 ] [ 0.11634655 0.99318722 -0.00652844 -0.05223935] [ 0.0956157 -0.00465783 0.99540743 -1.1438992 ] [ 0. 0. 0. 1. ]] SLAMing on 170.221346184 meters Centerline goodness [0,1] 0.8054788014851912 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.05, Z:-1.14 [[ 0.98858588 -0.11624514 -0.09583859 4.37842004] [ 0.11619971 0.9932073 -0.006074 -0.05447189] [ 0.09589366 -0.00513174 0.99537836 -1.14413537] [ 0. 0. 0. 1. ]] SLAMing on 170.251346184 meters Centerline goodness [0,1] 0.8132034632034633 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.06, Z:-1.15 [[ 0.98861222 -0.11560337 -0.09634176 4.38064906] [ 0.11563059 0.99327804 -0.00531942 -0.05575159] [ 0.0963091 -0.00588121 0.9953341 -1.14533561] [ 0. 0. 0. 1. ]] SLAMing on 170.281346184 meters Centerline goodness [0,1] 0.8048838517108621 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-1.15 [[ 9.89121115e-01 -1.17367483e-01 -8.86808522e-02 4.39265849e+00] [ 1.17977834e-01 9.93014851e-01 1.65439636e-03 -5.76910259e-02] [ 8.78672309e-02 -1.20987732e-02 9.96058718e-01 -1.14977935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.311346184 meters Centerline goodness [0,1] 0.8048838517108621 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-1.15 [[ 9.89121115e-01 -1.17367483e-01 -8.86808522e-02 4.39265849e+00] [ 1.17977834e-01 9.93014851e-01 1.65439636e-03 -5.76910259e-02] [ 8.78672309e-02 -1.20987732e-02 9.96058718e-01 -1.14977935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.341346184 meters Centerline goodness [0,1] 0.8083605599671116 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-1.15 [[ 9.89086153e-01 -1.17518743e-01 -8.88702871e-02 4.39297792e+00] [ 1.18128804e-01 9.92996962e-01 1.61820016e-03 -5.86104185e-02] [ 8.80577563e-02 -1.20986801e-02 9.96041893e-01 -1.14936320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.371346184 meters Centerline goodness [0,1] 0.8007218968163053 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-1.15 [[ 9.88990689e-01 -1.18355016e-01 -8.88228963e-02 4.39234167e+00] [ 1.18951689e-01 9.92899005e-01 1.43583497e-03 -6.11278052e-02] [ 8.80222271e-02 -1.19856609e-02 9.96046400e-01 -1.14859437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.401346184 meters Centerline goodness [0,1] 0.79939170387627 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.06, Z:-1.15 [[ 9.88991799e-01 -1.18051596e-01 -8.92134636e-02 4.39390133e+00] [ 1.18694964e-01 9.92928905e-01 1.92240274e-03 -6.33094094e-02] [ 8.83556840e-02 -1.24904294e-02 9.96010674e-01 -1.14915690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.431346184 meters Centerline goodness [0,1] 0.8006973440661186 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.15 [[ 9.89015736e-01 -1.17649307e-01 -8.94791307e-02 4.39523256e+00] [ 1.18333572e-01 9.92971089e-01 2.36261305e-03 -6.50388113e-02] [ 8.85722301e-02 -1.29250466e-02 9.95985895e-01 -1.14975839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46134618399998 meters Centerline goodness [0,1] 0.8083231491606098 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.15 [[ 9.89039812e-01 -1.17061428e-01 -8.99826236e-02 4.39702245e+00] [ 1.17794704e-01 9.93033839e-01 2.86379872e-03 -6.64969392e-02] [ 8.90205498e-02 -1.34318874e-02 9.95939218e-01 -1.15023316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49134618399998 meters Centerline goodness [0,1] 0.8295963165221116 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-1.15 [[ 0.98930634 -0.11499169 -0.08972109 4.39474847] [ 0.11585736 0.99325574 0.00448349 -0.06834387] [ 0.08860043 -0.01483039 0.99595684 -1.14801661] [ 0. 0. 0. 1. ]] SLAMing on 170.52134618399998 meters Centerline goodness [0,1] 0.8266760852812741 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-1.15 [[ 9.89297335e-01 -1.14826652e-01 -9.00312358e-02 4.39499737e+00] [ 1.15664087e-01 9.93279831e-01 4.12274407e-03 -6.76727308e-02] [ 8.89528097e-02 -1.44920004e-02 9.95930409e-01 -1.14697346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55134618399998 meters Centerline goodness [0,1] 0.8305323925593329 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.15 [[ 9.89284232e-01 -1.14617338e-01 -9.04409932e-02 4.39523493e+00] [ 1.15414545e-01 9.93310827e-01 3.61723556e-03 -6.67070277e-02] [ 8.94214198e-02 -1.40166802e-02 9.95895247e-01 -1.14553132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58134618399998 meters Centerline goodness [0,1] 0.8610980660035008 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.07, Z:-1.14 [[ 0.9896934 -0.11074432 -0.09078912 4.39344718] [ 0.11185496 0.9936983 0.00722189 -0.06828481] [ 0.08941722 -0.01730267 0.99584395 -1.14326208] [ 0. 0. 0. 1. ]] SLAMing on 170.61134618399998 meters Centerline goodness [0,1] 0.8667179618705652 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.14 [[ 0.98970301 -0.11020076 -0.0913441 4.39506405] [ 0.11134196 0.99375402 0.00747745 -0.06934496] [ 0.08994955 -0.01757088 0.99579131 -1.14331303] [ 0. 0. 0. 1. ]] SLAMing on 170.64134618399999 meters Centerline goodness [0,1] 0.8649959406913643 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.14 [[ 0.98970492 -0.10976795 -0.09184322 4.39683318] [ 0.11095977 0.99379304 0.00795707 -0.07185203] [ 0.09039972 -0.01806606 0.99574169 -1.14371358] [ 0. 0. 0. 1. ]] SLAMing on 170.671346184 meters Centerline goodness [0,1] 0.8690343824837495 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.07, Z:-1.14 [[ 0.98968921 -0.10973767 -0.09204844 4.39763174] [ 0.11095995 0.99379062 0.00825217 -0.07413538] [ 0.0905713 -0.01838078 0.99572034 -1.14392124] [ 0. 0. 0. 1. ]] SLAMing on 170.701346184 meters Centerline goodness [0,1] 0.8537585518208473 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.08, Z:-1.15 [[ 0.98928717 -0.11294137 -0.09249396 4.40085488] [ 0.11393013 0.99347374 0.00546332 -0.07512618] [ 0.09127328 -0.01594264 0.99569826 -1.14533813] [ 0. 0. 0. 1. ]] SLAMing on 170.731346184 meters Centerline goodness [0,1] 0.8488349905654378 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.08, Z:-1.15 [[ 0.98924123 -0.1131423 -0.09273947 4.40140604] [ 0.11415302 0.99344711 0.00565012 -0.07671207] [ 0.09149249 -0.01617583 0.99567438 -1.14522981] [ 0. 0. 0. 1. ]] SLAMing on 170.761346184 meters Centerline goodness [0,1] 0.8395265970984983 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.08, Z:-1.14 [[ 0.98920314 -0.11336898 -0.09286886 4.40138402] [ 0.11439233 0.99341899 0.00575388 -0.07860031] [ 0.09160538 -0.01631524 0.99566172 -1.14461161] [ 0. 0. 0. 1. ]] SLAMing on 170.791346184 meters Centerline goodness [0,1] 0.8381501673437599 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.08, Z:-1.14 [[ 9.88807788e-01 -1.16515900e-01 -9.31837076e-02 4.40333861e+00] [ 1.17243199e-01 9.93100453e-01 2.35014545e-03 -8.00526890e-02] [ 9.22669529e-02 -1.32489981e-02 9.95646159e-01 -1.14397071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.821346184 meters Centerline goodness [0,1] 0.8538269831883079 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.08, Z:-1.14 [[ 9.88801634e-01 -1.16418026e-01 -9.33711459e-02 4.40397240e+00] [ 1.17186283e-01 9.93106091e-01 2.76892301e-03 -8.28224157e-02] [ 9.24051012e-02 -1.36797332e-02 9.95627522e-01 -1.14394807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.851346184 meters Centerline goodness [0,1] 0.8479449749695007 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.08, Z:-1.14 [[ 9.88402059e-01 -1.19283765e-01 -9.39827312e-02 4.40741921e+00] [ 1.19774398e-01 9.92801045e-01 -4.23320443e-04 -8.33807668e-02] [ 9.33566489e-02 -1.08383143e-02 9.95573738e-01 -1.14456689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.881346184 meters Centerline goodness [0,1] 0.8503284296237225 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.09, Z:-1.14 [[ 9.87997119e-01 -1.22600717e-01 -9.39721116e-02 4.40846282e+00] [ 1.22854298e-01 9.92419864e-01 -3.10405449e-03 -8.75696459e-02] [ 9.36403496e-02 -8.47808091e-03 9.95569991e-01 -1.14421078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.911346184 meters Centerline goodness [0,1] 0.8456222645697653 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.09, Z:-1.15 [[ 0.98762885 -0.12514161 -0.0944925 4.41207889] [ 0.1251666 0.99211944 -0.00568594 -0.08887749] [ 0.09445939 -0.0062117 0.99550934 -1.14539609] [ 0. 0. 0. 1. ]] SLAMing on 170.941346184 meters Centerline goodness [0,1] 0.8335462255261229 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.09, Z:-1.15 [[ 9.87671796e-01 -1.24309560e-01 -9.51396650e-02 4.41453741e+00] [ 1.24468271e-01 9.92214324e-01 -4.28765533e-03 -9.22185381e-02] [ 9.49319349e-02 -7.60707332e-03 9.95454700e-01 -1.14656364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.971346184 meters Centerline goodness [0,1] 0.8333368365738307 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.09, Z:-1.15 [[ 9.87693210e-01 -1.23824130e-01 -9.55495051e-02 4.41576261e+00] [ 1.24056355e-01 9.92268898e-01 -3.52919649e-03 -9.40523836e-02] [ 9.52478018e-02 -8.36775993e-03 9.95418423e-01 -1.14681746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.001346184 meters Centerline goodness [0,1] 0.8397944199706314 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.10, Z:-1.15 [[ 9.87773300e-01 -1.22443729e-01 -9.64958111e-02 4.41882251e+00] [ 1.22894205e-01 9.92418947e-01 -1.28360896e-03 -1.00387179e-01] [ 9.59214411e-02 -1.05908613e-02 9.95332563e-01 -1.14786584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.031346184 meters Centerline goodness [0,1] 0.8376686136908014 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.11, Z:-1.15 [[ 9.87759894e-01 -1.22351118e-01 -9.67501700e-02 4.41959476e+00] [ 1.22872724e-01 9.92422273e-01 -5.70816304e-04 -1.05390549e-01] [ 9.60868636e-02 -1.13241274e-02 9.95308534e-01 -1.14769408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.061346184 meters Centerline goodness [0,1] 0.8131158539142103 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.11, Z:-1.15 [[ 9.88860673e-01 -1.22796075e-01 -8.41171368e-02 4.42635065e+00] [ 1.23197434e-01 9.92382091e-01 -4.22367752e-04 -1.10264906e-01] [ 8.35282052e-02 -9.94535254e-03 9.96455784e-01 -1.15425012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.091346184 meters Centerline goodness [0,1] 0.8266158581269236 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.12, Z:-1.16 [[ 0.98873683 -0.1269227 -0.07931023 4.44462796] [ 0.12769684 0.99180189 0.00474587 -0.11843875] [ 0.07805768 -0.01482008 0.99683869 -1.15784148] [ 0. 0. 0. 1. ]] SLAMing on 171.121346184 meters Centerline goodness [0,1] 0.818968951131051 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.12, Z:-1.16 [[ 0.98872153 -0.12680542 -0.07968761 4.44593079] [ 0.12766446 0.9918007 0.00575861 -0.12274186] [ 0.07830401 -0.01586694 0.99680325 -1.15833365] [ 0. 0. 0. 1. ]] SLAMing on 171.151346184 meters Centerline goodness [0,1] 0.8088662942739387 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-1.16 [[ 0.98872913 -0.12645972 -0.08014144 4.44756579] [ 0.12740926 0.99182674 0.00682696 -0.12657318] [ 0.07862309 -0.01696078 0.99676012 -1.15894043] [ 0. 0. 0. 1. ]] SLAMing on 171.181346184 meters Centerline goodness [0,1] 0.801461810718549 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-1.16 [[ 0.98865932 -0.12711494 -0.07996582 4.4470622 ] [ 0.12807963 0.99173896 0.00703148 -0.13266066] [ 0.07841141 -0.01719373 0.99677281 -1.15802081] [ 0. 0. 0. 1. ]] SLAMing on 171.21134618399998 meters Centerline goodness [0,1] 0.8011670222110678 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:-1.16 [[ 0.98866918 -0.1268557 -0.0802551 4.4478929 ] [ 0.12787511 0.99176061 0.00767172 -0.13541099] [ 0.07862065 -0.01784742 0.99674483 -1.1579946 ] [ 0. 0. 0. 1. ]] SLAMing on 171.24134618399998 meters Centerline goodness [0,1] 0.8073973461498276 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:-1.16 [[ 0.98869582 -0.12643039 -0.08059736 4.44896732] [ 0.12751845 0.99179996 0.00847797 -0.138624 ] [ 0.07886459 -0.01865978 0.99671068 -1.15810933] [ 0. 0. 0. 1. ]] SLAMing on 171.27134618399998 meters Centerline goodness [0,1] 0.8200355536965387 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:-1.16 [[ 0.9885917 -0.12755589 -0.08009955 4.44849164] [ 0.12858166 0.99166856 0.00776027 -0.14430071] [ 0.07844234 -0.01797108 0.99675666 -1.15743234] [ 0. 0. 0. 1. ]] SLAMing on 171.30134618399998 meters Centerline goodness [0,1] 0.8198933165986821 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.16 [[ 0.98859479 -0.12738023 -0.08034059 4.4491388 ] [ 0.12843711 0.99168453 0.00810621 -0.14574019] [ 0.07863995 -0.01833247 0.99673451 -1.15737862] [ 0. 0. 0. 1. ]] SLAMing on 171.33134618399998 meters Centerline goodness [0,1] 0.8133065191888721 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.16 [[ 0.98859995 -0.12719026 -0.08057771 4.44946345] [ 0.12827085 0.99170395 0.00835804 -0.14669169] [ 0.07884618 -0.01859853 0.99671329 -1.15695653] [ 0. 0. 0. 1. ]] SLAMing on 171.36134618399998 meters Centerline goodness [0,1] 0.8283227682587502 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.16 [[ 0.98860463 -0.1270371 -0.08076172 4.44999694] [ 0.12814495 0.9917176 0.00866444 -0.14799917] [ 0.07899211 -0.01891491 0.99669578 -1.15687614] [ 0. 0. 0. 1. ]] SLAMing on 171.39134618399999 meters Centerline goodness [0,1] 0.829037117629828 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.16 [[ 0.98860798 -0.12693323 -0.08088393 4.44946341] [ 0.12807884 0.9917221 0.00911521 -0.15142283] [ 0.07905736 -0.01937089 0.99668185 -1.15547545] [ 0. 0. 0. 1. ]] SLAMing on 171.421346184 meters Centerline goodness [0,1] 0.830432599782445 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 0.98860092 -0.12683955 -0.08111684 4.44965832] [ 0.12800329 0.99173023 0.00928974 -0.15261013] [ 0.07926772 -0.01956707 0.99666131 -1.15488249] [ 0. 0. 0. 1. ]] SLAMing on 171.451346184 meters Centerline goodness [0,1] 0.8291911810891732 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 0.98860783 -0.12668156 -0.08127938 4.44973428] [ 0.12786139 0.99174695 0.00945778 -0.1534498 ] [ 0.07941045 -0.01974253 0.99664648 -1.15432144] [ 0. 0. 0. 1. ]] SLAMing on 171.481346184 meters Centerline goodness [0,1] 0.8406907378335949 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98865441 -0.12614924 -0.08154036 4.45009472] [ 0.12738663 0.99180136 0.01013448 -0.15531174] [ 0.07959339 -0.02040665 0.99661851 -1.15386523] [ 0. 0. 0. 1. ]] SLAMing on 171.511346184 meters Centerline goodness [0,1] 0.8353084041706796 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98865764 -0.12591349 -0.08186488 4.45093186] [ 0.12718759 0.99182291 0.01051851 -0.15670974] [ 0.07987104 -0.0208114 0.99658793 -1.15382782] [ 0. 0. 0. 1. ]] SLAMing on 171.541346184 meters Centerline goodness [0,1] 0.8334030975303475 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98864611 -0.12580796 -0.08216588 4.4517173 ] [ 0.12711631 0.99182825 0.01087016 -0.15821612] [ 0.08012689 -0.02119136 0.99655938 -1.15382299] [ 0. 0. 0. 1. ]] SLAMing on 171.571346184 meters Centerline goodness [0,1] 0.8233437166809525 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98856335 -0.12633281 -0.0823561 4.45144182] [ 0.12765377 0.99175829 0.01095518 -0.16037266] [ 0.08029335 -0.02134295 0.99654275 -1.15289812] [ 0. 0. 0. 1. ]] SLAMing on 171.601346184 meters Centerline goodness [0,1] 0.8168066524591534 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98850436 -0.12670268 -0.08249577 4.45161683] [ 0.12802156 0.99171173 0.01087737 -0.16138709] [ 0.08043383 -0.02131357 0.99653205 -1.15256707] [ 0. 0. 0. 1. ]] SLAMing on 171.631346184 meters Centerline goodness [0,1] 0.815696298003394 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98845324 -0.12697904 -0.08268329 4.45211812] [ 0.12830699 0.99167428 0.01092862 -0.16278952] [ 0.08060718 -0.02141128 0.99651595 -1.15252359] [ 0. 0. 0. 1. ]] SLAMing on 171.661346184 meters Centerline goodness [0,1] 0.7979732417662947 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98840056 -0.12721483 -0.08295016 4.45282189] [ 0.12855995 0.99164007 0.01105972 -0.16452184] [ 0.08084974 -0.0215955 0.99649233 -1.15249543] [ 0. 0. 0. 1. ]] SLAMing on 171.691346184 meters Centerline goodness [0,1] 0.7933865307486632 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 0.98796201 -0.13067846 -0.08279008 4.45407819] [ 0.13173351 0.99125763 0.00738829 -0.16386565] [ 0.08110081 -0.01820558 0.99653962 -1.15272904] [ 0. 0. 0. 1. ]] SLAMing on 171.721346184 meters Centerline goodness [0,1] 0.7835157462154568 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98778761 -0.13211369 -0.08259305 4.45232357] [ 0.13310246 0.99108059 0.00655807 -0.16529366] [ 0.08098996 -0.01747132 0.99656178 -1.15092721] [ 0. 0. 0. 1. ]] SLAMing on 171.751346184 meters Centerline goodness [0,1] 0.7813120441388535 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98774112 -0.13233178 -0.08279965 4.45288842] [ 0.13331874 0.99105201 0.00648224 -0.16549501] [ 0.08120095 -0.01744152 0.99654513 -1.15092915] [ 0. 0. 0. 1. ]] SLAMing on 171.781346184 meters Centerline goodness [0,1] 0.7785488165370343 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.9877124 -0.1325312 -0.08282326 4.45268157] [ 0.13350448 0.99102818 0.00630108 -0.16527225] [ 0.08124509 -0.01728093 0.99654433 -1.15052232] [ 0. 0. 0. 1. ]] SLAMing on 171.811346184 meters Centerline goodness [0,1] 0.7926116730539674 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98769162 -0.13256389 -0.0830185 4.45319095] [ 0.13352871 0.99102583 0.00615474 -0.16508972] [ 0.08145758 -0.01716434 0.996529 -1.1504415 ] [ 0. 0. 0. 1. ]] SLAMing on 171.841346184 meters Centerline goodness [0,1] 0.7971123823893045 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98767571 -0.13256101 -0.08321219 4.45380619] [ 0.13353755 0.991024 0.00625683 -0.16614885] [ 0.08163586 -0.01729167 0.99651221 -1.15049563] [ 0. 0. 0. 1. ]] SLAMing on 171.871346184 meters Centerline goodness [0,1] 0.7907245039224735 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98764952 -0.1326519 -0.08337803 4.45441504] [ 0.13364537 0.9910084 0.00642423 -0.16817548] [ 0.08177614 -0.01748798 0.99649728 -1.15053509] [ 0. 0. 0. 1. ]] SLAMing on 171.901346184 meters Centerline goodness [0,1] 0.786636756258124 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98758196 -0.1333647 -0.0830405 4.45326187] [ 0.13432636 0.9909185 0.00607825 -0.16873515] [ 0.08147574 -0.0171573 0.99652764 -1.14983707] [ 0. 0. 0. 1. ]] SLAMing on 171.931346184 meters Centerline goodness [0,1] 0.7767540010864569 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98755888 -0.13347718 -0.08313422 4.45371532] [ 0.13442609 0.99090607 0.00589809 -0.1672843 ] [ 0.08159094 -0.01700012 0.99652091 -1.15009345] [ 0. 0. 0. 1. ]] SLAMing on 171.96134618399998 meters Centerline goodness [0,1] 0.7707563801208865 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98750717 -0.13377739 -0.08326577 4.4539232 ] [ 0.13469295 0.99087239 0.00545157 -0.16558224] [ 0.08177646 -0.01659878 0.99651246 -1.15000055] [ 0. 0. 0. 1. ]] SLAMing on 171.99134618399998 meters Centerline goodness [0,1] 0.7664538619849637 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98748517 -0.13381665 -0.08346337 4.45456479] [ 0.13473195 0.99086733 0.00540671 -0.16525883] [ 0.08197762 -0.01658423 0.99649618 -1.15022441] [ 0. 0. 0. 1. ]] SLAMing on 172.02134618399998 meters Centerline goodness [0,1] 0.7707331415250855 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98741877 -0.13421055 -0.08361635 4.45440377] [ 0.13511765 0.9908156 0.00525975 -0.16712175] [ 0.08214247 -0.01649162 0.99648414 -1.14935012] [ 0. 0. 0. 1. ]] SLAMing on 172.05134618399998 meters Centerline goodness [0,1] 0.774704387457207 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98736677 -0.13451398 -0.08374282 4.4544528 ] [ 0.13541347 0.9907759 0.00512941 -0.16853708] [ 0.08228039 -0.01640452 0.9964742 -1.14879929] [ 0. 0. 0. 1. ]] SLAMing on 172.08134618399998 meters Centerline goodness [0,1] 0.7623021281056714 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98731958 -0.13479928 -0.0838403 4.45467899] [ 0.13570154 0.99073647 0.00513144 -0.16999251] [ 0.08237192 -0.01644363 0.99646599 -1.14859223] [ 0. 0. 0. 1. ]] SLAMing on 172.11134618399998 meters Centerline goodness [0,1] 0.7547074963869049 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 0.98723651 -0.13547027 -0.08373692 4.45399808] [ 0.13633162 0.99065244 0.00462881 -0.16910184] [ 0.08232712 -0.01598573 0.99647715 -1.14796008] [ 0. 0. 0. 1. ]] SLAMing on 172.14134618399999 meters Centerline goodness [0,1] 0.752305333249312 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 9.87200894e-01 -1.35716216e-01 -8.37586091e-02 4.45372154e+00] [ 1.36535426e-01 9.90626686e-01 4.10452118e-03 -1.67113542e-01] [ 8.24164632e-02 -1.54880043e-02 9.96477621e-01 -1.14753640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.171346184 meters Centerline goodness [0,1] 0.7592011053887703 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 9.87193266e-01 -1.35667190e-01 -8.39277622e-02 4.45432165e+00] [ 1.36469418e-01 9.90636726e-01 3.86986220e-03 -1.65275344e-01] [ 8.26169102e-02 -1.52738747e-02 9.96464327e-01 -1.14775212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.201346184 meters Centerline goodness [0,1] 0.7592011053887703 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:-1.15 [[ 9.87193266e-01 -1.35667190e-01 -8.39277622e-02 4.45432165e+00] [ 1.36469418e-01 9.90636726e-01 3.86986220e-03 -1.65275344e-01] [ 8.26169102e-02 -1.52738747e-02 9.96464327e-01 -1.14775212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.231346184 meters Centerline goodness [0,1] 0.7583013847862066 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 9.87174259e-01 -1.35757936e-01 -8.40045590e-02 4.45429477e+00] [ 1.36521806e-01 9.90631266e-01 3.38977854e-03 -1.63311769e-01] [ 8.27573533e-02 -1.48147562e-02 9.96459605e-01 -1.14737836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.261346184 meters Centerline goodness [0,1] 0.7599581151832461 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.15 [[ 9.87120362e-01 -1.36386357e-01 -8.36190958e-02 4.45204141e+00] [ 1.37040392e-01 9.90563223e-01 2.10540465e-03 -1.61038128e-01] [ 8.25428525e-02 -1.35374815e-02 9.96495567e-01 -1.14510099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.291346184 meters Centerline goodness [0,1] 0.7723578942947735 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.14 [[ 9.87108154e-01 -1.36516448e-01 -8.35508946e-02 4.45191129e+00] [ 1.37139665e-01 9.90550195e-01 1.73890616e-03 -1.60422874e-01] [ 8.25239656e-02 -1.31746302e-02 9.96501994e-01 -1.14490408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.321346184 meters Centerline goodness [0,1] 0.7631976183487778 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:-1.14 [[ 9.87102137e-01 -1.36580681e-01 -8.35169905e-02 4.45201201e+00] [ 1.37166243e-01 9.90547205e-01 1.28691462e-03 -1.58786029e-01] [ 8.25517538e-02 -1.27260280e-02 9.96505522e-01 -1.14493375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.351346184 meters Centerline goodness [0,1] 0.7638375613320806 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 9.87158925e-01 -1.36078995e-01 -8.36645873e-02 4.45334168e+00] [ 1.36612911e-01 9.90624284e-01 6.63323657e-04 -1.53918295e-01] [ 8.27899075e-02 -1.20844687e-02 9.96493752e-01 -1.14583374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.381346184 meters Centerline goodness [0,1] 0.7620284995808886 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 9.87161465e-01 -1.35997811e-01 -8.37665613e-02 4.45387789e+00] [ 1.36486583e-01 9.90641913e-01 1.09397868e-04 -1.51362129e-01] [ 8.29677887e-02 -1.15410051e-02 9.96485399e-01 -1.14609866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.411346184 meters Centerline goodness [0,1] 0.7831113345061573 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 9.87169923e-01 -1.35866808e-01 -8.38794035e-02 4.45440687e+00] [ 1.36299432e-01 9.90667520e-01 -5.73853482e-04 -1.47883076e-01] [ 8.31745683e-02 -1.08662241e-02 9.96475748e-01 -1.14629407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.441346184 meters Centerline goodness [0,1] 0.780496483590087 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:-1.15 [[ 9.87603984e-01 -1.32432764e-01 -8.42611106e-02 4.45392626e+00] [ 1.33109619e-01 9.91098315e-01 2.44122345e-03 -1.45744436e-01] [ 8.31877467e-02 -1.36269263e-02 9.96440719e-01 -1.14614822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.471346184 meters Centerline goodness [0,1] 0.8050574712643679 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:-1.15 [[ 9.88017554e-01 -1.29173507e-01 -8.44719979e-02 4.45305171e+00] [ 1.29976274e-01 9.91508830e-01 4.05066420e-03 -1.37335410e-01] [ 8.32314933e-02 -1.49814829e-02 9.96417620e-01 -1.14583923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.501346184 meters Centerline goodness [0,1] 0.7915036099194308 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-1.15 [[ 9.88014912e-01 -1.29174851e-01 -8.45008397e-02 4.45343305e+00] [ 1.29902702e-01 9.91521744e-01 3.14947563e-03 -1.33409312e-01] [ 8.33775869e-02 -1.40886163e-02 9.96418431e-01 -1.14611046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.531346184 meters Centerline goodness [0,1] 0.8154351877054501 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:-1.15 [[ 9.87980107e-01 -1.29461298e-01 -8.44694094e-02 4.45354562e+00] [ 1.30105413e-01 9.91497853e-01 2.14233043e-03 -1.29972573e-01] [ 8.34738892e-02 -1.31065072e-02 9.96423770e-01 -1.14618800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.561346184 meters Centerline goodness [0,1] 0.8077027848207363 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.12, Z:-1.15 [[ 9.88258011e-01 -1.27617658e-01 -8.40228365e-02 4.45088066e+00] [ 1.28326361e-01 9.91727252e-01 3.06636334e-03 -1.22065637e-01] [ 8.29364147e-02 -1.38127030e-02 9.96459111e-01 -1.14570168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.591346184 meters Centerline goodness [0,1] 0.8028127746850279 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.12, Z:-1.15 [[ 9.88200752e-01 -1.27994383e-01 -8.41231892e-02 4.45128791e+00] [ 1.28600495e-01 9.91694842e-01 1.80373753e-03 -1.16715439e-01] [ 8.31936645e-02 -1.26007385e-02 9.96453730e-01 -1.14592659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.621346184 meters Centerline goodness [0,1] 0.8022510060362174 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.11, Z:-1.15 [[ 9.88142350e-01 -1.28366391e-01 -8.42423043e-02 4.45168697e+00] [ 1.28870977e-01 9.91661213e-01 5.56711481e-04 -1.12102944e-01] [ 8.34683626e-02 -1.14064982e-02 9.96445144e-01 -1.14604518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.651346184 meters Centerline goodness [0,1] 0.8138104205900816 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.11, Z:-1.15 [[ 9.88180745e-01 -1.28056235e-01 -8.42639698e-02 4.45313430e+00] [ 1.28463452e-01 9.91714066e-01 -5.94079928e-04 -1.05586733e-01] [ 8.36418398e-02 -1.02377821e-02 9.96443290e-01 -1.14748032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.681346184 meters Centerline goodness [0,1] 0.8181074447777474 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:-1.15 [[ 9.88202757e-01 -1.27708390e-01 -8.45333009e-02 4.45477125e+00] [ 1.28071569e-01 9.91764279e-01 -1.13495314e-03 -1.01517105e-01] [ 8.39820512e-02 -9.70474867e-03 9.96420008e-01 -1.14866854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71134618399998 meters Centerline goodness [0,1] 0.8205961945918732 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.10, Z:-1.15 [[ 9.88604423e-01 -1.24179170e-01 -8.50930636e-02 4.45517782e+00] [ 1.24785501e-01 9.92182067e-01 1.82332204e-03 -9.87033986e-02] [ 8.42013931e-02 -1.24209248e-02 9.96371339e-01 -1.14916933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74134618399998 meters Centerline goodness [0,1] 0.8218945337081008 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.10, Z:-1.15 [[ 0.98899827 -0.12068336 -0.08554498 4.45515253] [ 0.1215288 0.99257665 0.00472608 -0.09574273] [ 0.08433959 -0.01507027 0.9963231 -1.14933554] [ 0. 0. 0. 1. ]] SLAMing on 172.77134618399998 meters Centerline goodness [0,1] 0.8265331822188642 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.09, Z:-1.15 [[ 9.89019741e-01 -1.20438905e-01 -8.56412431e-02 4.45584485e+00] [ 1.21216269e-01 9.92618395e-01 3.91645888e-03 -9.08659175e-02] [ 8.45373792e-02 -1.42545671e-02 9.96318342e-01 -1.14971965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80134618399998 meters Centerline goodness [0,1] 0.8369407458825014 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.08, Z:-1.15 [[ 0.98942434 -0.11691604 -0.08584942 4.45540108] [ 0.11786839 0.99301054 0.00609198 -0.08490382] [ 0.08453713 -0.01614649 0.9962895 -1.14972959] [ 0. 0. 0. 1. ]] SLAMing on 172.83134618399998 meters Centerline goodness [0,1] 0.8424146649810367 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.08, Z:-1.15 [[ 0.98941134 -0.11699938 -0.08588563 4.45594736] [ 0.11787261 0.99301537 0.00515009 -0.08106918] [ 0.0846832 -0.01521912 0.99629169 -1.1500944 ] [ 0. 0. 0. 1. ]] SLAMing on 172.86134618399998 meters Centerline goodness [0,1] 0.8412624738918543 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.08, Z:-1.15 [[ 9.89394634e-01 -1.17090797e-01 -8.59535021e-02 4.45658498e+00] [ 1.17898641e-01 9.93016038e-01 4.36566147e-03 -7.78086172e-02] [ 8.48420273e-02 -1.44531631e-02 9.96289585e-01 -1.15052524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89134618399999 meters Centerline goodness [0,1] 0.8468231956471112 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.07, Z:-1.15 [[ 9.89391157e-01 -1.16682268e-01 -8.65470159e-02 4.45934182e+00] [ 1.17432942e-01 9.93074231e-01 3.61608177e-03 -7.34456815e-02] [ 8.55256787e-02 -1.37411900e-02 9.96241205e-01 -1.15186578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.921346184 meters Centerline goodness [0,1] 0.8477849380037857 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.07, Z:-1.15 [[ 9.89384734e-01 -1.16644072e-01 -8.66718414e-02 4.46034127e+00] [ 1.17371906e-01 9.93082440e-01 3.33202543e-03 -7.20701887e-02] [ 8.56836227e-02 -1.34694943e-02 9.96231343e-01 -1.15261980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.951346184 meters Centerline goodness [0,1] 0.8510217113665389 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.07, Z:-1.15 [[ 9.89387125e-01 -1.16633065e-01 -8.66593663e-02 4.46089512e+00] [ 1.17327342e-01 9.93088931e-01 2.94435065e-03 -7.00376028e-02] [ 8.57170488e-02 -1.30806157e-02 9.96233650e-01 -1.15320959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.981346184 meters Centerline goodness [0,1] 0.8512416121725007 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.06, Z:-1.16 [[ 0.99072498 -0.11426898 -0.07352968 4.46389006] [ 0.11498794 0.99335107 0.00560612 -0.06434384] [ 0.07240018 -0.01400915 0.99727727 -1.15816305] [ 0. 0. 0. 1. ]] SLAMing on 173.011346184 meters Centerline goodness [0,1] 0.8583686395343861 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.06, Z:-1.16 [[ 0.99069911 -0.11446698 -0.07357029 4.4640176 ] [ 0.11512559 0.99333954 0.00476068 -0.06122971] [ 0.07253534 -0.01318622 0.99727867 -1.15785966] [ 0. 0. 0. 1. ]] SLAMing on 173.041346184 meters Centerline goodness [0,1] 0.8732926724508203 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.06, Z:-1.16 [[ 9.90677361e-01 -1.14656953e-01 -7.35673170e-02 4.46414669e+00] [ 1.15271671e-01 9.93325330e-01 4.15102152e-03 -5.90624439e-02] [ 7.26003360e-02 -1.25925506e-02 9.97281615e-01 -1.15786658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.071346184 meters Centerline goodness [0,1] 0.8735358475994337 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-1.16 [[ 9.90661549e-01 -1.14654348e-01 -7.37839742e-02 4.46518977e+00] [ 1.15256931e-01 9.93327871e-01 3.94733391e-03 -5.82705207e-02] [ 7.28390990e-02 -1.24145863e-02 9.97266436e-01 -1.15842941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.101346184 meters Centerline goodness [0,1] 0.8733370526135096 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-1.16 [[ 9.90643597e-01 -1.14755436e-01 -7.38678145e-02 4.46611473e+00] [ 1.15357700e-01 9.93316262e-01 3.92493822e-03 -5.86199199e-02] [ 7.29236933e-02 -1.24094361e-02 9.97260317e-01 -1.15926835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.131346184 meters Centerline goodness [0,1] 0.8620149381868132 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-1.16 [[ 9.90262734e-01 -1.18073930e-01 -7.37445891e-02 4.46870072e+00] [ 1.18419261e-01 9.92963635e-01 3.12726078e-04 -5.64708791e-02] [ 7.31887705e-02 -9.04246072e-03 9.97277112e-01 -1.16121536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.161346184 meters Centerline goodness [0,1] 0.8619142679288213 Centerline is valid? [False, False] Translation: X:4.47, Y:-0.06, Z:-1.16 [[ 9.90239844e-01 -1.18191545e-01 -7.38634521e-02 4.46946892e+00] [ 1.18521984e-01 9.92951424e-01 9.10986691e-05 -5.53793944e-02] [ 7.33320528e-02 -8.84465244e-03 9.97268360e-01 -1.16167501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.191346184 meters Centerline goodness [0,1] 0.8551105746432728 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.16 [[ 0.99054431 -0.12045588 -0.06566855 4.47945049] [ 0.1210746 0.99262812 0.00551037 -0.05225202] [ 0.06452069 -0.01340906 0.99782628 -1.16344854] [ 0. 0. 0. 1. ]] SLAMing on 173.221346184 meters Centerline goodness [0,1] 0.8455836538254947 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.16 [[ 0.9905296 -0.12047249 -0.06585968 4.48025432] [ 0.12107096 0.99263045 0.00515808 -0.05076884] [ 0.06475292 -0.01308292 0.99781556 -1.16364675] [ 0. 0. 0. 1. ]] SLAMing on 173.251346184 meters Centerline goodness [0,1] 0.8494771719953527 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.16 [[ 0.99051473 -0.1205775 -0.06589106 4.4805219 ] [ 0.12115347 0.99262217 0.00480181 -0.04963929] [ 0.06482593 -0.01273919 0.99781527 -1.16376082] [ 0. 0. 0. 1. ]] SLAMing on 173.281346184 meters Centerline goodness [0,1] 0.8527267236172232 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.16 [[ 0.99051128 -0.12044241 -0.06618933 4.48162415] [ 0.12101321 0.99263992 0.00466847 -0.04882171] [ 0.06513989 -0.01263396 0.99779616 -1.16426472] [ 0. 0. 0. 1. ]] SLAMing on 173.311346184 meters Centerline goodness [0,1] 0.8551655528882545 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.17 [[ 0.99056874 -0.11985223 -0.06640038 4.4833208 ] [ 0.1204156 0.99271322 0.00453365 -0.04650163] [ 0.06537317 -0.01248654 0.99778276 -1.16550484] [ 0. 0. 0. 1. ]] SLAMing on 173.341346184 meters Centerline goodness [0,1] 0.8614321200993628 Centerline is valid? [False, False] Translation: X:4.48, Y:-0.05, Z:-1.17 [[ 9.90580161e-01 -1.19602466e-01 -6.66797961e-02 4.48441508e+00] [ 1.20161045e-01 9.92744592e-01 4.41581267e-03 -4.53646310e-02] [ 6.56678648e-02 -1.23865304e-02 9.97764654e-01 -1.16602156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.371346184 meters Centerline goodness [0,1] 0.8661040787623067 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-1.17 [[ 9.90587488e-01 -1.19449908e-01 -6.68442110e-02 4.48516485e+00] [ 1.19993788e-01 9.92765897e-01 4.16714898e-03 -4.40395672e-02] [ 6.58628875e-02 -1.21488157e-02 9.97754723e-01 -1.16632986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.401346184 meters Centerline goodness [0,1] 0.8677139761646804 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-1.17 [[ 9.90574792e-01 -1.19501639e-01 -6.69398261e-02 4.48538074e+00] [ 1.20018110e-01 9.92764683e-01 3.73331068e-03 -4.26297936e-02] [ 6.60093585e-02 -1.17321149e-02 9.97750030e-01 -1.16614173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.431346184 meters Centerline goodness [0,1] 0.860600530135141 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-1.17 [[ 9.90534924e-01 -1.19948632e-01 -6.67299811e-02 4.48514043e+00] [ 1.20422395e-01 9.92717877e-01 3.10860396e-03 -4.07298321e-02] [ 6.58711724e-02 -1.11149649e-02 9.97766228e-01 -1.16614620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46134618399998 meters Centerline goodness [0,1] 0.8562869051754081 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-1.17 [[ 9.90502664e-01 -1.20153932e-01 -6.68393940e-02 4.48548551e+00] [ 1.20611141e-01 9.92695788e-01 2.83298270e-03 -4.01131949e-02] [ 6.60107909e-02 -1.08676525e-02 9.97759725e-01 -1.16610752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49134618399998 meters Centerline goodness [0,1] 0.8515206112835653 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.04, Z:-1.17 [[ 9.90475277e-01 -1.20425852e-01 -6.67558244e-02 4.48549172e+00] [ 1.20865608e-01 9.92665544e-01 2.57360222e-03 -3.96665031e-02] [ 6.59562785e-02 -1.06175727e-02 9.97766023e-01 -1.16620364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52134618399998 meters Centerline goodness [0,1] 0.8476120084345993 Centerline is valid? [False, False] Translation: X:4.49, Y:-0.03, Z:-1.16 [[ 9.90251902e-01 -1.21740995e-01 -6.76779226e-02 4.49282115e+00] [ 1.21671706e-01 9.92556985e-01 -5.16026444e-03 -3.46059576e-02] [ 6.78024105e-02 -3.12452666e-03 9.97693876e-01 -1.16140946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55134618399998 meters Centerline goodness [0,1] 0.8658886425870387 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91147212e-01 -1.20402272e-01 -5.59508500e-02 4.49859241e+00] [ 1.20239631e-01 9.92725056e-01 -6.27654084e-03 -3.20355011e-02] [ 5.62995205e-02 -5.06533590e-04 9.98413796e-01 -1.16593512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58134618399998 meters Centerline goodness [0,1] 0.8640467570986173 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91133380e-01 -1.20569613e-01 -5.58353917e-02 4.49843997e+00] [ 1.20388495e-01 9.92704860e-01 -6.60842833e-03 -3.07382597e-02] [ 5.62248403e-02 -1.72104870e-04 9.98418118e-01 -1.16595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61134618399998 meters Centerline goodness [0,1] 0.8580387186994712 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91128698e-01 -1.20485992e-01 -5.60983863e-02 4.49939007e+00] [ 1.20302378e-01 9.92715015e-01 -6.65105702e-03 -2.99328411e-02] [ 5.64910696e-02 -1.56715796e-04 9.98403092e-01 -1.16645769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64134618399999 meters Centerline goodness [0,1] 0.8498167699153651 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91139406e-01 -1.20180664e-01 -5.65622340e-02 4.50170416e+00] [ 1.20022235e-01 9.92751830e-01 -6.20215152e-03 -2.97757003e-02] [ 5.68976400e-02 -6.41528959e-04 9.98379811e-01 -1.16831625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.671346184 meters Centerline goodness [0,1] 0.8454105226420033 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91164964e-01 -1.19843441e-01 -5.68292516e-02 4.50333096e+00] [ 1.19704758e-01 9.92792295e-01 -5.85056598e-03 -2.97152129e-02] [ 5.71207952e-02 -1.00385579e-03 9.98366770e-01 -1.16975360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.701346184 meters Centerline goodness [0,1] 0.8557610428175287 Centerline is valid? [False, False] Translation: X:4.50, Y:-0.03, Z:-1.17 [[ 9.91172419e-01 -1.19617057e-01 -5.71751228e-02 4.50470397e+00] [ 1.19489657e-01 9.92819345e-01 -5.65413609e-03 -2.94752763e-02] [ 5.74408991e-02 -1.22761205e-03 9.98348154e-01 -1.17057528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.731346184 meters Centerline goodness [0,1] 0.8332751091703057 Centerline is valid? [False, False] Translation: X:4.51, Y:-0.03, Z:-1.17 [[ 9.91186174e-01 -1.19481966e-01 -5.72191281e-02 4.50529584e+00] [ 1.19372363e-01 9.92835184e-01 -5.34199586e-03 -2.95250752e-02] [ 5.74474358e-02 -1.53547008e-03 9.98347352e-01 -1.17117599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.761346184 meters Centerline goodness [0,1] 0.8394938032279846 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91311930e-01 -1.20713084e-01 -5.22399211e-02 4.52035009e+00] [ 1.20998647e-01 9.92649944e-01 2.32708146e-03 -3.01265732e-02] [ 5.15750456e-02 -8.62782339e-03 9.98631852e-01 -1.17423566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.791346184 meters Centerline goodness [0,1] 0.8432787028157964 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91294043e-01 -1.20853037e-01 -5.22557563e-02 4.52013002e+00] [ 1.21122505e-01 9.92635533e-01 2.00932192e-03 -2.89256828e-02] [ 5.16280879e-02 -8.32117694e-03 9.98631713e-01 -1.17376767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.821346184 meters Centerline goodness [0,1] 0.848177960540706 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91305148e-01 -1.20644597e-01 -5.25260369e-02 4.52054955e+00] [ 1.20909784e-01 9.92661703e-01 1.88896546e-03 -2.78440719e-02] [ 5.19126917e-02 -8.22345296e-03 9.98617768e-01 -1.17322036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.851346184 meters Centerline goodness [0,1] 0.840916057275474 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91311927e-01 -1.20538011e-01 -5.26426819e-02 4.52123310e+00] [ 1.20818927e-01 9.92672179e-01 2.17528399e-03 -2.92290703e-02] [ 5.19947214e-02 -8.51661728e-03 9.98611043e-01 -1.17368203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.881346184 meters Centerline goodness [0,1] 0.8477737402040191 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91298741e-01 -1.20582956e-01 -5.27878517e-02 4.52186087e+00] [ 1.20876398e-01 9.92664688e-01 2.39029454e-03 -3.13093805e-02] [ 5.21124075e-02 -8.75030131e-03 9.98602889e-01 -1.17391596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.911346184 meters Centerline goodness [0,1] 0.8392876652463673 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.17 [[ 9.91300425e-01 -1.20502964e-01 -5.29386648e-02 4.52275577e+00] [ 1.20817763e-01 9.92670824e-01 2.77535701e-03 -3.29846776e-02] [ 5.22162293e-02 -9.14714367e-03 9.98593909e-01 -1.17466782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.941346184 meters Centerline goodness [0,1] 0.8503758084251005 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.18 [[ 9.91342090e-01 -1.20047565e-01 -5.31925108e-02 4.52427269e+00] [ 1.20387568e-01 9.92721737e-01 3.22293277e-03 -3.26184759e-02] [ 5.24184565e-02 -9.59874592e-03 9.98579075e-01 -1.17583114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.971346184 meters Centerline goodness [0,1] 0.842090321453529 Centerline is valid? [False, False] Translation: X:4.52, Y:-0.03, Z:-1.18 [[ 9.91347871e-01 -1.19917473e-01 -5.33778880e-02 4.52485031e+00] [ 1.20252075e-01 9.92738581e-01 3.08996622e-03 -3.14450626e-02] [ 5.26197479e-02 -9.48203320e-03 9.98569604e-01 -1.17597500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.001346184 meters Centerline goodness [0,1] 0.8390708885723677 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91356961e-01 -1.19723764e-01 -5.36432344e-02 4.52566687e+00] [ 1.20058893e-01 9.92762063e-01 3.05738500e-03 -3.07139375e-02] [ 5.28889264e-02 -9.47130724e-03 9.98555485e-01 -1.17625589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.031346184 meters Centerline goodness [0,1] 0.8529792320007018 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91409277e-01 -1.19175546e-01 -5.38965138e-02 4.52693600e+00] [ 1.19519641e-01 9.92826695e-01 3.19533838e-03 -2.92570168e-02] [ 5.31290915e-02 -9.60958008e-03 9.98541414e-01 -1.17718067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.061346184 meters Centerline goodness [0,1] 0.8562757472171093 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91412409e-01 -1.19069066e-01 -5.40739616e-02 4.52746929e+00] [ 1.19409598e-01 9.92840240e-01 3.09940601e-03 -2.87341002e-02] [ 5.33177616e-02 -9.52973960e-03 9.98532123e-01 -1.17723245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.091346184 meters Centerline goodness [0,1] 0.8555560424152133 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91400181e-01 -1.19165146e-01 -5.40864992e-02 4.52756760e+00] [ 1.19500438e-01 9.92829626e-01 2.99646752e-03 -2.90222318e-02] [ 5.33416043e-02 -9.43405877e-03 9.98531758e-01 -1.17722882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.121346184 meters Centerline goodness [0,1] 0.8555560424152133 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91400181e-01 -1.19165146e-01 -5.40864992e-02 4.52756760e+00] [ 1.19500438e-01 9.92829626e-01 2.99646752e-03 -2.90222318e-02] [ 5.33416043e-02 -9.43405877e-03 9.98531758e-01 -1.17722882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.151346184 meters Centerline goodness [0,1] 0.8544912672846405 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91365377e-01 -1.19484197e-01 -5.40205138e-02 4.52741588e+00] [ 1.19812022e-01 9.92792477e-01 2.85962580e-03 -3.04953486e-02] [ 5.32894796e-02 -9.30724098e-03 9.98535731e-01 -1.17697940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.181346184 meters Centerline goodness [0,1] 0.8544398158298618 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91348888e-01 -1.19577348e-01 -5.41169069e-02 4.52765661e+00] [ 1.19896249e-01 9.92782827e-01 2.67338445e-03 -3.01359576e-02] [ 5.34066597e-02 -9.13867084e-03 9.98531028e-01 -1.17690381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21134618399998 meters Centerline goodness [0,1] 0.8538288140415381 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91326779e-01 -1.19734041e-01 -5.41754263e-02 4.52778168e+00] [ 1.20042197e-01 9.92765746e-01 2.45849471e-03 -2.95268216e-02] [ 5.34891420e-02 -8.94050886e-03 9.98528407e-01 -1.17685977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24134618399998 meters Centerline goodness [0,1] 0.8495683531854442 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91311610e-01 -1.19757884e-01 -5.43998329e-02 4.52826657e+00] [ 1.20063324e-01 9.92763407e-01 2.36990650e-03 -2.89681492e-02] [ 5.37223485e-02 -8.88074059e-03 9.98516420e-01 -1.17682636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27134618399998 meters Centerline goodness [0,1] 0.8499869212660215 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91329575e-01 -1.19524137e-01 -5.45862126e-02 4.52899447e+00] [ 1.19832418e-01 9.92791237e-01 2.39811127e-03 -2.82968326e-02] [ 5.39060814e-02 -8.91851645e-03 9.98506181e-01 -1.17714712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30134618399998 meters Centerline goodness [0,1] 0.8593436327136248 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91328824e-01 -1.19451923e-01 -5.47576574e-02 4.52930589e+00] [ 1.19747012e-01 9.92802157e-01 2.12823739e-03 -2.71199118e-02] [ 5.41092983e-02 -8.66684891e-03 9.98497406e-01 -1.17688656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33134618399998 meters Centerline goodness [0,1] 0.8528996984226855 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91339635e-01 -1.19206207e-01 -5.50963509e-02 4.52999947e+00] [ 1.19485058e-01 9.92834397e-01 1.78326094e-03 -2.56064369e-02] [ 5.44889765e-02 -8.35100795e-03 9.98479450e-01 -1.17642501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36134618399998 meters Centerline goodness [0,1] 0.8645810640059257 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91350789e-01 -1.18974976e-01 -5.53946580e-02 4.53096695e+00] [ 1.19260941e-01 9.92861177e-01 1.87370403e-03 -2.56963548e-02] [ 5.47762815e-02 -8.46391700e-03 9.98462779e-01 -1.17673986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39134618399999 meters Centerline goodness [0,1] 0.8637531573904712 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91374842e-01 -1.18658538e-01 -5.56423719e-02 4.53208643e+00] [ 1.18959178e-01 9.92896903e-01 2.11064888e-03 -2.59769970e-02] [ 5.49966922e-02 -8.71161501e-03 9.98448532e-01 -1.17742249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.421346184 meters Centerline goodness [0,1] 0.8647969136070051 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91397035e-01 -1.18304646e-01 -5.59993726e-02 4.53353578e+00] [ 1.18622582e-01 9.92936572e-01 2.37621802e-03 -2.62156059e-02] [ 5.53227074e-02 -8.99856569e-03 9.98427976e-01 -1.17823380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.451346184 meters Centerline goodness [0,1] 0.8661106998214518 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.03, Z:-1.18 [[ 9.91402948e-01 -1.18198065e-01 -5.61196182e-02 4.53407667e+00] [ 1.18516050e-01 9.92949331e-01 2.36051617e-03 -2.59731770e-02] [ 5.54449289e-02 -8.99129815e-03 9.98421262e-01 -1.17855437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.481346184 meters Centerline goodness [0,1] 0.8640153664818615 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.02, Z:-1.18 [[ 9.91391712e-01 -1.18292529e-01 -5.61190786e-02 4.53410519e+00] [ 1.18595197e-01 9.92940504e-01 2.08222696e-03 -2.49280575e-02] [ 5.54765943e-02 -8.71975575e-03 9.98421911e-01 -1.17854052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.511346184 meters Centerline goodness [0,1] 0.8636631781336712 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.02, Z:-1.18 [[ 9.91369963e-01 -1.18456887e-01 -5.61565854e-02 4.53391909e+00] [ 1.18726856e-01 9.92925844e-01 1.48395814e-03 -2.25134419e-02] [ 5.55835399e-02 -8.13844636e-03 9.98420871e-01 -1.17811444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.541346184 meters Centerline goodness [0,1] 0.8634672619047619 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.02, Z:-1.18 [[ 9.91327668e-01 -1.18649927e-01 -5.64946895e-02 4.53393702e+00] [ 1.18862441e-01 9.92910649e-01 4.04470633e-04 -1.77893177e-02] [ 5.60461884e-02 -7.11605964e-03 9.98402818e-01 -1.17703422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.571346184 meters Centerline goodness [0,1] 0.861170701808152 Centerline is valid? [False, False] Translation: X:4.53, Y:-0.02, Z:-1.18 [[ 9.91315833e-01 -1.18684551e-01 -5.66294677e-02 4.53448400e+00] [ 1.18895621e-01 9.92906693e-01 3.60703744e-04 -1.78777618e-02] [ 5.61849676e-02 -7.09056707e-03 9.98395199e-01 -1.17729416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.601346184 meters Centerline goodness [0,1] 0.859205381910316 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91307012e-01 -1.18742049e-01 -5.66633337e-02 4.53524788e+00] [ 1.18963871e-01 9.92898434e-01 5.45772875e-04 -1.92065957e-02] [ 5.61961291e-02 -7.28191798e-03 9.98393193e-01 -1.17815559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.631346184 meters Centerline goodness [0,1] 0.8567021811897001 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91295140e-01 -1.18807981e-01 -5.67327793e-02 4.53599022e+00] [ 1.19043305e-01 9.92888761e-01 7.74524928e-04 -2.04766002e-02] [ 5.62373192e-02 -7.52144036e-03 9.98389098e-01 -1.17892992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.661346184 meters Centerline goodness [0,1] 0.8503312126975798 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91220358e-01 -1.19351077e-01 -5.68992315e-02 4.53663784e+00] [ 1.19589453e-01 9.92823115e-01 7.90729032e-04 -2.09168840e-02] [ 5.63964979e-02 -7.58833468e-03 9.98379613e-01 -1.17970257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.691346184 meters Centerline goodness [0,1] 0.8436662964656693 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91215656e-01 -1.19263485e-01 -5.71641955e-02 4.53767010e+00] [ 1.19511809e-01 9.92832341e-01 9.32945820e-04 -2.06564299e-02] [ 5.66431957e-02 -7.75654692e-03 9.98364355e-01 -1.18031271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.721346184 meters Centerline goodness [0,1] 0.848453675939504 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91199134e-01 -1.19349980e-01 -5.72700497e-02 4.53799870e+00] [ 1.19585181e-01 9.92823708e-01 6.85149192e-04 -1.98866151e-02] [ 5.67772906e-02 -7.52776855e-03 9.98358489e-01 -1.18038358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.751346184 meters Centerline goodness [0,1] 0.8450405544260073 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91243987e-01 -1.18855074e-01 -5.75224280e-02 4.53937300e+00] [ 1.19108575e-01 9.92880745e-01 9.86478024e-04 -1.94479293e-02] [ 5.69956632e-02 -7.82925483e-03 9.98343727e-01 -1.18137715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.781346184 meters Centerline goodness [0,1] 0.8556490858871498 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91362242e-01 -1.17523150e-01 -5.82169607e-02 4.54223858e+00] [ 1.17818866e-01 9.93033713e-01 1.66146998e-03 -1.75977767e-02] [ 5.76161435e-02 -8.50617492e-03 9.98302572e-01 -1.18308414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.811346184 meters Centerline goodness [0,1] 0.8601715416758302 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91375972e-01 -1.17328636e-01 -5.83752759e-02 4.54302308e+00] [ 1.17628250e-01 9.93056225e-01 1.71113097e-03 -1.71910140e-02] [ 5.77691665e-02 -8.56295566e-03 9.98293243e-01 -1.18362490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.841346184 meters Centerline goodness [0,1] 0.8597913234486546 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.91373067e-01 -1.17333539e-01 -5.84147426e-02 4.54328332e+00] [ 1.17633621e-01 9.93055586e-01 1.71322875e-03 -1.70875413e-02] [ 5.78080672e-02 -8.56998653e-03 9.98290931e-01 -1.18387862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.871346184 meters Centerline goodness [0,1] 0.8474895031490552 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90955738e-01 -1.20836610e-01 -5.83544261e-02 4.54412503e+00] [ 1.20887675e-01 9.92662609e-01 -2.66730089e-03 -1.35494947e-02] [ 5.82485644e-02 -4.41115380e-03 9.98292365e-01 -1.18311654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.901346184 meters Centerline goodness [0,1] 0.8552268244575937 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90932136e-01 -1.21065790e-01 -5.82801512e-02 4.54373631e+00] [ 1.21108326e-01 9.92635306e-01 -2.81476244e-03 -1.37298922e-02] [ 5.81917072e-02 -4.26897300e-03 9.98296299e-01 -1.18270142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.931346184 meters Centerline goodness [0,1] 0.8479189017581503 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90902230e-01 -1.21363467e-01 -5.81693992e-02 4.54336467e+00] [ 1.21405210e-01 9.92598998e-01 -2.82902153e-03 -1.43784197e-02] [ 5.80822272e-02 -4.25878438e-03 9.98302718e-01 -1.18254365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96134618399998 meters Centerline goodness [0,1] 0.832814506824564 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.90830230e-01 -1.22064331e-01 -5.79288702e-02 4.54283483e+00] [ 1.22110987e-01 9.92512650e-01 -2.74709555e-03 -1.63610450e-02] [ 5.78304589e-02 -4.35184618e-03 9.98316933e-01 -1.18273620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99134618399998 meters Centerline goodness [0,1] 0.829692327777536 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.02, Z:-1.18 [[ 9.90829493e-01 -1.21984778e-01 -5.81087688e-02 4.54354783e+00] [ 1.22042876e-01 9.92521524e-01 -2.56134649e-03 -1.62724116e-02] [ 5.79866491e-02 -4.55390360e-03 9.98306972e-01 -1.18323202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02134618399998 meters Centerline goodness [0,1] 0.8285152409046215 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90803820e-01 -1.22241572e-01 -5.80068015e-02 4.54306383e+00] [ 1.22274488e-01 9.92491803e-01 -2.99495955e-03 -1.49353316e-02] [ 5.79373835e-02 -4.12533459e-03 9.98311695e-01 -1.18281571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05134618399998 meters Centerline goodness [0,1] 0.8254492196038998 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90805117e-01 -1.22162050e-01 -5.81519939e-02 4.54339539e+00] [ 1.22190624e-01 9.92501879e-01 -3.07758796e-03 -1.38259084e-02] [ 5.80919277e-02 -4.05633854e-03 9.98302997e-01 -1.18281672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08134618399998 meters Centerline goodness [0,1] 0.8219578740587143 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90796410e-01 -1.22226633e-01 -5.81646215e-02 4.54345139e+00] [ 1.22225585e-01 9.92495856e-01 -3.58904380e-03 -1.19995001e-02] [ 5.81668225e-02 -3.55319319e-03 9.98300554e-01 -1.18262842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11134618399998 meters Centerline goodness [0,1] 0.8335045350234946 Centerline is valid? [False, False] Translation: X:4.54, Y:-0.01, Z:-1.18 [[ 9.90818793e-01 -1.21944205e-01 -5.83757745e-02 4.54437171e+00] [ 1.21945775e-01 9.92530419e-01 -3.54885191e-03 -1.06504547e-02] [ 5.83724939e-02 -3.60240991e-03 9.98288372e-01 -1.18327432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14134618399999 meters Centerline goodness [0,1] 0.8190700514699468 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.01, Z:-1.18 [[ 9.90841900e-01 -1.21600112e-01 -5.87004391e-02 4.54567663e+00] [ 1.21602474e-01 9.92572551e-01 -3.54522783e-03 -8.95351876e-03] [ 5.86955447e-02 -3.62535834e-03 9.98269347e-01 -1.18401867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.171346184 meters Centerline goodness [0,1] 0.8280634142068845 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.01, Z:-1.18 [[ 9.90825753e-01 -1.21713985e-01 -5.87369748e-02 4.54581016e+00] [ 1.21688406e-01 9.92560188e-01 -4.02555992e-03 -6.98280967e-03] [ 5.87899497e-02 -3.15898040e-03 9.98265377e-01 -1.18401318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.201346184 meters Centerline goodness [0,1] 0.8305866842452209 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.00, Z:-1.18 [[ 9.90828644e-01 -1.21576336e-01 -5.89728088e-02 4.54697938e+00] [ 1.21527056e-01 9.92578212e-01 -4.43481988e-03 -2.96995310e-03] [ 5.90742943e-02 -2.77264528e-03 9.98249738e-01 -1.18498453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.231346184 meters Centerline goodness [0,1] 0.827537386072029 Centerline is valid? [False, False] Translation: X:4.55, Y:-0.00, Z:-1.19 [[ 9.90817172e-01 -1.21650644e-01 -5.90123116e-02 4.54747075e+00] [ 1.21583731e-01 9.92569877e-01 -4.73657685e-03 -1.01377224e-03] [ 5.91500505e-02 -2.48185535e-03 9.98246018e-01 -1.18562516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.261346184 meters Centerline goodness [0,1] 0.8236969335717597 Centerline is valid? [False, False] Translation: X:4.55, Y:0.00, Z:-1.19 [[ 9.90835727e-01 -1.21337362e-01 -5.93448183e-02 4.54916389e+00] [ 1.21279792e-01 9.92607775e-01 -4.58435842e-03 4.22870981e-04] [ 5.94623820e-02 -2.65498110e-03 9.98227016e-01 -1.18700382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.291346184 meters Centerline goodness [0,1] 0.8186277774078267 Centerline is valid? [False, False] Translation: X:4.55, Y:0.00, Z:-1.19 [[ 9.90799938e-01 -1.21682628e-01 -5.92352991e-02 4.54962121e+00] [ 1.21591380e-01 9.92566851e-01 -5.15589466e-03 3.24663967e-03] [ 5.94223771e-02 -2.09404166e-03 9.98230733e-01 -1.18809547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.321346184 meters Centerline goodness [0,1] 0.8132440310629492 Centerline is valid? [False, False] Translation: X:4.55, Y:0.00, Z:-1.19 [[ 9.90775519e-01 -1.21770420e-01 -5.94628962e-02 4.55036076e+00] [ 1.21665799e-01 9.92556486e-01 -5.39034281e-03 4.77856448e-03] [ 5.96766676e-02 -1.89398106e-03 9.98215963e-01 -1.18855685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.351346184 meters Centerline goodness [0,1] 0.8125389061805247 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90772117e-01 -1.21707399e-01 -5.96483140e-02 4.55127949e+00] [ 1.21597227e-01 9.92564360e-01 -5.48690685e-03 5.97931375e-03] [ 5.98725878e-02 -1.81679524e-03 9.98204374e-01 -1.18919055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.381346184 meters Centerline goodness [0,1] 0.805107047279215 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90755798e-01 -1.21764440e-01 -5.98027531e-02 4.55174853e+00] [ 1.21642517e-01 9.92557674e-01 -5.68870263e-03 7.30325746e-03] [ 6.00503632e-02 -1.63844230e-03 9.98194004e-01 -1.18944176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.411346184 meters Centerline goodness [0,1] 0.799771628156905 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90696062e-01 -1.22244533e-01 -5.98129330e-02 4.55178593e+00] [ 1.22088674e-01 9.92499410e-01 -6.26718447e-03 9.85638110e-03] [ 6.01304297e-02 -1.09360667e-03 9.98189930e-01 -1.18969384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.441346184 meters Centerline goodness [0,1] 0.7905437140748361 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90697141e-01 -1.22143338e-01 -6.00014979e-02 4.55260022e+00] [ 1.21989940e-01 9.92511804e-01 -6.22684631e-03 1.03521340e-02] [ 6.03127627e-02 -1.15066030e-03 9.98178865e-01 -1.19022598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.471346184 meters Centerline goodness [0,1] 0.7880669003863073 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90728951e-01 -1.21792434e-01 -6.01892753e-02 4.55385667e+00] [ 1.21657691e-01 9.92554510e-01 -5.91189910e-03 1.06688550e-02] [ 6.04611612e-02 -1.46539864e-03 9.98169475e-01 -1.19136611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.501346184 meters Centerline goodness [0,1] 0.8040110000670736 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.90734954e-01 -1.21635646e-01 -6.04071283e-02 4.55484826e+00] [ 1.21492806e-01 9.92573901e-01 -6.04562006e-03 1.18704196e-02] [ 6.06939019e-02 -1.34942440e-03 9.98155514e-01 -1.19198610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.531346184 meters Centerline goodness [0,1] 0.8049619092563878 Centerline is valid? [False, False] Translation: X:4.55, Y:0.01, Z:-1.19 [[ 9.91176258e-01 -1.17891876e-01 -6.05898651e-02 4.55452032e+00] [ 1.17962528e-01 9.93015093e-01 -2.42211164e-03 1.29560014e-02] [ 6.04521979e-02 -4.74659409e-03 9.98159808e-01 -1.19267691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.561346184 meters Centerline goodness [0,1] 0.8091407513931332 Centerline is valid? [False, False] Translation: X:4.56, Y:0.01, Z:-1.19 [[ 9.91219136e-01 -1.17281384e-01 -6.10712771e-02 4.55644484e+00] [ 1.17361629e-01 9.93086618e-01 -2.28390464e-03 1.47085219e-02] [ 6.09169275e-02 -4.90357458e-03 9.98130794e-01 -1.19374657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.591346184 meters Centerline goodness [0,1] 0.8242774045181945 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91330736e-01 -1.16006126e-01 -6.16923886e-02 4.55969445e+00] [ 1.16122633e-01 9.93233419e-01 -1.70565536e-03 1.76229134e-02] [ 6.14728085e-02 -5.47301405e-03 9.98093753e-01 -1.19625588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.621346184 meters Centerline goodness [0,1] 0.8142653610438951 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91349652e-01 -1.15679376e-01 -6.20011992e-02 4.56112924e+00] [ 1.15799836e-01 9.93271184e-01 -1.65904989e-03 1.90006934e-02] [ 6.17759224e-02 -5.53503018e-03 9.98074696e-01 -1.19725736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.651346184 meters Centerline goodness [0,1] 0.8199388932895779 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91351765e-01 -1.15518632e-01 -6.22665610e-02 4.56205109e+00] [ 1.15630505e-01 9.93290637e-01 -1.81590415e-03 2.05755705e-02] [ 6.20585628e-02 -5.39971415e-03 9.98057903e-01 -1.19767501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.681346184 meters Centerline goodness [0,1] 0.8186044402113523 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91327737e-01 -1.15662066e-01 -6.23827189e-02 4.56215007e+00] [ 1.15749418e-01 9.93275957e-01 -2.22402145e-03 2.19837418e-02] [ 6.22204897e-02 -5.01602929e-03 9.98049823e-01 -1.19739149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71134618399998 meters Centerline goodness [0,1] 0.8164664744215617 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91296374e-01 -1.15983773e-01 -6.22837241e-02 4.56176239e+00] [ 1.16068412e-01 9.93238628e-01 -2.26973570e-03 2.16247740e-02] [ 6.21258531e-02 -4.97919219e-03 9.98055903e-01 -1.19732722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74134618399998 meters Centerline goodness [0,1] 0.8167002421965187 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91318704e-01 -1.15765306e-01 -6.23347547e-02 4.56257044e+00] [ 1.15880767e-01 9.93261551e-01 -1.77197899e-03 2.02698648e-02] [ 6.21198488e-02 -5.46680325e-03 9.98053725e-01 -1.19824693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77134618399998 meters Centerline goodness [0,1] 0.8178570621085712 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91333316e-01 -1.15550559e-01 -6.25006040e-02 4.56345172e+00] [ 1.15682595e-01 9.93285077e-01 -1.51415751e-03 1.97198767e-02] [ 6.22558790e-02 -5.72919725e-03 9.98043778e-01 -1.19886559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80134618399998 meters Centerline goodness [0,1] 0.82509738200924 Centerline is valid? [False, False] Translation: X:4.56, Y:0.02, Z:-1.20 [[ 9.91340704e-01 -1.15365992e-01 -6.27239705e-02 4.56424430e+00] [ 1.15503032e-01 9.93306071e-01 -1.44892767e-03 2.02378167e-02] [ 6.24712576e-02 -5.80842781e-03 9.98029861e-01 -1.19925281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83134618399998 meters Centerline goodness [0,1] 0.8219754370886391 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91408037e-01 -1.14551083e-01 -6.31518285e-02 4.56605241e+00] [ 1.14714136e-01 9.93397989e-01 -1.04983262e-03 2.23909923e-02] [ 6.28551589e-02 -6.20359497e-03 9.98003379e-01 -1.20036873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86134618399998 meters Centerline goodness [0,1] 0.8314478865545262 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91416927e-01 -1.14331201e-01 -6.34102016e-02 4.56659425e+00] [ 1.14483349e-01 9.93424392e-01 -1.24070882e-03 2.38346947e-02] [ 6.31350927e-02 -6.02935251e-03 9.97986777e-01 -1.20024218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89134618399999 meters Centerline goodness [0,1] 0.8355062917367011 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91444282e-01 -1.13912661e-01 -6.37349356e-02 4.56778634e+00] [ 1.14073967e-01 9.93471634e-01 -1.11422567e-03 2.45165879e-02] [ 6.34457751e-02 -6.16580430e-03 9.97966240e-01 -1.20071248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.921346184 meters Centerline goodness [0,1] 0.838002186389724 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91476457e-01 -1.13544128e-01 -6.38918277e-02 4.56838036e+00] [ 1.13711013e-01 9.93513334e-01 -1.03005866e-03 2.48564342e-02] [ 6.35943399e-02 -6.24392555e-03 9.97956298e-01 -1.20086337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.951346184 meters Centerline goodness [0,1] 0.836422001639195 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91467325e-01 -1.13577090e-01 -6.39749077e-02 4.56855373e+00] [ 1.13729636e-01 9.93510932e-01 -1.26398090e-03 2.54167595e-02] [ 6.37033295e-02 -6.02264720e-03 9.97950707e-01 -1.20067813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.981346184 meters Centerline goodness [0,1] 0.8443741033406964 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91460952e-01 -1.13645920e-01 -6.39514354e-02 4.56850106e+00] [ 1.13794955e-01 9.93503381e-01 -1.31899649e-03 2.53404289e-02] [ 6.36858658e-02 -5.96961716e-03 9.97952140e-01 -1.20061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.011346184 meters Centerline goodness [0,1] 0.8443741033406964 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91460952e-01 -1.13645920e-01 -6.39514354e-02 4.56850106e+00] [ 1.13794955e-01 9.93503381e-01 -1.31899649e-03 2.53404289e-02] [ 6.36858658e-02 -5.96961716e-03 9.97952140e-01 -1.20061854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.041346184 meters Centerline goodness [0,1] 0.829512893982808 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91442940e-01 -1.13848390e-01 -6.38704966e-02 4.56858863e+00] [ 1.14009392e-01 9.93479029e-01 -1.13011578e-03 2.46112634e-02] [ 6.35826608e-02 -6.16139118e-03 9.97957555e-01 -1.20115378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.071346184 meters Centerline goodness [0,1] 0.8233398393173256 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91444382e-01 -1.13785902e-01 -6.39594151e-02 4.56907310e+00] [ 1.13954175e-01 9.93485480e-01 -1.02274267e-03 2.42765493e-02] [ 6.36591239e-02 -6.27444994e-03 9.97951976e-01 -1.20145543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.101346184 meters Centerline goodness [0,1] 0.8265545605760247 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91427366e-01 -1.13897002e-01 -6.40253986e-02 4.56930202e+00] [ 1.14056849e-01 9.93473542e-01 -1.16478861e-03 2.44336306e-02] [ 6.37402054e-02 -6.14773194e-03 9.97947590e-01 -1.20151813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.131346184 meters Centerline goodness [0,1] 0.8326795895096921 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91420906e-01 -1.13924332e-01 -6.40767862e-02 4.56965154e+00] [ 1.14086310e-01 9.93470191e-01 -1.13731437e-03 2.43757010e-02] [ 6.37879448e-02 -6.18272682e-03 9.97944323e-01 -1.20186178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.161346184 meters Centerline goodness [0,1] 0.8297145200610604 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.20 [[ 9.91399001e-01 -1.14063115e-01 -6.41687423e-02 4.56992802e+00] [ 1.14220465e-01 9.93454674e-01 -1.22303597e-03 2.46819569e-02] [ 6.38882403e-02 -6.11686692e-03 9.97938313e-01 -1.20208302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.191346184 meters Centerline goodness [0,1] 0.828499829137715 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91399060e-01 -1.13920863e-01 -6.44200338e-02 4.57076944e+00] [ 1.14076101e-01 9.93471196e-01 -1.27532673e-03 2.53728663e-02] [ 6.41447343e-02 -6.08442854e-03 9.97922057e-01 -1.20244608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.221346184 meters Centerline goodness [0,1] 0.8277495615733255 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91406061e-01 -1.13714081e-01 -6.46771168e-02 4.57179810e+00] [ 1.13875199e-01 9.93494335e-01 -1.20185459e-03 2.58314555e-02] [ 6.43930170e-02 -6.17359366e-03 9.97905520e-01 -1.20307189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.251346184 meters Centerline goodness [0,1] 0.8305954825462012 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91434029e-01 -1.13380631e-01 -6.48336207e-02 4.57319129e+00] [ 1.13554878e-01 9.93531219e-01 -1.00296807e-03 2.66767747e-02] [ 6.45279434e-02 -6.36779722e-03 9.97895584e-01 -1.20454673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.281346184 meters Centerline goodness [0,1] 0.8288143751002728 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.20 [[ 9.91415543e-01 -1.13415788e-01 -6.50544346e-02 4.57366727e+00] [ 1.13575228e-01 9.93528608e-01 -1.25408319e-03 2.77094170e-02] [ 6.47756746e-02 -6.14525469e-03 9.97880929e-01 -1.20450366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.311346184 meters Centerline goodness [0,1] 0.8249736613073153 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.21 [[ 9.91425029e-01 -1.13187279e-01 -6.53073660e-02 4.57463337e+00] [ 1.13357712e-01 9.93553630e-01 -1.10184859e-03 2.85642126e-02] [ 6.50110858e-02 -6.31069332e-03 9.97864587e-01 -1.20508604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.341346184 meters Centerline goodness [0,1] 0.8278223304763437 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.21 [[ 9.91412798e-01 -1.13374349e-01 -6.51683986e-02 4.57431839e+00] [ 1.13545175e-01 9.93532238e-01 -1.08842174e-03 2.80245783e-02] [ 6.48703040e-02 -6.32048197e-03 9.97873687e-01 -1.20507653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.371346184 meters Centerline goodness [0,1] 0.8347067600137725 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.21 [[ 9.91411017e-01 -1.13381651e-01 -6.51827925e-02 4.57459045e+00] [ 1.13565972e-01 9.93530066e-01 -8.82491272e-04 2.67080121e-02] [ 6.48611225e-02 -6.52763562e-03 9.97872950e-01 -1.20534577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.401346184 meters Centerline goodness [0,1] 0.8186775420427989 Centerline is valid? [False, False] Translation: X:4.57, Y:0.03, Z:-1.21 [[ 9.91407694e-01 -1.13407014e-01 -6.51892192e-02 4.57488255e+00] [ 1.13610140e-01 9.93525230e-01 -5.94621648e-04 2.51506084e-02] [ 6.48345682e-02 -6.81664381e-03 9.97872743e-01 -1.20571314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.431346184 meters Centerline goodness [0,1] 0.8219209401220878 Centerline is valid? [False, False] Translation: X:4.57, Y:0.02, Z:-1.21 [[ 9.91366396e-01 -1.13781329e-01 -6.51650030e-02 4.57488995e+00] [ 1.14018354e-01 9.93478640e-01 -8.21667219e-05 2.26860563e-02] [ 6.47493876e-02 -7.34854908e-03 9.97874499e-01 -1.20621163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46134618399998 meters Centerline goodness [0,1] 0.8159534500137451 Centerline is valid? [False, False] Translation: X:4.58, Y:0.02, Z:-1.21 [[ 9.91357075e-01 -1.13768444e-01 -6.53290912e-02 4.57560901e+00] [ 1.14036998e-01 9.93476429e-01 3.84468109e-04 2.11272238e-02] [ 6.48591719e-02 -7.83107859e-03 9.97863699e-01 -1.20686097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49134618399998 meters Centerline goodness [0,1] 0.8134055486996663 Centerline is valid? [False, False] Translation: X:4.58, Y:0.02, Z:-1.21 [[ 9.91358230e-01 -1.13746628e-01 -6.53495557e-02 4.57607325e+00] [ 1.14051834e-01 9.93474349e-01 9.46713671e-04 1.93849998e-02] [ 6.48154219e-02 -8.39176906e-03 9.97861984e-01 -1.20759812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52134618399998 meters Centerline goodness [0,1] 0.808979498339251 Centerline is valid? [False, False] Translation: X:4.58, Y:0.02, Z:-1.21 [[ 9.91340817e-01 -1.13880897e-01 -6.53798543e-02 4.57597497e+00] [ 1.14191508e-01 9.93458231e-01 1.02154714e-03 1.87001962e-02] [ 6.48358196e-02 -8.47852553e-03 9.97859926e-01 -1.20740217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55134618399998 meters Centerline goodness [0,1] 0.806747835621445 Centerline is valid? [False, False] Translation: X:4.58, Y:0.02, Z:-1.21 [[ 9.91336768e-01 -1.13920909e-01 -6.53715386e-02 4.57569071e+00] [ 1.14248476e-01 9.93451378e-01 1.28238071e-03 1.77981146e-02] [ 6.47973551e-02 -8.73986983e-03 9.97860169e-01 -1.20710815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58134618399998 meters Centerline goodness [0,1] 0.8115548662272198 Centerline is valid? [False, False] Translation: X:4.58, Y:0.02, Z:-1.21 [[ 9.91357333e-01 -1.13627074e-01 -6.55707766e-02 4.57640918e+00] [ 1.13983739e-01 9.93481140e-01 1.71204934e-03 1.61283142e-02] [ 6.49487947e-02 -9.17125493e-03 9.97846452e-01 -1.20733502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61134618399998 meters Centerline goodness [0,1] 0.8133978905255501 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91392108e-01 -1.13233651e-01 -6.57254088e-02 4.57732510e+00] [ 1.13626565e-01 9.93520961e-01 2.25901134e-03 1.41564916e-02] [ 6.50437753e-02 -9.70771845e-03 9.97835191e-01 -1.20796395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64134618399999 meters Centerline goodness [0,1] 0.8169576059850374 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91419614e-01 -1.12936815e-01 -6.58211520e-02 4.57772967e+00] [ 1.13363243e-01 9.93549754e-01 2.76808053e-03 1.19251523e-02] [ 6.50839712e-02 -1.02060286e-02 9.97827597e-01 -1.20808509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.671346184 meters Centerline goodness [0,1] 0.8183343156367593 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91410278e-01 -1.13038809e-01 -6.57866920e-02 4.57742063e+00] [ 1.13464084e-01 9.93538286e-01 2.75245430e-03 1.15147368e-02] [ 6.50504630e-02 -1.01932382e-02 9.97829913e-01 -1.20768832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.701346184 meters Centerline goodness [0,1] 0.8191361250596442 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91387835e-01 -1.13244801e-01 -6.57706230e-02 4.57691980e+00] [ 1.13660115e-01 9.93516302e-01 2.59537342e-03 1.14828829e-02] [ 6.50502736e-02 -1.00485182e-02 9.97831393e-01 -1.20701096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.731346184 meters Centerline goodness [0,1] 0.8151102022267667 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91369031e-01 -1.13372390e-01 -6.58342323e-02 4.57667765e+00] [ 1.13785260e-01 9.93502110e-01 2.54387319e-03 1.12399358e-02] [ 6.51180438e-02 -1.00128824e-02 9.97827331e-01 -1.20644233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.761346184 meters Centerline goodness [0,1] 0.8188054700235464 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91376630e-01 -1.13243980e-01 -6.59407193e-02 4.57725139e+00] [ 1.13695804e-01 9.93510684e-01 3.12794571e-03 8.91233713e-03] [ 6.51585881e-02 -1.05981553e-02 9.97818640e-01 -1.20695043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.791346184 meters Centerline goodness [0,1] 0.818840251686207 Centerline is valid? [False, False] Translation: X:4.58, Y:0.01, Z:-1.21 [[ 9.91399093e-01 -1.12968079e-01 -6.60761030e-02 4.57812375e+00] [ 1.13453394e-01 9.93536699e-01 3.62701882e-03 7.01861918e-03] [ 6.52392959e-02 -1.10923813e-02 9.97807994e-01 -1.20759602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.821346184 meters Centerline goodness [0,1] 0.8161237010708383 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91420790e-01 -1.12631256e-01 -6.63250844e-02 4.57925868e+00] [ 1.13157321e-01 9.93568134e-01 4.21700638e-03 4.74422735e-03] [ 6.54235237e-02 -1.16859966e-02 9.97789156e-01 -1.20828344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.851346184 meters Centerline goodness [0,1] 0.818709881565862 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91427847e-01 -1.12552991e-01 -6.63524568e-02 4.57964964e+00] [ 1.13105924e-01 9.93572174e-01 4.62444531e-03 2.61986454e-03] [ 6.54054595e-02 -1.20896598e-02 9.97785531e-01 -1.20864872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.881346184 meters Centerline goodness [0,1] 0.8148181612830359 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91408518e-01 -1.12650671e-01 -6.64753794e-02 4.57983344e+00] [ 1.13207534e-01 9.93560443e-01 4.65831466e-03 2.44070467e-03] [ 6.55225452e-02 -1.21438066e-02 9.97777192e-01 -1.20859256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.911346184 meters Centerline goodness [0,1] 0.8090215034333212 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91404381e-01 -1.12657319e-01 -6.65258013e-02 4.58001985e+00] [ 1.13225426e-01 9.93557634e-01 4.81984991e-03 1.89975513e-03] [ 6.55542264e-02 -1.23108325e-02 9.97773064e-01 -1.20870380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.941346184 meters Centerline goodness [0,1] 0.8060172759872798 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91413217e-01 -1.12505786e-01 -6.66504393e-02 4.58065054e+00] [ 1.13097680e-01 9.93570460e-01 5.16289998e-03 1.27927402e-03] [ 6.56410515e-02 -1.26565773e-02 9.97763030e-01 -1.20922082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.971346184 meters Centerline goodness [0,1] 0.8085659396541982 Centerline is valid? [False, False] Translation: X:4.58, Y:0.00, Z:-1.21 [[ 9.91432969e-01 -1.12153613e-01 -6.69494913e-02 4.58159774e+00] [ 1.12773919e-01 9.93605190e-01 5.54700929e-03 8.32613083e-04] [ 6.58992449e-02 -1.30496444e-02 9.97740946e-01 -1.20962078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.001346184 meters Centerline goodness [0,1] 0.8206158569622539 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.00, Z:-1.21 [[ 9.91442921e-01 -1.11923378e-01 -6.71869907e-02 4.58225577e+00] [ 1.12562941e-01 9.93627679e-01 5.79821062e-03 -1.75477631e-05] [ 6.61098983e-02 -1.33113602e-02 9.97723553e-01 -1.20968214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.031346184 meters Centerline goodness [0,1] 0.8231070643926525 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.00, Z:-1.21 [[ 9.91448731e-01 -1.11731352e-01 -6.74204657e-02 4.58291626e+00] [ 1.12382237e-01 9.93647368e-01 5.92791572e-03 -4.76708921e-04] [ 6.63298343e-02 -1.34540873e-02 9.97707041e-01 -1.20977583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.061346184 meters Centerline goodness [0,1] 0.8263664139413829 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.00, Z:-1.21 [[ 9.91462274e-01 -1.11398922e-01 -6.77704886e-02 4.58392453e+00] [ 1.12065686e-01 9.93682042e-01 6.10577522e-03 -9.22107302e-04] [ 6.66621407e-02 -1.36483921e-02 9.97682254e-01 -1.20990636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.091346184 meters Centerline goodness [0,1] 0.8415457842248413 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.00, Z:-1.21 [[ 9.91499655e-01 -1.10877119e-01 -6.80786175e-02 4.58498419e+00] [ 1.11590649e-01 9.93731285e-01 6.75729933e-03 -3.43614908e-03] [ 6.69026222e-02 -1.42967970e-02 9.97657076e-01 -1.21018665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.121346184 meters Centerline goodness [0,1] 0.839658057804514 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.00, Z:-1.21 [[ 0.99151369 -0.11060028 -0.06832409 4.58584786] [ 0.11134234 0.99375647 0.00713823 -0.00470032] [ 0.06710802 -0.01468502 0.99763764 -1.21051205] [ 0. 0. 0. 1. ]] SLAMing on 177.151346184 meters Centerline goodness [0,1] 0.8519706380575945 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.99151271 -0.1105323 -0.06844815 4.58606076] [ 0.11129072 0.99376067 0.00735601 -0.0063698 ] [ 0.067208 -0.01491122 0.99762756 -1.21026224] [ 0. 0. 0. 1. ]] SLAMing on 177.181346184 meters Centerline goodness [0,1] 0.8489132395382395 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.99149638 -0.11056317 -0.06863463 4.58604827] [ 0.11131952 0.99375798 0.00728306 -0.00663986] [ 0.06740097 -0.0148615 0.99761528 -1.20958028] [ 0. 0. 0. 1. ]] SLAMing on 177.21134618399998 meters Centerline goodness [0,1] 0.8468275286098007 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.99147903 -0.11067938 -0.06869801 4.58587882] [ 0.11143152 0.99374601 0.00720286 -0.00691807] [ 0.06747117 -0.01479661 0.9976115 -1.20910882] [ 0. 0. 0. 1. ]] SLAMing on 177.24134618399998 meters Centerline goodness [0,1] 0.8461209033944913 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.99148086 -0.11064506 -0.06872681 4.58590507] [ 0.11140772 0.99374758 0.00735309 -0.0077877 ] [ 0.06748351 -0.01494715 0.99760842 -1.20897241] [ 0. 0. 0. 1. ]] SLAMing on 177.27134618399998 meters Centerline goodness [0,1] 0.8432213860496462 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.99148988 -0.11047871 -0.06886414 4.58621746] [ 0.11129036 0.99375532 0.00805144 -0.01110438] [ 0.06754459 -0.01564683 0.99759356 -1.2088995 ] [ 0. 0. 0. 1. ]] SLAMing on 177.30134618399998 meters Centerline goodness [0,1] 0.8408795445375891 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.01, Z:-1.21 [[ 0.9914906 -0.11039698 -0.0689848 4.58646117] [ 0.11124234 0.99375676 0.00852357 -0.01406015] [ 0.06761313 -0.01612507 0.9975813 -1.20871633] [ 0. 0. 0. 1. ]] SLAMing on 177.33134618399998 meters Centerline goodness [0,1] 0.8416175419792783 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.02, Z:-1.21 [[ 0.99146969 -0.11064012 -0.06889574 4.58600457] [ 0.11150347 0.99372506 0.00880253 -0.01753028] [ 0.06748951 -0.01640956 0.99758503 -1.20819963] [ 0. 0. 0. 1. ]] SLAMing on 177.36134618399998 meters Centerline goodness [0,1] 0.8375213466699195 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.02, Z:-1.21 [[ 0.99143375 -0.11100168 -0.06883135 4.58535943] [ 0.11187727 0.99368139 0.00898723 -0.02060772] [ 0.06739883 -0.01661091 0.99758783 -1.20742594] [ 0. 0. 0. 1. ]] SLAMing on 177.39134618399999 meters Centerline goodness [0,1] 0.8208674901120269 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.02, Z:-1.21 [[ 0.9913473 -0.11185935 -0.06868782 4.58379728] [ 0.11272894 0.99358587 0.00890497 -0.02330885] [ 0.06725115 -0.01657102 0.99759846 -1.20584653] [ 0. 0. 0. 1. ]] SLAMing on 177.421346184 meters Centerline goodness [0,1] 0.8192343315838222 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.02, Z:-1.20 [[ 0.99128477 -0.1125015 -0.06854139 4.58236918] [ 0.11334073 0.99352009 0.00846849 -0.02391248] [ 0.06714453 -0.01616322 0.99761233 -1.20430807] [ 0. 0. 0. 1. ]] SLAMing on 177.451346184 meters Centerline goodness [0,1] 0.8163852985140244 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:-1.20 [[ 0.99122827 -0.11311692 -0.06834529 4.58068431] [ 0.11392792 0.9934562 0.00807466 -0.02552053] [ 0.06698467 -0.01579027 0.99762905 -1.20240105] [ 0. 0. 0. 1. ]] SLAMing on 177.481346184 meters Centerline goodness [0,1] 0.8203698845750262 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:-1.20 [[ 9.90788137e-01 -1.17196315e-01 -6.78519737e-02 4.57934067e+00] [ 1.17751597e-01 9.93034076e-01 4.22907635e-03 -2.85732940e-02] [ 6.68836898e-02 -1.21797970e-02 9.97686436e-01 -1.19997291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.511346184 meters Centerline goodness [0,1] 0.811306757434924 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:-1.20 [[ 9.90742279e-01 -1.17751581e-01 -6.75596098e-02 4.57795190e+00] [ 1.18295270e-01 9.92970039e-01 4.09021870e-03 -3.12402040e-02] [ 6.66030387e-02 -1.20443349e-02 9.97706855e-01 -1.19874656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.541346184 meters Centerline goodness [0,1] 0.815957192265025 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:-1.20 [[ 9.90719045e-01 -1.17898074e-01 -6.76447942e-02 4.57773263e+00] [ 1.18453609e-01 9.92950505e-01 4.24708792e-03 -3.32548098e-02] [ 6.66672091e-02 -1.22204409e-02 9.97700428e-01 -1.19806899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.571346184 meters Centerline goodness [0,1] 0.8271465496644149 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.03, Z:-1.20 [[ 9.90690988e-01 -1.18123237e-01 -6.76628914e-02 4.57732326e+00] [ 1.18682257e-01 9.92923024e-01 4.28832770e-03 -3.44582434e-02] [ 6.66774916e-02 -1.22787923e-02 9.97699024e-01 -1.19743141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.601346184 meters Centerline goodness [0,1] 0.8284921529523974 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.20 [[ 9.90661346e-01 -1.18442383e-01 -6.75388780e-02 4.57598844e+00] [ 1.18999758e-01 9.92885076e-01 4.27584454e-03 -3.58952445e-02] [ 6.65519028e-02 -1.22730241e-02 9.97707481e-01 -1.19592502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.631346184 meters Centerline goodness [0,1] 0.806367883716906 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.20 [[ 0.99067547 -0.11825554 -0.06765899 4.57615941] [ 0.11883578 0.99290326 0.00460234 -0.03702158] [ 0.06663458 -0.01259973 0.99769789 -1.19571399] [ 0. 0. 0. 1. ]] SLAMing on 177.661346184 meters Centerline goodness [0,1] 0.8223816417813695 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.20 [[ 0.9906912 -0.11802807 -0.06782568 4.5766702 ] [ 0.11863297 0.99292585 0.00494671 -0.03833915] [ 0.06676202 -0.01294703 0.99768492 -1.19575487] [ 0. 0. 0. 1. ]] SLAMing on 177.691346184 meters Centerline goodness [0,1] 0.8426031677620947 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.20 [[ 0.99075341 -0.11731895 -0.06814651 4.57756598] [ 0.11796233 0.99300294 0.00548118 -0.04008554] [ 0.06702664 -0.01346922 0.99766027 -1.19558333] [ 0. 0. 0. 1. ]] SLAMing on 177.721346184 meters Centerline goodness [0,1] 0.8441058919592591 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.20 [[ 0.9907587 -0.11721001 -0.06825698 4.5776789 ] [ 0.1178602 0.99301461 0.00556376 -0.04102467] [ 0.06712805 -0.01355712 0.99765226 -1.19527021] [ 0. 0. 0. 1. ]] SLAMing on 177.751346184 meters Centerline goodness [0,1] 0.8426999957197278 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.04, Z:-1.19 [[ 0.99077111 -0.11698944 -0.06845494 4.57807746] [ 0.11765657 0.99303751 0.00578239 -0.04241448] [ 0.06730184 -0.01378319 0.99763745 -1.19499325] [ 0. 0. 0. 1. ]] SLAMing on 177.781346184 meters Centerline goodness [0,1] 0.8434121116287021 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.20 [[ 0.99081511 -0.11648589 -0.0686764 4.57888892] [ 0.11720715 0.99308586 0.00655424 -0.0453691 ] [ 0.06743809 -0.01454341 0.99761746 -1.19520157] [ 0. 0. 0. 1. ]] SLAMing on 177.811346184 meters Centerline goodness [0,1] 0.8471941220317325 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.20 [[ 0.99083687 -0.11618892 -0.06886539 4.57938579] [ 0.1169332 0.99311607 0.00686328 -0.04629349] [ 0.06759389 -0.01485304 0.99760235 -1.19517519] [ 0. 0. 0. 1. ]] SLAMing on 177.841346184 meters Centerline goodness [0,1] 0.8592619392185239 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.20 [[ 0.9908627 -0.11581013 -0.06913123 4.5799994 ] [ 0.11657707 0.99315591 0.0071509 -0.04688005] [ 0.06782994 -0.01514468 0.99758195 -1.19507548] [ 0. 0. 0. 1. ]] SLAMing on 177.871346184 meters Centerline goodness [0,1] 0.8585164542959859 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.19 [[ 0.99088933 -0.11539931 -0.06943588 4.58054383] [ 0.11619067 0.99319895 0.00745459 -0.04752616] [ 0.06810339 -0.01545448 0.99755856 -1.19477726] [ 0. 0. 0. 1. ]] SLAMing on 177.901346184 meters Centerline goodness [0,1] 0.8656366249577274 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.19 [[ 0.99136105 -0.11097929 -0.06990619 4.57990199] [ 0.11209309 0.99362276 0.01220458 -0.05226282] [ 0.06810592 -0.01993514 0.99747891 -1.19363324] [ 0. 0. 0. 1. ]] SLAMing on 177.931346184 meters Centerline goodness [0,1] 0.8803102675740796 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.19 [[ 0.99139638 -0.11057994 -0.0700378 4.57995138] [ 0.11171911 0.99366057 0.01255035 -0.05385339] [ 0.06820598 -0.02026693 0.99746539 -1.19303961] [ 0. 0. 0. 1. ]] SLAMing on 177.96134618399998 meters Centerline goodness [0,1] 0.8803102675740796 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.05, Z:-1.19 [[ 0.99139638 -0.11057994 -0.0700378 4.57995138] [ 0.11171911 0.99366057 0.01255035 -0.05385339] [ 0.06820598 -0.02026693 0.99746539 -1.19303961] [ 0. 0. 0. 1. ]] SLAMing on 177.99134618399998 meters Centerline goodness [0,1] 0.8796101380936342 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.06, Z:-1.19 [[ 0.99142571 -0.11022596 -0.07018052 4.58002354] [ 0.11140883 0.99368755 0.01315764 -0.05695587] [ 0.06828719 -0.02086355 0.99744753 -1.19243552] [ 0. 0. 0. 1. ]] SLAMing on 178.02134618399998 meters Centerline goodness [0,1] 0.885728132836041 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.06, Z:-1.19 [[ 0.99133035 -0.11149656 -0.06951723 4.57745684] [ 0.11261402 0.99356198 0.01235598 -0.0628135 ] [ 0.06769202 -0.02007748 0.99750423 -1.18980094] [ 0. 0. 0. 1. ]] SLAMing on 178.05134618399998 meters Centerline goodness [0,1] 0.8865172087148722 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:-1.19 [[ 0.99129805 -0.11183909 -0.06942762 4.57652508] [ 0.11296113 0.99352154 0.01243889 -0.06524852] [ 0.06758668 -0.02017327 0.99750944 -1.18865673] [ 0. 0. 0. 1. ]] SLAMing on 178.08134618399998 meters Centerline goodness [0,1] 0.8831735509450587 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:-1.19 [[ 0.99090959 -0.11531281 -0.06929027 4.57722929] [ 0.11619484 0.99318725 0.00882328 -0.06531935] [ 0.06780077 -0.01679425 0.99755752 -1.18827359] [ 0. 0. 0. 1. ]] SLAMing on 178.11134618399998 meters Centerline goodness [0,1] 0.8803497855881611 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:-1.19 [[ 0.99051899 -0.11868194 -0.06918613 4.5776805 ] [ 0.11938543 0.99282919 0.0061087 -0.06964318] [ 0.06796502 -0.0143106 0.99758507 -1.18745267] [ 0. 0. 0. 1. ]] SLAMing on 178.14134618399999 meters Centerline goodness [0,1] 0.8789838434478545 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:-1.19 [[ 0.99049497 -0.11896566 -0.0690427 4.57675832] [ 0.11968683 0.99279114 0.00638946 -0.07304124] [ 0.06778486 -0.01459223 0.99759324 -1.18643234] [ 0. 0. 0. 1. ]] SLAMing on 178.171346184 meters Centerline goodness [0,1] 0.8798850454154518 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.07, Z:-1.19 [[ 9.90160088e-01 -1.21526961e-01 -6.93844209e-02 4.57948687e+00] [ 1.22069955e-01 9.92514881e-01 3.62445260e-03 -7.42795764e-02] [ 6.84246015e-02 -1.20585415e-02 9.97583413e-01 -1.18719121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.201346184 meters Centerline goodness [0,1] 0.8908624640026906 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-1.19 [[ 0.99025997 -0.12075884 -0.06929998 4.57886391] [ 0.12139858 0.99259084 0.00507997 -0.08032617] [ 0.06817307 -0.01344341 0.99758293 -1.18618917] [ 0. 0. 0. 1. ]] SLAMing on 178.231346184 meters Centerline goodness [0,1] 0.8924300281146406 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.08, Z:-1.19 [[ 0.99031597 -0.12022787 -0.06942296 4.57935734] [ 0.1209325 0.99264246 0.0060224 -0.08313022] [ 0.06818812 -0.01435957 0.99756914 -1.18634387] [ 0. 0. 0. 1. ]] SLAMing on 178.261346184 meters Centerline goodness [0,1] 0.8919071873231466 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.19 [[ 0.99035443 -0.11981499 -0.06958787 4.57981752] [ 0.12057463 0.99268094 0.00680524 -0.08543559] [ 0.06826318 -0.01513013 0.99755261 -1.18636597] [ 0. 0. 0. 1. ]] SLAMing on 178.291346184 meters Centerline goodness [0,1] 0.8989879902578315 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.19 [[ 0.99037829 -0.11952958 -0.0697389 4.57989234] [ 0.1203335 0.99270574 0.00742749 -0.08762034] [ 0.0683424 -0.01574795 0.99753763 -1.18594024] [ 0. 0. 0. 1. ]] SLAMing on 178.321346184 meters Centerline goodness [0,1] 0.9016901585439923 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.09, Z:-1.19 [[ 0.99001979 -0.12244773 -0.06976647 4.58085857] [ 0.12308891 0.9923833 0.00495041 -0.09228458] [ 0.06862892 -0.01348848 0.99755107 -1.18509706] [ 0. 0. 0. 1. ]] SLAMing on 178.351346184 meters Centerline goodness [0,1] 0.9022488629933142 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.18 [[ 0.98995237 -0.12310711 -0.06956247 4.57985487] [ 0.12374323 0.9923022 0.00489415 -0.09710806] [ 0.06842449 -0.01345286 0.99756559 -1.18381421] [ 0. 0. 0. 1. ]] SLAMing on 178.381346184 meters Centerline goodness [0,1] 0.9026920330939482 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.10, Z:-1.18 [[ 0.98991621 -0.12347227 -0.0694298 4.57908489] [ 0.12413189 0.99225183 0.00525101 -0.10177351] [ 0.0682435 -0.01381651 0.99757302 -1.18284077] [ 0. 0. 0. 1. ]] SLAMing on 178.411346184 meters Centerline goodness [0,1] 0.903473606884248 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-1.18 [[ 0.98982021 -0.12439323 -0.06915395 4.5780052 ] [ 0.1250459 0.99213747 0.00517352 -0.1083954 ] [ 0.06796667 -0.01376827 0.99759259 -1.18121006] [ 0. 0. 0. 1. ]] SLAMing on 178.441346184 meters Centerline goodness [0,1] 0.9048640464324017 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-1.18 [[ 0.98983315 -0.1242512 -0.06922411 4.57764956] [ 0.12494815 0.99214624 0.00581393 -0.11142275] [ 0.06795805 -0.01440424 0.99758419 -1.18035779] [ 0. 0. 0. 1. ]] SLAMing on 178.471346184 meters Centerline goodness [0,1] 0.9048585962194637 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-1.18 [[ 9.89463946e-01 -1.27155028e-01 -6.92293231e-02 4.57889550e+00] [ 1.27638342e-01 9.91817408e-01 2.58514816e-03 -1.11185741e-01] [ 6.83341332e-02 -1.13942269e-02 9.97597423e-01 -1.18019490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.501346184 meters Centerline goodness [0,1] 0.9071901449761166 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.11, Z:-1.18 [[ 9.89487810e-01 -1.26881190e-01 -6.93904672e-02 4.57884511e+00] [ 1.27410646e-01 9.91844760e-01 3.24016853e-03 -1.13431055e-01] [ 6.84134548e-02 -1.20471915e-02 9.97584314e-01 -1.17952391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.531346184 meters Centerline goodness [0,1] 0.9038884812912693 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.12, Z:-1.18 [[ 9.89494457e-01 -1.26722728e-01 -6.95849849e-02 4.57866180e+00] [ 1.27330562e-01 9.91850788e-01 4.35219442e-03 -1.18642367e-01] [ 6.84664002e-02 -1.31667675e-02 9.97566533e-01 -1.17854831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.561346184 meters Centerline goodness [0,1] 0.9030501089324618 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.12, Z:-1.18 [[ 0.98949704 -0.12662236 -0.06973083 4.57889515] [ 0.1272782 0.99185432 0.00502606 -0.1223302 ] [ 0.06852642 -0.01384849 0.99755318 -1.17822406] [ 0. 0. 0. 1. ]] SLAMing on 178.591346184 meters Centerline goodness [0,1] 0.9027489027489027 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.13, Z:-1.18 [[ 0.989508 -0.12644871 -0.06989023 4.57929915] [ 0.1271533 0.99186665 0.00570811 -0.12578149] [ 0.0686 -0.014535 0.99753836 -1.17807819] [ 0. 0. 0. 1. ]] SLAMing on 178.621346184 meters Centerline goodness [0,1] 0.905389271725698 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.13, Z:-1.18 [[ 0.98954175 -0.12602894 -0.07016996 4.57983648] [ 0.12681879 0.99190191 0.0068995 -0.13113919] [ 0.06873218 -0.01572621 0.99751119 -1.1776838 ] [ 0. 0. 0. 1. ]] SLAMing on 178.651346184 meters Centerline goodness [0,1] 0.9061996526688009 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.13, Z:-1.18 [[ 0.98955779 -0.12581057 -0.07033546 4.57998471] [ 0.12663815 0.99192126 0.00741581 -0.1335049 ] [ 0.06883426 -0.01624552 0.99749583 -1.17722527] [ 0. 0. 0. 1. ]] SLAMing on 178.681346184 meters Centerline goodness [0,1] 0.9070959374084766 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.14, Z:-1.18 [[ 0.98956456 -0.12567175 -0.07048822 4.58007205] [ 0.1265372 0.99193015 0.00793232 -0.1360086 ] [ 0.06892252 -0.01676893 0.99748107 -1.17671666] [ 0. 0. 0. 1. ]] SLAMing on 178.71134618399998 meters Centerline goodness [0,1] 0.9078045405949311 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.14, Z:-1.18 [[ 0.98947345 -0.12645719 -0.07036235 4.57920371] [ 0.12732335 0.99182943 0.00794606 -0.14099251] [ 0.06878261 -0.01682119 0.99748985 -1.1754111 ] [ 0. 0. 0. 1. ]] SLAMing on 178.74134618399998 meters Centerline goodness [0,1] 0.9072824081838001 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.14, Z:-1.18 [[ 0.98946683 -0.12645254 -0.07046378 4.57942774] [ 0.12735507 0.99182121 0.00844842 -0.14329694] [ 0.06881915 -0.01733335 0.99747856 -1.1752781 ] [ 0. 0. 0. 1. ]] SLAMing on 178.77134618399998 meters Centerline goodness [0,1] 0.905944429322222 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.18 [[ 0.98946075 -0.12645357 -0.07054726 4.57988018] [ 0.12739322 0.99181178 0.00896494 -0.14542266] [ 0.06883595 -0.0178577 0.99746815 -1.17552134] [ 0. 0. 0. 1. ]] SLAMing on 178.80134618399998 meters Centerline goodness [0,1] 0.9063207309917009 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.18 [[ 0.98944107 -0.12651448 -0.07071395 4.58016964] [ 0.12748331 0.99179672 0.00934161 -0.14747294] [ 0.06895201 -0.01825782 0.99745289 -1.17531661] [ 0. 0. 0. 1. ]] SLAMing on 178.83134618399998 meters Centerline goodness [0,1] 0.9057740585774059 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.17 [[ 0.98924413 -0.12827157 -0.07030265 4.57912987] [ 0.12913159 0.99159672 0.00780918 -0.15104295] [ 0.06871019 -0.01680348 0.99749514 -1.17384927] [ 0. 0. 0. 1. ]] SLAMing on 178.86134618399998 meters Centerline goodness [0,1] 0.9050239584859074 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.15, Z:-1.17 [[ 0.98925065 -0.12812971 -0.07046927 4.57940923] [ 0.12902448 0.99160687 0.00827665 -0.15349668] [ 0.06881733 -0.01727995 0.99747961 -1.17350387] [ 0. 0. 0. 1. ]] SLAMing on 178.89134618399999 meters Centerline goodness [0,1] 0.9060245498839422 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98926908 -0.12787942 -0.07066503 4.58017179] [ 0.12881493 0.99162938 0.00882527 -0.15570276] [ 0.06894495 -0.01783328 0.99746106 -1.17376245] [ 0. 0. 0. 1. ]] SLAMing on 178.921346184 meters Centerline goodness [0,1] 0.9052200100384808 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98932267 -0.12729348 -0.07097205 4.58090638] [ 0.12827496 0.99169382 0.00942849 -0.15688202] [ 0.06918236 -0.01843176 0.99743374 -1.1737296 ] [ 0. 0. 0. 1. ]] SLAMing on 178.951346184 meters Centerline goodness [0,1] 0.906212701802877 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98933762 -0.12706396 -0.07117455 4.58127824] [ 0.12805625 0.99172104 0.00953796 -0.15689673] [ 0.06937337 -0.01855061 0.99741827 -1.17356239] [ 0. 0. 0. 1. ]] SLAMing on 178.981346184 meters Centerline goodness [0,1] 0.9052490637879453 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98935174 -0.12682593 -0.07140255 4.58182126] [ 0.12784539 0.99174495 0.00987478 -0.15819769] [ 0.06956074 -0.01889811 0.9973987 -1.17350875] [ 0. 0. 0. 1. ]] SLAMing on 179.011346184 meters Centerline goodness [0,1] 0.9058995815899582 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98925881 -0.12786926 -0.07082695 4.58134213] [ 0.12881648 0.99162804 0.00895275 -0.16269898] [ 0.0690892 -0.01798026 0.99744844 -1.17306187] [ 0. 0. 0. 1. ]] SLAMing on 179.041346184 meters Centerline goodness [0,1] 0.9073236132059661 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.16, Z:-1.17 [[ 0.98925513 -0.12786633 -0.07088361 4.58149527] [ 0.12884315 0.99162076 0.0093651 -0.1648228 ] [ 0.06909218 -0.01839734 0.99744063 -1.17293132] [ 0. 0. 0. 1. ]] SLAMing on 179.071346184 meters Centerline goodness [0,1] 0.9025298708907907 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.17 [[ 0.98924898 -0.12788584 -0.07093418 4.58181101] [ 0.12888975 0.99161108 0.00974189 -0.16628527] [ 0.06909327 -0.01877984 0.99743343 -1.17310012] [ 0. 0. 0. 1. ]] SLAMing on 179.101346184 meters Centerline goodness [0,1] 0.9036968847417202 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.17 [[ 0.98924315 -0.12779351 -0.07118156 4.5824868 ] [ 0.12884445 0.99161075 0.01035475 -0.16847524] [ 0.06926113 -0.01941472 0.99740963 -1.17314443] [ 0. 0. 0. 1. ]] SLAMing on 179.131346184 meters Centerline goodness [0,1] 0.8990806475257063 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.17 [[ 0.98924728 -0.1277172 -0.07126108 4.582763 ] [ 0.1287899 0.99161473 0.01064822 -0.16972085] [ 0.06930358 -0.01971143 0.99740086 -1.17316572] [ 0. 0. 0. 1. ]] SLAMing on 179.161346184 meters Centerline goodness [0,1] 0.9012948374120013 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.17 [[ 0.98925919 -0.12754848 -0.07139782 4.58301112] [ 0.12864665 0.9916297 0.01098099 -0.17133487] [ 0.06939959 -0.02004813 0.99738747 -1.17295667] [ 0. 0. 0. 1. ]] SLAMing on 179.191346184 meters Centerline goodness [0,1] 0.9043576683644595 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.17, Z:-1.17 [[ 0.98930503 -0.12713986 -0.07149132 4.58322071] [ 0.12828805 0.99166809 0.01168631 -0.17448748] [ 0.06940987 -0.02073281 0.99737276 -1.17264704] [ 0. 0. 0. 1. ]] SLAMing on 179.221346184 meters Centerline goodness [0,1] 0.9034142052709803 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98928209 -0.12725717 -0.07159998 4.58329018] [ 0.12840545 0.99165331 0.0116511 -0.17514655] [ 0.06951967 -0.02072005 0.99736538 -1.17229936] [ 0. 0. 0. 1. ]] SLAMing on 179.251346184 meters Centerline goodness [0,1] 0.9043019089327997 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98926909 -0.12732311 -0.07166242 4.58324519] [ 0.12848166 0.99164195 0.01177744 -0.17631284] [ 0.06956392 -0.02085836 0.99735941 -1.17192145] [ 0. 0. 0. 1. ]] SLAMing on 179.281346184 meters Centerline goodness [0,1] 0.9048466077930775 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98923945 -0.12750578 -0.07174665 4.58327629] [ 0.12867295 0.99161605 0.01186922 -0.17765452] [ 0.06963173 -0.02097336 0.99735226 -1.17161548] [ 0. 0. 0. 1. ]] SLAMing on 179.311346184 meters Centerline goodness [0,1] 0.9010765750670241 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98918696 -0.12787792 -0.07180806 4.58331748] [ 0.12906243 0.99156281 0.01208611 -0.17957632] [ 0.06965665 -0.02122315 0.99734524 -1.17140352] [ 0. 0. 0. 1. ]] SLAMing on 179.341346184 meters Centerline goodness [0,1] 0.8993772671041872 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98915103 -0.12811002 -0.07188918 4.58336429] [ 0.1293095 0.9915284 0.01226749 -0.18118944] [ 0.06970857 -0.02143036 0.99733718 -1.17109422] [ 0. 0. 0. 1. ]] SLAMing on 179.371346184 meters Centerline goodness [0,1] 0.895724669557385 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98869706 -0.13175159 -0.07155171 4.58391904] [ 0.13269844 0.99111894 0.00862392 -0.1813245 ] [ 0.06978004 -0.01802125 0.99739961 -1.17111913] [ 0. 0. 0. 1. ]] SLAMing on 179.401346184 meters Centerline goodness [0,1] 0.8946674755758248 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.18, Z:-1.17 [[ 0.98866274 -0.13198344 -0.07159864 4.5840121 ] [ 0.13295842 0.9910807 0.0090058 -0.18419017] [ 0.06977142 -0.01842334 0.99739287 -1.17089395] [ 0. 0. 0. 1. ]] SLAMing on 179.431346184 meters Centerline goodness [0,1] 0.8874412554548506 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.19, Z:-1.17 [[ 0.98817957 -0.13570267 -0.07131572 4.58506372] [ 0.13646088 0.99062821 0.00584664 -0.18606416] [ 0.06985396 -0.01550933 0.99743666 -1.17139672] [ 0. 0. 0. 1. ]] SLAMing on 179.46134618399998 meters Centerline goodness [0,1] 0.8831008336475221 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.19, Z:-1.17 [[ 0.98816087 -0.13577383 -0.07143922 4.58598546] [ 0.13657302 0.99060932 0.00640118 -0.18849244] [ 0.06989925 -0.01608206 0.99742441 -1.1721195 ] [ 0. 0. 0. 1. ]] SLAMing on 179.49134618399998 meters Centerline goodness [0,1] 0.874596114304897 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.19, Z:-1.17 [[ 0.98806205 -0.13666268 -0.07111041 4.58469275] [ 0.1374479 0.99048931 0.00624559 -0.19074469] [ 0.06958056 -0.015945 0.9974489 -1.17118475] [ 0. 0. 0. 1. ]] SLAMing on 179.52134618399998 meters Centerline goodness [0,1] 0.8928436278013707 Centerline is valid? [False, False] Translation: X:4.58, Y:-0.19, Z:-1.17 [[ 0.9880397 -0.13681136 -0.07113507 4.58431196] [ 0.13759867 0.99046825 0.00626468 -0.19148274] [ 0.06959994 -0.01597785 0.99744702 -1.17053544] [ 0. 0. 0. 1. ]] SLAMing on 179.55134618399998 meters Centerline goodness [0,1] 0.8771011701660003 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.19, Z:-1.17 [[ 9.87633703e-01 -1.39614234e-01 -7.13269535e-02 4.58646040e+00] [ 1.40180889e-01 9.90121436e-01 2.97677916e-03 -1.90707397e-01] [ 7.02067449e-02 -1.29386432e-02 9.97448547e-01 -1.17106230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58134618399998 meters Centerline goodness [0,1] 0.890887390594246 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.19, Z:-1.17 [[ 9.87645215e-01 -1.39459578e-01 -7.14699665e-02 4.58673895e+00] [ 1.40061854e-01 9.90136706e-01 3.46121652e-03 -1.93083706e-01] [ 7.02823375e-02 -1.34286700e-02 9.97436747e-01 -1.17079766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61134618399998 meters Centerline goodness [0,1] 0.8770635683537427 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 9.87662400e-01 -1.39285855e-01 -7.15711840e-02 4.58749127e+00] [ 1.39947813e-01 9.90149568e-01 4.29451042e-03 -1.96536463e-01] [ 7.02680124e-02 -1.42577571e-02 9.97426249e-01 -1.17126087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64134618399999 meters Centerline goodness [0,1] 0.8943176116407426 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 9.87654751e-01 -1.39329991e-01 -7.15908260e-02 4.58739993e+00] [ 1.40001507e-01 9.90141404e-01 4.42460750e-03 -1.96884289e-01] [ 7.02685604e-02 -1.43928082e-02 9.97424271e-01 -1.17108596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.671346184 meters Centerline goodness [0,1] 0.8868543717731653 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98762891 -0.13944875 -0.07171595 4.58748208] [ 0.14013509 0.99012169 0.00460467 -0.19798939] [ 0.0703654 -0.01459762 0.99741447 -1.17075936] [ 0. 0. 0. 1. ]] SLAMing on 179.701346184 meters Centerline goodness [0,1] 0.8812046732292516 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98762131 -0.13945996 -0.07179879 4.58776457] [ 0.14017742 0.99011364 0.00502795 -0.19982754] [ 0.07038776 -0.01503027 0.99740646 -1.17077893] [ 0. 0. 0. 1. ]] SLAMing on 179.731346184 meters Centerline goodness [0,1] 0.8852626957412557 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98764829 -0.13925828 -0.07181906 4.58785378] [ 0.14001705 0.99013316 0.00561635 -0.20216877] [ 0.07032831 -0.01560287 0.99740186 -1.17067161] [ 0. 0. 0. 1. ]] SLAMing on 179.761346184 meters Centerline goodness [0,1] 0.8926733336122851 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.9876845 -0.13893542 -0.07194641 4.58849911] [ 0.13971705 0.99017375 0.00592323 -0.20281383] [ 0.0704165 -0.01590242 0.99739091 -1.17105864] [ 0. 0. 0. 1. ]] SLAMing on 179.791346184 meters Centerline goodness [0,1] 0.8951992469406966 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98772074 -0.13858525 -0.07212398 4.58929983] [ 0.13938244 0.99021974 0.00611553 -0.20266077] [ 0.07057107 -0.01609326 0.99737693 -1.17158867] [ 0. 0. 0. 1. ]] SLAMing on 179.821346184 meters Centerline goodness [0,1] 0.8951992469406966 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98772074 -0.13858525 -0.07212398 4.58929983] [ 0.13938244 0.99021974 0.00611553 -0.20266077] [ 0.07057107 -0.01609326 0.99737693 -1.17158867] [ 0. 0. 0. 1. ]] SLAMing on 179.851346184 meters Centerline goodness [0,1] 0.8916371220020856 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98777791 -0.13815734 -0.07216198 4.58994013] [ 0.13896081 0.99027841 0.00621085 -0.20121599] [ 0.07060238 -0.01616263 0.99737359 -1.17230815] [ 0. 0. 0. 1. ]] SLAMing on 179.881346184 meters Centerline goodness [0,1] 0.8943670806674194 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98775983 -0.13823972 -0.07225164 4.59002213] [ 0.13903728 0.99026834 0.00610389 -0.20078006] [ 0.07070472 -0.01607485 0.99736776 -1.17219468] [ 0. 0. 0. 1. ]] SLAMing on 179.911346184 meters Centerline goodness [0,1] 0.8921468158527659 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.9877298 -0.13838265 -0.07238838 4.59016866] [ 0.13918117 0.99024826 0.00608113 -0.20105527] [ 0.07084095 -0.01608162 0.99735798 -1.17195028] [ 0. 0. 0. 1. ]] SLAMing on 179.941346184 meters Centerline goodness [0,1] 0.8950664968578408 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 0.98770047 -0.13858105 -0.07240909 4.59014177] [ 0.13938823 0.99021846 0.00619133 -0.20220314] [ 0.07084282 -0.01620816 0.9973558 -1.17171429] [ 0. 0. 0. 1. ]] SLAMing on 179.971346184 meters Centerline goodness [0,1] 0.8935034609290301 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.20, Z:-1.17 [[ 9.87406868e-01 -1.40944265e-01 -7.18497763e-02 4.58888160e+00] [ 1.41589348e-01 9.89917640e-01 3.93989141e-03 -2.03942751e-01] [ 7.05700559e-02 -1.40634388e-02 9.97407683e-01 -1.17044425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.001346184 meters Centerline goodness [0,1] 0.8912916178684959 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 9.87402213e-01 -1.40930429e-01 -7.19408305e-02 4.58905051e+00] [ 1.41596904e-01 9.89915387e-01 4.22425115e-03 -2.05377513e-01] [ 7.06200095e-02 -1.43576338e-02 9.97399956e-01 -1.17027322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.031346184 meters Centerline goodness [0,1] 0.8937506542447399 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98740614 -0.14077436 -0.07219206 4.58984143] [ 0.1414716 0.98993157 0.00461196 -0.20675099] [ 0.07081595 -0.01476701 0.99738009 -1.17048135] [ 0. 0. 0. 1. ]] SLAMing on 180.061346184 meters Centerline goodness [0,1] 0.894700533082471 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98747734 -0.14026595 -0.07220785 4.59023145] [ 0.14101692 0.98999255 0.00538396 -0.20894235] [ 0.07073004 -0.01549906 0.99737507 -1.17074487] [ 0. 0. 0. 1. ]] SLAMing on 180.091346184 meters Centerline goodness [0,1] 0.8940139444316493 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.9875059 -0.13999872 -0.0723357 4.59040394] [ 0.14076842 0.99002655 0.00562919 -0.20943588] [ 0.07082618 -0.01574144 0.99736446 -1.17057716] [ 0. 0. 0. 1. ]] SLAMing on 180.121346184 meters Centerline goodness [0,1] 0.8950057585593132 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98751606 -0.13983945 -0.07250488 4.59057233] [ 0.14061581 0.99004788 0.00569094 -0.20933787] [ 0.07098749 -0.01581522 0.99735182 -1.17029399] [ 0. 0. 0. 1. ]] SLAMing on 180.151346184 meters Centerline goodness [0,1] 0.896551724137931 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98760991 -0.13903086 -0.07278115 4.59098208] [ 0.13985326 0.99015218 0.00630322 -0.2102441 ] [ 0.07118808 -0.0164038 0.99732802 -1.1699234 ] [ 0. 0. 0. 1. ]] SLAMing on 180.181346184 meters Centerline goodness [0,1] 0.8961006341963706 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98764471 -0.13868842 -0.07296191 4.59142242] [ 0.13954818 0.99019196 0.0067963 -0.21222651] [ 0.07130373 -0.01689403 0.99731157 -1.16981901] [ 0. 0. 0. 1. ]] SLAMing on 180.21134618399998 meters Centerline goodness [0,1] 0.8969826145101972 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.21, Z:-1.17 [[ 0.98766422 -0.13848588 -0.07308253 4.59178072] [ 0.13937801 0.99021288 0.0072271 -0.21407586] [ 0.07136641 -0.01732405 0.99729971 -1.16976723] [ 0. 0. 0. 1. ]] SLAMing on 180.24134618399998 meters Centerline goodness [0,1] 0.8976126323704493 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.22, Z:-1.17 [[ 0.98765441 -0.13855118 -0.07309125 4.59170707] [ 0.13947885 0.99019496 0.00771936 -0.21638445] [ 0.07130506 -0.01781874 0.99729538 -1.1694897 ] [ 0. 0. 0. 1. ]] SLAMing on 180.27134618399998 meters Centerline goodness [0,1] 0.8941842187991198 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.22, Z:-1.17 [[ 0.9876059 -0.13884958 -0.07318045 4.5916484 ] [ 0.13978658 0.9901508 0.00781663 -0.2174359 ] [ 0.07137435 -0.0179494 0.99728808 -1.16912362] [ 0. 0. 0. 1. ]] SLAMing on 180.30134618399998 meters Centerline goodness [0,1] 0.8910770522779761 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.22, Z:-1.17 [[ 0.98753129 -0.13930927 -0.0733135 4.59184373] [ 0.14026613 0.99008117 0.00804355 -0.21973873] [ 0.07146578 -0.01822666 0.99727651 -1.16882234] [ 0. 0. 0. 1. ]] SLAMing on 180.33134618399998 meters Centerline goodness [0,1] 0.8908163051011193 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.23, Z:-1.17 [[ 0.98700145 -0.14318701 -0.07297686 4.5929724 ] [ 0.14396764 0.98956698 0.00552404 -0.22568177] [ 0.07142453 -0.01595854 0.99731834 -1.16921516] [ 0. 0. 0. 1. ]] SLAMing on 180.36134618399998 meters Centerline goodness [0,1] 0.8898677492257471 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.23, Z:-1.17 [[ 0.98688124 -0.14405499 -0.07289426 4.59422742] [ 0.14480487 0.98944718 0.00508146 -0.22910912] [ 0.07139301 -0.01557024 0.99732673 -1.16996078] [ 0. 0. 0. 1. ]] SLAMing on 180.39134618399999 meters Centerline goodness [0,1] 0.8881821225309675 Centerline is valid? [False, False] Translation: X:4.59, Y:-0.23, Z:-1.17 [[ 0.98689553 -0.14389354 -0.07301955 4.59487604] [ 0.14469623 0.98945914 0.00579685 -0.23203075] [ 0.07141574 -0.01628654 0.99731366 -1.17020284] [ 0. 0. 0. 1. ]] SLAMing on 180.421346184 meters Centerline goodness [0,1] 0.8881991485435061 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.24, Z:-1.17 [[ 0.98699435 -0.14318865 -0.07306954 4.59514177] [ 0.14408243 0.98954034 0.00708366 -0.23587318] [ 0.07129096 -0.01751957 0.99730169 -1.17017835] [ 0. 0. 0. 1. ]] SLAMing on 180.451346184 meters Centerline goodness [0,1] 0.8873286736771404 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.24, Z:-1.17 [[ 0.98706273 -0.14261604 -0.07326556 4.59574698] [ 0.14356266 0.98961054 0.0077938 -0.23740025] [ 0.07139285 -0.01821116 0.99728201 -1.17034295] [ 0. 0. 0. 1. ]] SLAMing on 180.481346184 meters Centerline goodness [0,1] 0.8878087616014749 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.24, Z:-1.17 [[ 0.98711633 -0.14210151 -0.07354256 4.59654179] [ 0.14310018 0.98967199 0.00846642 -0.23892159] [ 0.07157992 -0.01888129 0.99725614 -1.17049511] [ 0. 0. 0. 1. ]] SLAMing on 180.511346184 meters Centerline goodness [0,1] 0.8879418926862037 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.24, Z:-1.17 [[ 0.98715008 -0.14177864 -0.07371257 4.59688589] [ 0.14281558 0.98970871 0.0089654 -0.2402852 ] [ 0.07168287 -0.0193775 0.99723923 -1.17038573] [ 0. 0. 0. 1. ]] SLAMing on 180.541346184 meters Centerline goodness [0,1] 0.8869490495252866 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.24, Z:-1.17 [[ 0.98677725 -0.14445015 -0.07351748 4.59821042] [ 0.14532206 0.98936223 0.00662407 -0.24364206] [ 0.07177857 -0.0172202 0.99727193 -1.17080695] [ 0. 0. 0. 1. ]] SLAMing on 180.571346184 meters Centerline goodness [0,1] 0.886509501237468 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 0.98675373 -0.1444612 -0.07381089 4.59925589] [ 0.14538492 0.98934845 0.00727065 -0.24690987] [ 0.07197437 -0.01790533 0.99724575 -1.17110394] [ 0. 0. 0. 1. ]] SLAMing on 180.601346184 meters Centerline goodness [0,1] 0.8816527051710021 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 0.98672127 -0.14458534 -0.07400145 4.60012978] [ 0.14555062 0.98932011 0.00779327 -0.24963223] [ 0.07208433 -0.01846074 0.99722768 -1.17149434] [ 0. 0. 0. 1. ]] SLAMing on 180.631346184 meters Centerline goodness [0,1] 0.8821381351130139 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 0.98667696 -0.14481027 -0.07415224 4.60079084] [ 0.14580859 0.98927881 0.00820269 -0.25176544] [ 0.0721694 -0.01890544 0.9972132 -1.17180751] [ 0. 0. 0. 1. ]] SLAMing on 180.661346184 meters Centerline goodness [0,1] 0.874837410313431 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 0.98610891 -0.14881274 -0.07378336 4.60149468] [ 0.14955553 0.98874256 0.00461547 -0.25201085] [ 0.07226591 -0.01558607 0.99726361 -1.17211277] [ 0. 0. 0. 1. ]] SLAMing on 180.691346184 meters Centerline goodness [0,1] 0.856489542469949 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 0.98606901 -0.1489972 -0.07394417 4.60189298] [ 0.14977001 0.98870828 0.00498751 -0.25408149] [ 0.07236609 -0.01599265 0.99724991 -1.17202457] [ 0. 0. 0. 1. ]] SLAMing on 180.721346184 meters Centerline goodness [0,1] 0.8645356407779224 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85936242e-01 -1.49943877e-01 -7.38008100e-02 4.60090326e+00] [ 1.50682648e-01 9.88571878e-01 4.51462423e-03 -2.56120971e-01] [ 7.22804650e-02 -1.55716331e-02 9.97262783e-01 -1.17085424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.751346184 meters Centerline goodness [0,1] 0.8493280134397312 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85801586e-01 -1.51008236e-01 -7.34285020e-02 4.59964708e+00] [ 1.51685258e-01 9.88421919e-01 3.70044003e-03 -2.59668171e-01] [ 7.20195439e-02 -1.47859209e-02 9.97293619e-01 -1.16946485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.781346184 meters Centerline goodness [0,1] 0.8727860320658105 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85832547e-01 -1.50757065e-01 -7.35288768e-02 4.60014195e+00] [ 1.51449263e-01 9.88457343e-01 3.89893374e-03 -2.59734690e-01] [ 7.20923664e-02 -1.49795900e-02 9.97285467e-01 -1.16981623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.811346184 meters Centerline goodness [0,1] 0.8684116622237149 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85841139e-01 -1.50645340e-01 -7.36425815e-02 4.60052525e+00] [ 1.51327049e-01 9.88476695e-01 3.73455711e-03 -2.58330785e-01] [ 7.22313820e-02 -1.48257946e-02 9.97277706e-01 -1.17010359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.841346184 meters Centerline goodness [0,1] 0.8681783888004024 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85832588e-01 -1.50620727e-01 -7.38072114e-02 4.60106609e+00] [ 1.51287847e-01 9.88483552e-01 3.50072409e-03 -2.56829554e-01] [ 7.24299329e-02 -1.46172620e-02 9.97266384e-01 -1.17047903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.871346184 meters Centerline goodness [0,1] 0.8718007839520405 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85835467e-01 -1.50563914e-01 -7.38846377e-02 4.60133423e+00] [ 1.51248385e-01 9.88488768e-01 3.72586485e-03 -2.57884685e-01] [ 7.24731537e-02 -1.48480218e-02 9.97259835e-01 -1.17044824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.901346184 meters Centerline goodness [0,1] 0.8645966911223696 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85806233e-01 -1.50719155e-01 -7.39581497e-02 4.60156713e+00] [ 1.51414930e-01 9.88462754e-01 3.86044056e-03 -2.59199791e-01] [ 7.25230340e-02 -1.50040145e-02 9.97253874e-01 -1.17040632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.931346184 meters Centerline goodness [0,1] 0.8562138272124592 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85764562e-01 -1.50957732e-01 -7.40269584e-02 4.60199490e+00] [ 1.51666987e-01 9.88423464e-01 4.02253579e-03 -2.60503588e-01] [ 7.25627497e-02 -1.51927189e-02 9.97248128e-01 -1.17063771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96134618399998 meters Centerline goodness [0,1] 0.8407341373885684 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85627777e-01 -1.51795806e-01 -7.41344672e-02 4.60278063e+00] [ 1.52499505e-01 9.88295881e-01 3.89262420e-03 -2.61513091e-01] [ 7.26759046e-02 -1.51421481e-02 9.97240657e-01 -1.17121967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99134618399998 meters Centerline goodness [0,1] 0.8308880796514198 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85593223e-01 -1.52034187e-01 -7.41053586e-02 4.60266840e+00] [ 1.52720371e-01 9.88262703e-01 3.64948633e-03 -2.60775783e-01] [ 7.26807153e-02 -1.49143069e-02 9.97243740e-01 -1.17119621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02134618399998 meters Centerline goodness [0,1] 0.8380599048397577 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85570333e-01 -1.52173279e-01 -7.41242952e-02 4.60288367e+00] [ 1.52843201e-01 9.88244543e-01 3.41739129e-03 -2.59705987e-01] [ 7.27328946e-02 -1.46974740e-02 9.97243155e-01 -1.17139066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05134618399998 meters Centerline goodness [0,1] 0.8326196473551637 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85541359e-01 -1.52343456e-01 -7.41599734e-02 4.60313331e+00] [ 1.52980780e-01 9.88224739e-01 2.95730434e-03 -2.57868759e-01] [ 7.28361944e-02 -1.42595963e-02 9.97241973e-01 -1.17171785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08134618399998 meters Centerline goodness [0,1] 0.8357328199548004 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85564558e-01 -1.52147088e-01 -7.42547294e-02 4.60370343e+00] [ 1.52775163e-01 9.88256950e-01 2.81960842e-03 -2.57031766e-01] [ 7.29537572e-02 -1.41231845e-02 9.97235321e-01 -1.17216165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11134618399998 meters Centerline goodness [0,1] 0.8503783511853606 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.26, Z:-1.17 [[ 9.85607973e-01 -1.51836041e-01 -7.43151463e-02 4.60393577e+00] [ 1.52451087e-01 9.88307487e-01 2.64159819e-03 -2.55864682e-01] [ 7.30451256e-02 -1.39330051e-02 9.97231308e-01 -1.17232342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14134618399999 meters Centerline goodness [0,1] 0.8507701371938389 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.25, Z:-1.17 [[ 9.85623102e-01 -1.51611357e-01 -7.45727697e-02 4.60470491e+00] [ 1.52211078e-01 9.88345114e-01 2.39243620e-03 -2.54438590e-01] [ 7.33409120e-02 -1.37088420e-02 9.97212705e-01 -1.17267623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.171346184 meters Centerline goodness [0,1] 0.8486985726280436 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.25, Z:-1.17 [[ 9.85643621e-01 -1.51480836e-01 -7.45668097e-02 4.60519998e+00] [ 1.52041128e-01 9.88372413e-01 1.86260380e-03 -2.51439185e-01] [ 7.34176289e-02 -1.31730854e-02 9.97214281e-01 -1.17347859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.201346184 meters Centerline goodness [0,1] 0.849816619511684 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.25, Z:-1.17 [[ 9.85590532e-01 -1.51841066e-01 -7.45358616e-02 4.60506249e+00] [ 1.52345310e-01 9.88326723e-01 1.09358745e-03 -2.48575059e-01] [ 7.34997323e-02 -1.24330184e-02 9.97217734e-01 -1.17355005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.231346184 meters Centerline goodness [0,1] 0.8632855105294068 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.25, Z:-1.17 [[ 9.85549725e-01 -1.52080125e-01 -7.45880420e-02 4.60507507e+00] [ 1.52532260e-01 9.88298423e-01 3.69763748e-04 -2.45534947e-01] [ 7.36590105e-02 -1.17415032e-02 9.97214364e-01 -1.17360159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.261346184 meters Centerline goodness [0,1] 0.8567082126820261 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.24, Z:-1.17 [[ 9.85555253e-01 -1.52043927e-01 -7.45887879e-02 4.60582790e+00] [ 1.52447524e-01 9.88311525e-01 -2.85673671e-04 -2.41076224e-01] [ 7.37603937e-02 -1.10893288e-02 9.97214336e-01 -1.17487466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.291346184 meters Centerline goodness [0,1] 0.857115892789732 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.24, Z:-1.18 [[ 9.85547538e-01 -1.51990815e-01 -7.47986795e-02 4.60671480e+00] [ 1.52376920e-01 9.88322301e-01 -5.50989372e-04 -2.39751373e-01] [ 7.40089484e-02 -1.08545662e-02 9.97198503e-01 -1.17547381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.321346184 meters Centerline goodness [0,1] 0.8572056791054152 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.24, Z:-1.18 [[ 9.85545059e-01 -1.52032990e-01 -7.47456141e-02 4.60678050e+00] [ 1.52387716e-01 9.88320316e-01 -9.67708273e-04 -2.38066442e-01] [ 7.40197325e-02 -1.04365933e-02 9.97202164e-01 -1.17573783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.351346184 meters Centerline goodness [0,1] 0.8589805367580817 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.23, Z:-1.18 [[ 9.85528739e-01 -1.52283740e-01 -7.44497624e-02 4.60574542e+00] [ 1.52544301e-01 9.88294169e-01 -2.20739589e-03 -2.33093781e-01] [ 7.39144165e-02 -9.18143484e-03 9.97222322e-01 -1.17541362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.381346184 meters Centerline goodness [0,1] 0.856136673304685 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.23, Z:-1.18 [[ 9.85479161e-01 -1.52560896e-01 -7.45385568e-02 4.60594495e+00] [ 1.52769750e-01 9.88257480e-01 -2.92522108e-03 -2.30546455e-01] [ 7.41095607e-02 -8.50449229e-03 9.97213842e-01 -1.17551094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.411346184 meters Centerline goodness [0,1] 0.8596520645566967 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.23, Z:-1.18 [[ 9.85469136e-01 -1.52516894e-01 -7.47608164e-02 4.60685658e+00] [ 1.52688990e-01 9.88268296e-01 -3.44195938e-03 -2.27597242e-01] [ 7.44087016e-02 -8.02320883e-03 9.97195554e-01 -1.17621869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.441346184 meters Centerline goodness [0,1] 0.8596869827568145 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.22, Z:-1.18 [[ 9.85938383e-01 -1.49247431e-01 -7.51711958e-02 4.60668486e+00] [ 1.49599546e-01 9.88746207e-01 -9.56443137e-04 -2.22775415e-01] [ 7.44679814e-02 -1.03025827e-02 9.97170184e-01 -1.17681185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.471346184 meters Centerline goodness [0,1] 0.8587280278558543 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.22, Z:-1.18 [[ 9.85914844e-01 -1.49339267e-01 -7.52974330e-02 4.60716585e+00] [ 1.49634135e-01 9.88739900e-01 -1.74212392e-03 -2.19333354e-01] [ 7.47097439e-02 -9.54948040e-03 9.97159597e-01 -1.17721571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.501346184 meters Centerline goodness [0,1] 0.8570201173512154 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.22, Z:-1.18 [[ 9.85880566e-01 -1.49484768e-01 -7.54573699e-02 4.60767810e+00] [ 1.49725914e-01 9.88724423e-01 -2.48315842e-03 -2.16025498e-01] [ 7.49777389e-02 -8.84982602e-03 9.97145937e-01 -1.17756346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.531346184 meters Centerline goodness [0,1] 0.8477982402721489 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.21, Z:-1.18 [[ 9.85779504e-01 -1.50273176e-01 -7.52113207e-02 4.60667333e+00] [ 1.50400289e-01 9.88617077e-01 -4.00347479e-03 -2.10872392e-01] [ 7.49568109e-02 -7.36526095e-03 9.97159581e-01 -1.17718997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.561346184 meters Centerline goodness [0,1] 0.8422215674720095 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.21, Z:-1.18 [[ 0.98571662 -0.15072701 -0.07512726 4.60632258] [ 0.15080653 0.98855238 -0.00464608 -0.209542 ] [ 0.07496752 -0.00674997 0.99716313 -1.17697125] [ 0. 0. 0. 1. ]] SLAMing on 181.591346184 meters Centerline goodness [0,1] 0.8396917714741639 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.21, Z:-1.18 [[ 0.98568386 -0.15091807 -0.07517358 4.60652402] [ 0.15097431 0.98852521 -0.00496682 -0.20857871] [ 0.07506056 -0.00645357 0.99715809 -1.17703499] [ 0. 0. 0. 1. ]] SLAMing on 181.621346184 meters Centerline goodness [0,1] 0.8099187435698239 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.21, Z:-1.18 [[ 0.98563583 -0.1512393 -0.07515776 4.60646524] [ 0.15125444 0.98847943 -0.00552354 -0.20691063] [ 0.07512727 -0.00592374 0.99715636 -1.17702849] [ 0. 0. 0. 1. ]] SLAMing on 181.651346184 meters Centerline goodness [0,1] 0.8156712972678054 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.20, Z:-1.18 [[ 9.85970962e-01 -1.49094276e-01 -7.50477161e-02 4.60403487e+00] [ 1.49253690e-01 9.88792701e-01 -3.51146306e-03 -2.03116979e-01] [ 7.47301730e-02 -7.73894795e-03 9.97173761e-01 -1.17612918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.681346184 meters Centerline goodness [0,1] 0.8169055649241147 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.20, Z:-1.18 [[ 9.85926567e-01 -1.49394313e-01 -7.50342898e-02 4.60389609e+00] [ 1.49491307e-01 9.88753454e-01 -4.35390049e-03 -2.00251606e-01] [ 7.48408612e-02 -6.92434790e-03 9.97171449e-01 -1.17604746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71134618399998 meters Centerline goodness [0,1] 0.8189577435252176 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.20, Z:-1.18 [[ 9.85987817e-01 -1.48776086e-01 -7.54566201e-02 4.60570076e+00] [ 1.48882931e-01 9.88845744e-01 -4.23877788e-03 -1.98376799e-01] [ 7.52455864e-02 -7.05481941e-03 9.97140076e-01 -1.17721062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74134618399998 meters Centerline goodness [0,1] 0.8189577435252176 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.20, Z:-1.18 [[ 9.85987817e-01 -1.48776086e-01 -7.54566201e-02 4.60570076e+00] [ 1.48882931e-01 9.88845744e-01 -4.23877788e-03 -1.98376799e-01] [ 7.52455864e-02 -7.05481941e-03 9.97140076e-01 -1.17721062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77134618399998 meters Centerline goodness [0,1] 0.8232103212834583 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.19, Z:-1.18 [[ 9.86445706e-01 -1.45465476e-01 -7.59253857e-02 4.60632493e+00] [ 1.45759344e-01 9.89318639e-01 -1.68623762e-03 -1.94877790e-01] [ 7.53596887e-02 -9.40345255e-03 9.97112076e-01 -1.17830717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80134618399998 meters Centerline goodness [0,1] 0.8465177895533686 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.19, Z:-1.18 [[ 9.86427832e-01 -1.45577368e-01 -7.59431459e-02 4.60627074e+00] [ 1.45801109e-01 9.89310454e-01 -2.61960115e-03 -1.91309530e-01] [ 7.55127028e-02 -8.48854738e-03 9.97108708e-01 -1.17820905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83134618399998 meters Centerline goodness [0,1] 0.8580230039741783 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.19, Z:-1.18 [[ 9.86666758e-01 -1.44007215e-01 -7.58329185e-02 4.60483719e+00] [ 1.44309009e-01 9.89531515e-01 -1.51353908e-03 -1.89042729e-01] [ 7.52570232e-02 -9.45001461e-03 9.97119390e-01 -1.17753635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86134618399998 meters Centerline goodness [0,1] 0.8370449588995135 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.19, Z:-1.18 [[ 9.87116526e-01 -1.40585567e-01 -7.63980490e-02 4.60474319e+00] [ 1.41120947e-01 9.89991024e-01 1.62792065e-03 -1.87273328e-01] [ 7.54045207e-02 -1.23883124e-02 9.97076069e-01 -1.17754831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89134618399999 meters Centerline goodness [0,1] 0.8361504907306434 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.18, Z:-1.18 [[ 9.87529333e-01 -1.37457330e-01 -7.67547961e-02 4.60354614e+00] [ 1.38122026e-01 9.90409403e-01 3.39418997e-03 -1.79804143e-01] [ 7.55521155e-02 -1.39533901e-02 9.97044222e-01 -1.17691927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.921346184 meters Centerline goodness [0,1] 0.8535002415408204 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.18, Z:-1.18 [[ 9.87508585e-01 -1.37612260e-01 -7.67441189e-02 4.60317655e+00] [ 1.38200783e-01 9.90401359e-01 2.38572231e-03 -1.75392434e-01] [ 7.56791750e-02 -1.29620186e-02 9.97047967e-01 -1.17656637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.951346184 meters Centerline goodness [0,1] 0.8692526929041452 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.17, Z:-1.18 [[ 9.87496466e-01 -1.37685452e-01 -7.67687812e-02 4.60289032e+00] [ 1.38211032e-01 9.90401589e-01 1.55030478e-03 -1.72028695e-01] [ 7.58184684e-02 -1.21412129e-02 9.97047717e-01 -1.17612997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.981346184 meters Centerline goodness [0,1] 0.8729269009531007 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.17, Z:-1.18 [[ 9.87461181e-01 -1.37960607e-01 -7.67286612e-02 4.60236336e+00] [ 1.38416489e-01 9.90373909e-01 6.29806810e-04 -1.69182691e-01] [ 7.59031755e-02 -1.12424217e-02 9.97051812e-01 -1.17554586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.011346184 meters Centerline goodness [0,1] 0.8670571010248902 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.16, Z:-1.17 [[ 9.87360399e-01 -1.38679760e-01 -7.67291821e-02 4.60185710e+00] [ 1.39011853e-01 9.90290190e-01 -1.02187817e-03 -1.64210149e-01] [ 7.61258701e-02 -9.65730372e-03 9.97051447e-01 -1.17491609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.041346184 meters Centerline goodness [0,1] 0.8742855946573995 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.16, Z:-1.17 [[ 9.87325563e-01 -1.38914994e-01 -7.67519130e-02 4.60164567e+00] [ 1.39188173e-01 9.90264306e-01 -1.80475962e-03 -1.61325830e-01] [ 7.62553880e-02 -8.90107323e-03 9.97048588e-01 -1.17465514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.071346184 meters Centerline goodness [0,1] 0.8707626675589201 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.16, Z:-1.17 [[ 9.87310564e-01 -1.38958039e-01 -7.68668502e-02 4.60181102e+00] [ 1.39173131e-01 9.90264710e-01 -2.57769922e-03 -1.57856083e-01] [ 7.64767211e-02 -8.15281058e-03 9.97038035e-01 -1.17453640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.101346184 meters Centerline goodness [0,1] 0.8759796852467239 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.15, Z:-1.17 [[ 9.87301148e-01 -1.38991276e-01 -7.69276849e-02 4.60179422e+00] [ 1.39143703e-01 9.90266359e-01 -3.40120228e-03 -1.54282034e-01] [ 7.66516359e-02 -7.34599203e-03 9.97030874e-01 -1.17435533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.131346184 meters Centerline goodness [0,1] 0.8815638015110608 Centerline is valid? [False, False] Translation: X:4.60, Y:-0.15, Z:-1.17 [[ 9.87721224e-01 -1.35918184e-01 -7.70261752e-02 4.59962736e+00] [ 1.36227350e-01 9.90676811e-01 -1.25084995e-03 -1.49611089e-01] [ 7.64780589e-02 -9.25758067e-03 9.97028286e-01 -1.17298847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.161346184 meters Centerline goodness [0,1] 0.89007942298472 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.18 [[ 9.88560925e-01 -1.33804804e-01 -6.95957762e-02 4.60870568e+00] [ 1.33680394e-01 9.91003421e-01 -6.46309765e-03 -1.44260361e-01] [ 6.98344458e-02 -2.91442499e-03 9.97554338e-01 -1.17538408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.191346184 meters Centerline goodness [0,1] 0.8921791792837005 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.88903726e-01 -1.31189183e-01 -6.97052368e-02 4.60666955e+00] [ 1.31250006e-01 9.91342296e-01 -3.72662693e-03 -1.44160437e-01] [ 6.95906427e-02 -5.46353751e-03 9.97560671e-01 -1.17396321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.221346184 meters Centerline goodness [0,1] 0.8812048595165533 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.88875403e-01 -1.31370777e-01 -6.97650127e-02 4.60673350e+00] [ 1.31394461e-01 9.91320971e-01 -4.26941334e-03 -1.42050014e-01] [ 6.97203963e-02 -4.94481843e-03 9.97554317e-01 -1.17387837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.251346184 meters Centerline goodness [0,1] 0.8874329709766937 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.88816929e-01 -1.31813752e-01 -6.97582728e-02 4.60679858e+00] [ 1.31780972e-01 9.91265780e-01 -5.09195317e-03 -1.39210555e-01] [ 6.98201782e-02 -4.15780348e-03 9.97550929e-01 -1.17402562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.281346184 meters Centerline goodness [0,1] 0.8842410826163227 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.88795585e-01 -1.31962911e-01 -6.97788029e-02 4.60712420e+00] [ 1.31909224e-01 9.91247108e-01 -5.39698725e-03 -1.37965352e-01] [ 6.98802387e-02 -3.86795059e-03 9.97547889e-01 -1.17440180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.311346184 meters Centerline goodness [0,1] 0.8791034497151324 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.88766535e-01 -1.32096944e-01 -6.99366594e-02 4.60771459e+00] [ 1.32011880e-01 9.91230829e-01 -5.85722050e-03 -1.35805781e-01] [ 7.00970938e-02 -3.44104626e-03 9.97534238e-01 -1.17472652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.341346184 meters Centerline goodness [0,1] 0.8744113029827316 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.14, Z:-1.17 [[ 9.89114536e-01 -1.29363899e-01 -7.01242855e-02 4.60650614e+00] [ 1.29481306e-01 9.91577658e-01 -2.88786706e-03 -1.35359300e-01] [ 6.99072605e-02 -6.22335279e-03 9.97534082e-01 -1.17426105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.371346184 meters Centerline goodness [0,1] 0.87320554137195 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-1.17 [[ 9.89061434e-01 -1.29857728e-01 -6.99603462e-02 4.60585314e+00] [ 1.29890342e-01 9.91519879e-01 -4.10219410e-03 -1.30942495e-01] [ 6.98997756e-02 -5.02985133e-03 9.97541338e-01 -1.17390120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.401346184 meters Centerline goodness [0,1] 0.8739539639808844 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-1.17 [[ 9.89061237e-01 -1.29690979e-01 -7.02717492e-02 4.60676510e+00] [ 1.29706633e-01 9.91542830e-01 -4.35960422e-03 -1.29210798e-01] [ 7.02428504e-02 -4.80279646e-03 9.97518358e-01 -1.17415456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.431346184 meters Centerline goodness [0,1] 0.8796286594438274 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.13, Z:-1.17 [[ 9.89023644e-01 -1.29974560e-01 -7.02769197e-02 4.60650748e+00] [ 1.29936752e-01 9.91509020e-01 -5.12869619e-03 -1.26660680e-01] [ 7.03467998e-02 -4.05915288e-03 9.97514336e-01 -1.17380291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46134618399998 meters Centerline goodness [0,1] 0.8771959211876296 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.17 [[ 9.89426301e-01 -1.26704683e-01 -7.05798642e-02 4.60592492e+00] [ 1.26857441e-01 9.91918218e-01 -2.33203662e-03 -1.22822710e-01] [ 7.03049331e-02 -6.64620260e-03 9.97503406e-01 -1.17389111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49134618399998 meters Centerline goodness [0,1] 0.8813431585998995 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.17 [[ 9.89828954e-01 -1.23216623e-01 -7.11076993e-02 4.60611067e+00] [ 1.23608089e-01 9.92330488e-01 1.11455581e-03 -1.22193816e-01] [ 7.04250062e-02 -9.89270641e-03 9.97468021e-01 -1.17418832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52134618399998 meters Centerline goodness [0,1] 0.8848356443120555 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.17 [[ 9.89813723e-01 -1.23260746e-01 -7.12431164e-02 4.60658793e+00] [ 1.23614752e-01 9.92330124e-01 5.64634082e-04 -1.19849950e-01] [ 7.06270933e-02 -9.36558273e-03 9.97458821e-01 -1.17443217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55134618399998 meters Centerline goodness [0,1] 0.8888702120059673 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.18 [[ 9.89830106e-01 -1.23051519e-01 -7.13770679e-02 4.60741067e+00] [ 1.23376681e-01 9.92359901e-01 1.47937018e-04 -1.18054697e-01] [ 7.08135361e-02 -8.95269822e-03 9.97449393e-01 -1.17503065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58134618399998 meters Centerline goodness [0,1] 0.8905850283078214 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.18 [[ 9.89840727e-01 -1.22860940e-01 -7.15578347e-02 4.60822247e+00] [ 1.23181095e-01 9.92384207e-01 6.16064250e-05 -1.16899764e-01] [ 7.10052960e-02 -8.87555300e-03 9.97436450e-01 -1.17552161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61134618399998 meters Centerline goodness [0,1] 0.8926015321649701 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.12, Z:-1.18 [[ 9.89824098e-01 -1.23006239e-01 -7.15382367e-02 4.60812221e+00] [ 1.23291504e-01 9.92370404e-01 -4.31237978e-04 -1.15121999e-01] [ 7.10454739e-02 -8.39320702e-03 9.97437765e-01 -1.17541454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64134618399999 meters Centerline goodness [0,1] 0.8878442187957043 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.89826282e-01 -1.22785757e-01 -7.18859491e-02 4.60936039e+00] [ 1.23071692e-01 9.92397678e-01 -4.54951890e-04 -1.13770973e-01] [ 7.13953105e-02 -8.39680207e-03 9.97412755e-01 -1.17602728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.671346184 meters Centerline goodness [0,1] 0.8958119461146844 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.89795926e-01 -1.23078051e-01 -7.18040241e-02 4.60864886e+00] [ 1.23313844e-01 9.92367048e-01 -1.15679592e-03 -1.11157073e-01] [ 7.13983236e-02 -7.70943830e-03 9.97418089e-01 -1.17532961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.701346184 meters Centerline goodness [0,1] 0.8920969131521991 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.17 [[ 9.89765945e-01 -1.23328590e-01 -7.17874121e-02 4.60838398e+00] [ 1.23528108e-01 9.92339667e-01 -1.67072837e-03 -1.09476707e-01] [ 7.14435452e-02 -7.21413318e-03 9.97418556e-01 -1.17499484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.731346184 meters Centerline goodness [0,1] 0.8845556115591398 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.17 [[ 9.89751396e-01 -1.23397998e-01 -7.18686861e-02 4.60855130e+00] [ 1.23587126e-01 9.92332045e-01 -1.82634114e-03 -1.08719323e-01] [ 7.15429671e-02 -7.07442067e-03 9.97412430e-01 -1.17498838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.761346184 meters Centerline goodness [0,1] 0.8848237632046857 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.90601455e-01 -1.23471229e-01 -5.88524726e-02 4.61324562e+00] [ 1.23542785e-01 9.92336259e-01 -2.43514896e-03 -1.08809370e-01] [ 5.87021133e-02 -4.85853628e-03 9.98263721e-01 -1.18087704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.791346184 meters Centerline goodness [0,1] 0.884037372238363 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.90606747e-01 -1.23369938e-01 -5.89756791e-02 4.61382241e+00] [ 1.23455914e-01 9.92347625e-01 -2.19757699e-03 -1.09848024e-01] [ 5.87954900e-02 -5.10396179e-03 9.98257001e-01 -1.18121404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.821346184 meters Centerline goodness [0,1] 0.8799565453557849 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.90619806e-01 -1.23216772e-01 -5.90764494e-02 4.61451504e+00] [ 1.23313875e-01 9.92365676e-01 -2.01311304e-03 -1.10074457e-01] [ 5.88734899e-02 -5.29071627e-03 9.98251432e-01 -1.18180204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.851346184 meters Centerline goodness [0,1] 0.8857776661644065 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.91012765e-01 -1.19923432e-01 -5.92627190e-02 4.61346043e+00] [ 1.20211262e-01 9.92747478e-01 1.30284899e-03 -1.08901569e-01] [ 5.86766727e-02 -8.41518621e-03 9.98241570e-01 -1.18148357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.881346184 meters Centerline goodness [0,1] 0.8814218504966022 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.91027408e-01 -1.19713671e-01 -5.94416886e-02 4.61399368e+00] [ 1.19987479e-01 9.92774854e-01 1.04569276e-03 -1.06999140e-01] [ 5.88870300e-02 -8.16856853e-03 9.98231232e-01 -1.18158694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.911346184 meters Centerline goodness [0,1] 0.8906285977434952 Centerline is valid? [False, False] Translation: X:4.61, Y:-0.11, Z:-1.18 [[ 9.91047426e-01 -1.19407648e-01 -5.97228052e-02 4.61481109e+00] [ 1.19671886e-01 9.92813129e-01 8.54522652e-04 -1.05603834e-01] [ 5.91915486e-02 -7.99401324e-03 9.98214634e-01 -1.18177871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.941346184 meters Centerline goodness [0,1] 0.9040771903386495 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.10, Z:-1.18 [[ 9.91074230e-01 -1.19112247e-01 -5.98677145e-02 4.61518548e+00] [ 1.19369478e-01 9.92849637e-01 7.25973347e-04 -1.04427122e-01] [ 5.93531663e-02 -7.86587130e-03 9.98206056e-01 -1.18177060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.971346184 meters Centerline goodness [0,1] 0.9048807601149401 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.10, Z:-1.18 [[ 9.91115331e-01 -1.18796002e-01 -5.98156343e-02 4.61532910e+00] [ 1.19041376e-01 9.92889146e-01 5.42869980e-04 -1.03063547e-01] [ 5.93258032e-02 -7.65858216e-03 9.98209294e-01 -1.18195788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.001346184 meters Centerline goodness [0,1] 0.9040463152614638 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.10, Z:-1.18 [[ 9.91163864e-01 -1.18188845e-01 -6.02128815e-02 4.61734585e+00] [ 1.18469174e-01 9.92957127e-01 1.09458146e-03 -1.02969861e-01] [ 5.96594425e-02 -8.21827991e-03 9.98184958e-01 -1.18348664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.031346184 meters Centerline goodness [0,1] 0.9043385490753912 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.10, Z:-1.18 [[ 9.91166756e-01 -1.18090425e-01 -6.03582160e-02 4.61803481e+00] [ 1.18359519e-01 9.92970408e-01 8.90056425e-04 -1.01258030e-01] [ 5.98288152e-02 -8.02616373e-03 9.98176384e-01 -1.18400583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.061346184 meters Centerline goodness [0,1] 0.904389240904704 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.10, Z:-1.18 [[ 9.91540466e-01 -1.14896617e-01 -6.03843685e-02 4.61618950e+00] [ 1.15313217e-01 9.93323194e-01 3.44867038e-03 -9.71576008e-02] [ 5.95849533e-02 -1.03826120e-02 9.98169242e-01 -1.18302051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.091346184 meters Centerline goodness [0,1] 0.907096828362125 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.18 [[ 9.91541990e-01 -1.14772122e-01 -6.05957265e-02 4.61664349e+00] [ 1.15155579e-01 9.93343343e-01 2.86272308e-03 -9.43706999e-02] [ 5.98638008e-02 -9.81644613e-03 9.98158285e-01 -1.18292468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.121346184 meters Centerline goodness [0,1] 0.9084989216692142 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.18 [[ 9.91534804e-01 -1.14763515e-01 -6.07294620e-02 4.61702024e+00] [ 1.15116942e-01 9.93349186e-01 2.34169872e-03 -9.25042651e-02] [ 6.00568201e-02 -9.31286573e-03 9.98151516e-01 -1.18287841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.151346184 meters Centerline goodness [0,1] 0.9093322741146465 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.18 [[ 9.91539601e-01 -1.14649380e-01 -6.08665684e-02 4.61747620e+00] [ 1.14986292e-01 9.93364963e-01 2.05014891e-03 -9.11711216e-02] [ 6.02276681e-02 -9.03162484e-03 9.98143806e-01 -1.18301595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.181346184 meters Centerline goodness [0,1] 0.9094436172220708 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.18 [[ 9.91514974e-01 -1.14802207e-01 -6.09795764e-02 4.61787447e+00] [ 1.15093050e-01 9.93353907e-01 1.26700622e-03 -8.79113580e-02] [ 6.04288453e-02 -8.27458109e-03 9.98138210e-01 -1.18322564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21134618399998 meters Centerline goodness [0,1] 0.9089211922891364 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.18 [[ 9.91518371e-01 -1.14678347e-01 -6.11571432e-02 4.61890081e+00] [ 1.14961466e-01 9.93369321e-01 1.11930361e-03 -8.65992583e-02] [ 6.06232699e-02 -8.14052491e-03 9.98127522e-01 -1.18407815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24134618399998 meters Centerline goodness [0,1] 0.9098845101601821 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.09, Z:-1.19 [[ 9.91584984e-01 -1.13854712e-01 -6.16143219e-02 4.62125954e+00] [ 1.14172590e-01 9.93459557e-01 1.65178947e-03 -8.56691830e-02] [ 6.10232729e-02 -8.67255636e-03 9.98098666e-01 -1.18584963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27134618399998 meters Centerline goodness [0,1] 0.9095467937065129 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 0.99196765 -0.11029324 -0.06193206 4.6211427 ] [ 0.1108121 0.99382882 0.00499602 -0.08416057] [ 0.06099884 -0.01181871 0.99806786 -1.18629365] [ 0. 0. 0. 1. ]] SLAMing on 183.30134618399998 meters Centerline goodness [0,1] 0.9104487017897656 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91949281e-01 -1.10480555e-01 -6.18924065e-02 4.62091087e+00] [ 1.10955888e-01 9.93816091e-01 4.28581817e-03 -8.16529398e-02] [ 6.10361699e-02 -1.11186411e-02 9.98073625e-01 -1.18603122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33134618399998 meters Centerline goodness [0,1] 0.9099618464634607 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91926572e-01 -1.10657972e-01 -6.19393938e-02 4.62079677e+00] [ 1.11092613e-01 9.93803511e-01 3.60729239e-03 -7.91248143e-02] [ 6.11564114e-02 -1.04591783e-02 9.98073394e-01 -1.18567559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36134618399998 meters Centerline goodness [0,1] 0.9105641754840869 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91917777e-01 -1.10697758e-01 -6.20091067e-02 4.62112450e+00] [ 1.11108749e-01 9.93803074e-01 3.20873561e-03 -7.73153440e-02] [ 6.12696410e-02 -1.00725561e-02 9.98070426e-01 -1.18580437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39134618399999 meters Centerline goodness [0,1] 0.9104061976549414 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91882667e-01 -1.11051979e-01 -6.19373315e-02 4.62135515e+00] [ 1.11442305e-01 9.93766754e-01 2.87267872e-03 -7.71797372e-02] [ 6.12322442e-02 -9.75179922e-03 9.98075906e-01 -1.18629976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.421346184 meters Centerline goodness [0,1] 0.9105346966141469 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91877744e-01 -1.11080954e-01 -6.19642004e-02 4.62204625e+00] [ 1.11471234e-01 9.93763526e-01 2.86674982e-03 -7.72529470e-02] [ 6.12593210e-02 -9.75069124e-03 9.98074256e-01 -1.18715678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.451346184 meters Centerline goodness [0,1] 0.9098348646895079 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91865290e-01 -1.11076853e-01 -6.21705733e-02 4.62301186e+00] [ 1.11474381e-01 9.93762924e-01 2.95174108e-03 -7.73498438e-02] [ 6.14549406e-02 -9.85815572e-03 9.98061174e-01 -1.18791648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.481346184 meters Centerline goodness [0,1] 0.9089783671499612 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.08, Z:-1.19 [[ 9.91792889e-01 -1.11885702e-01 -6.18745137e-02 4.62238446e+00] [ 1.12238008e-01 9.93678834e-01 2.23685577e-03 -7.61072684e-02] [ 6.12331224e-02 -9.16316979e-03 9.98081430e-01 -1.18801354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.511346184 meters Centerline goodness [0,1] 0.9111199431033762 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.91756850e-01 -1.12108533e-01 -6.20485800e-02 4.62279657e+00] [ 1.12436716e-01 9.93657236e-01 1.81193662e-03 -7.43151623e-02] [ 6.14518869e-02 -8.77353913e-03 9.98071486e-01 -1.18809545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.541346184 meters Centerline goodness [0,1] 0.9092337341321379 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.91723809e-01 -1.12363132e-01 -6.21161191e-02 4.62255219e+00] [ 1.12645725e-01 9.93634655e-01 1.05520441e-03 -7.13739757e-02] [ 6.16021625e-02 -8.04358658e-03 9.98068372e-01 -1.18756053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.571346184 meters Centerline goodness [0,1] 0.9084690280342455 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92043007e-01 -1.09428021e-01 -6.22589821e-02 4.62095713e+00] [ 1.09876655e-01 9.93937897e-01 3.81808972e-03 -7.01026987e-02] [ 6.14637557e-02 -1.06285179e-02 9.98052725e-01 -1.18644719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.601346184 meters Centerline goodness [0,1] 0.91047091877385 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92053219e-01 -1.09274842e-01 -6.23652076e-02 4.62160439e+00] [ 1.09721264e-01 9.93955251e-01 3.76860613e-03 -6.99236912e-02] [ 6.15764117e-02 -1.05814472e-02 9.98046281e-01 -1.18688851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.631346184 meters Centerline goodness [0,1] 0.91047091877385 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92053219e-01 -1.09274842e-01 -6.23652076e-02 4.62160439e+00] [ 1.09721264e-01 9.93955251e-01 3.76860613e-03 -6.99236912e-02] [ 6.15764117e-02 -1.05814472e-02 9.98046281e-01 -1.18688851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.661346184 meters Centerline goodness [0,1] 0.9115559371008606 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92071708e-01 -1.09048861e-01 -6.24665700e-02 4.62235763e+00] [ 1.09497184e-01 9.93979884e-01 3.78896430e-03 -6.94535028e-02] [ 6.16773318e-02 -1.05988378e-02 9.98039865e-01 -1.18757865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.691346184 meters Centerline goodness [0,1] 0.9118572927597062 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92079603e-01 -1.08844682e-01 -6.26968560e-02 4.62324535e+00] [ 1.09287844e-01 9.94003360e-01 3.67261995e-03 -6.82965137e-02] [ 6.19211404e-02 -1.04955356e-02 9.98025859e-01 -1.18803584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.721346184 meters Centerline goodness [0,1] 0.9107662463627546 Centerline is valid? [False, False] Translation: X:4.62, Y:-0.07, Z:-1.19 [[ 9.92095828e-01 -1.08603742e-01 -6.28577412e-02 4.62413018e+00] [ 1.09035442e-01 9.94031811e-01 3.46866460e-03 -6.62271822e-02] [ 6.21058844e-02 -1.02949693e-02 9.98016469e-01 -1.18876923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.751346184 meters Centerline goodness [0,1] 0.9119664954962539 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 9.92123294e-01 -1.08179739e-01 -6.31546767e-02 4.62544728e+00] [ 1.08628522e-01 9.94075505e-01 3.70611862e-03 -6.54658340e-02] [ 6.23795902e-02 -1.05373258e-02 9.97996869e-01 -1.18964621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.781346184 meters Centerline goodness [0,1] 0.9119137079410647 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.06, Z:-1.19 [[ 9.92124936e-01 -1.08025262e-01 -6.33928571e-02 4.62601905e+00] [ 1.08461404e-01 9.94094607e-01 3.46936445e-03 -6.38498832e-02] [ 6.26437183e-02 -1.03177213e-02 9.97982620e-01 -1.18968247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.811346184 meters Centerline goodness [0,1] 0.9118374073056853 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.06, Z:-1.19 [[ 9.92147598e-01 -1.07826512e-01 -6.33765480e-02 4.62613581e+00] [ 1.08259583e-01 9.94116745e-01 3.42941296e-03 -6.35270191e-02] [ 6.26339060e-02 -1.02636025e-02 9.97983794e-01 -1.18975755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.841346184 meters Centerline goodness [0,1] 0.9093479637054231 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 9.92164815e-01 -1.07588878e-01 -6.35107292e-02 4.62702246e+00] [ 1.08061662e-01 9.94135957e-01 4.04665746e-03 -6.56911006e-02] [ 6.27029242e-02 -1.08780261e-02 9.97972951e-01 -1.19051822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.871346184 meters Centerline goodness [0,1] 0.9101225505705668 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 9.92168161e-01 -1.07523064e-01 -6.35698938e-02 4.62766162e+00] [ 1.08028206e-01 9.94137403e-01 4.55319907e-03 -6.75465602e-02] [ 6.27076352e-02 -1.13848807e-02 9.97967002e-01 -1.19118339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.901346184 meters Centerline goodness [0,1] 0.9114088885155003 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 0.9921657 -0.10737063 -0.06386524 4.62880317] [ 0.10790981 0.99414789 0.00504389 -0.06894515] [ 0.06294993 -0.01189606 0.99794579 -1.1918743 ] [ 0. 0. 0. 1. ]] SLAMing on 183.931346184 meters Centerline goodness [0,1] 0.9070206341217917 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 0.99216577 -0.10734802 -0.06390213 4.62884333] [ 0.10791891 0.99414426 0.00554032 -0.07036235] [ 0.06293319 -0.01239316 0.99794079 -1.19188351] [ 0. 0. 0. 1. ]] SLAMing on 183.96134618399998 meters Centerline goodness [0,1] 0.9066728393762757 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 0.99217657 -0.1072006 -0.06398193 4.62915685] [ 0.10779046 0.99415654 0.00582973 -0.07148435] [ 0.06298311 -0.01268076 0.99793403 -1.191973 ] [ 0. 0. 0. 1. ]] SLAMing on 183.99134618399998 meters Centerline goodness [0,1] 0.9075375615504397 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 0.99219407 -0.1069465 -0.06413561 4.62985627] [ 0.10756716 0.9941779 0.00629377 -0.07307536] [ 0.06308911 -0.01314353 0.99792135 -1.19236948] [ 0. 0. 0. 1. ]] SLAMing on 184.02134618399998 meters Centerline goodness [0,1] 0.9049062960623289 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.07, Z:-1.19 [[ 0.99221469 -0.1066428 -0.06432195 4.63067629] [ 0.10729685 0.99420383 0.00679132 -0.07464452] [ 0.06322489 -0.01363999 0.99790609 -1.19284527] [ 0. 0. 0. 1. ]] SLAMing on 184.05134618399998 meters Centerline goodness [0,1] 0.9056890012642225 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.19 [[ 0.99224582 -0.10621487 -0.06454944 4.63176124] [ 0.10691848 0.99423923 0.00753578 -0.07671876] [ 0.06337717 -0.01437887 0.99788606 -1.19358881] [ 0. 0. 0. 1. ]] SLAMing on 184.08134618399998 meters Centerline goodness [0,1] 0.9047578965089118 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.19 [[ 0.99223503 -0.10623837 -0.06467654 4.63240959] [ 0.1069584 0.99423318 0.00776423 -0.07798133] [ 0.0634787 -0.01462164 0.99787608 -1.19399536] [ 0. 0. 0. 1. ]] SLAMing on 184.11134618399998 meters Centerline goodness [0,1] 0.90574358541526 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.19 [[ 0.99222256 -0.10631361 -0.0647441 4.63275077] [ 0.1070426 0.99422315 0.00788691 -0.07918969] [ 0.06353159 -0.01475595 0.99787073 -1.19416122] [ 0. 0. 0. 1. ]] SLAMing on 184.14134618399999 meters Centerline goodness [0,1] 0.901969457609268 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.19 [[ 0.99220537 -0.10640689 -0.06485433 4.63311268] [ 0.10713739 0.99421298 0.00788188 -0.07946402] [ 0.06364033 -0.01476876 0.99786361 -1.19427802] [ 0. 0. 0. 1. ]] SLAMing on 184.171346184 meters Centerline goodness [0,1] 0.9028113124357009 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.19 [[ 0.9922067 -0.10620805 -0.06515913 4.63432968] [ 0.10695556 0.99423094 0.00808312 -0.07963156] [ 0.06392473 -0.01498925 0.99784215 -1.19499464] [ 0. 0. 0. 1. ]] SLAMing on 184.201346184 meters Centerline goodness [0,1] 0.9011745390250063 Centerline is valid? [False, False] Translation: X:4.63, Y:-0.08, Z:-1.20 [[ 0.99219497 -0.10629209 -0.06520066 4.63479403] [ 0.10704247 0.99422133 0.00811544 -0.07998758] [ 0.06396128 -0.01503134 0.99783917 -1.19547008] [ 0. 0. 0. 1. ]] SLAMing on 184.231346184 meters Centerline goodness [0,1] 0.9015089508699028 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.08, Z:-1.20 [[ 0.99216478 -0.10643817 -0.06542138 4.63520372] [ 0.1071864 0.99420655 0.00802548 -0.08009074] [ 0.06418815 -0.01497488 0.99782545 -1.19528456] [ 0. 0. 0. 1. ]] SLAMing on 184.261346184 meters Centerline goodness [0,1] 0.9019013966010433 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.08, Z:-1.20 [[ 0.99215468 -0.10648223 -0.06550289 4.63549027] [ 0.1072396 0.99419983 0.00814708 -0.08090814] [ 0.06425545 -0.01510767 0.99781912 -1.19534004] [ 0. 0. 0. 1. ]] SLAMing on 184.291346184 meters Centerline goodness [0,1] 0.9006361136187098 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.08, Z:-1.20 [[ 0.99214502 -0.1063985 -0.06578461 4.63635719] [ 0.10719336 0.99420045 0.00866347 -0.08346828] [ 0.06448131 -0.01564709 0.99779624 -1.19555526] [ 0. 0. 0. 1. ]] SLAMing on 184.321346184 meters Centerline goodness [0,1] 0.8997517984098271 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.99175916 -0.11004765 -0.06559939 4.63722503] [ 0.11063905 0.99384576 0.00544047 -0.08600312] [ 0.06459696 -0.01265349 0.99783121 -1.19567295] [ 0. 0. 0. 1. ]] SLAMing on 184.351346184 meters Centerline goodness [0,1] 0.8987181915766875 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.99177199 -0.1097986 -0.06582235 4.63816546] [ 0.1104232 0.99386705 0.00591632 -0.08718658] [ 0.06476906 -0.01313596 0.99781382 -1.19623098] [ 0. 0. 0. 1. ]] SLAMing on 184.381346184 meters Centerline goodness [0,1] 0.8992685959994098 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.99179508 -0.10941529 -0.06611218 4.63921331] [ 0.11006779 0.99390413 0.00629805 -0.08782218] [ 0.06502006 -0.0135232 0.99779232 -1.19671634] [ 0. 0. 0. 1. ]] SLAMing on 184.411346184 meters Centerline goodness [0,1] 0.9017635422366261 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.99181854 -0.1090603 -0.06634635 4.64007976] [ 0.10976697 0.99393206 0.00708995 -0.09097119] [ 0.06517053 -0.01431458 0.99777146 -1.19698658] [ 0. 0. 0. 1. ]] SLAMing on 184.441346184 meters Centerline goodness [0,1] 0.8984976644363085 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.9918228 -0.10899003 -0.06639816 4.64021181] [ 0.1097193 0.99393487 0.00742667 -0.09284055] [ 0.06518601 -0.0146511 0.99776557 -1.19685278] [ 0. 0. 0. 1. ]] SLAMing on 184.471346184 meters Centerline goodness [0,1] 0.9012356091595327 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.09, Z:-1.20 [[ 0.99181674 -0.10898632 -0.06649461 4.64019816] [ 0.10973708 0.99393056 0.00773353 -0.09466572] [ 0.06524817 -0.01496717 0.99775681 -1.19641907] [ 0. 0. 0. 1. ]] SLAMing on 184.501346184 meters Centerline goodness [0,1] 0.9012978790756568 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.10, Z:-1.20 [[ 0.99180973 -0.10906805 -0.06646524 4.64015002] [ 0.10983901 0.99391682 0.00804668 -0.09668002] [ 0.06518329 -0.01528125 0.99775629 -1.19629176] [ 0. 0. 0. 1. ]] SLAMing on 184.531346184 meters Centerline goodness [0,1] 0.8996269993467221 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.10, Z:-1.20 [[ 0.99143994 -0.11231536 -0.06657406 4.64184701] [ 0.11291251 0.99359099 0.00526389 -0.09880779] [ 0.06555618 -0.01273588 0.9977676 -1.19676285] [ 0. 0. 0. 1. ]] SLAMing on 184.561346184 meters Centerline goodness [0,1] 0.8969337582037268 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.10, Z:-1.20 [[ 0.99144332 -0.11228501 -0.06657485 4.6417972 ] [ 0.11291432 0.99358807 0.00575441 -0.10120666] [ 0.06550184 -0.01322242 0.99776484 -1.19653568] [ 0. 0. 0. 1. ]] SLAMing on 184.591346184 meters Centerline goodness [0,1] 0.9002068470598168 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.10, Z:-1.20 [[ 0.99143813 -0.11227955 -0.06666137 4.64196643] [ 0.11294126 0.99358213 0.00623025 -0.10384751] [ 0.06553402 -0.01370573 0.99775621 -1.19636481] [ 0. 0. 0. 1. ]] SLAMing on 184.621346184 meters Centerline goodness [0,1] 0.8980562100302928 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.11, Z:-1.20 [[ 0.99144991 -0.11197221 -0.0670023 4.64301929] [ 0.11269051 0.99360529 0.00702686 -0.10675492] [ 0.06578703 -0.0145173 0.99772808 -1.19663847] [ 0. 0. 0. 1. ]] SLAMing on 184.651346184 meters Centerline goodness [0,1] 0.8977562414410618 Centerline is valid? [False, False] Translation: X:4.64, Y:-0.11, Z:-1.20 [[ 9.91121167e-01 -1.14878255e-01 -6.69463818e-02 4.64467999e+00] [ 1.15443938e-01 9.93303205e-01 4.63044347e-03 -1.10805047e-01] [ 6.59661183e-02 -1.23178845e-02 9.97745830e-01 -1.19728466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.681346184 meters Centerline goodness [0,1] 0.8959952811308433 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.11, Z:-1.20 [[ 0.99114002 -0.11461314 -0.06712152 4.64559242] [ 0.11523698 0.99332289 0.00548457 -0.11415504] [ 0.06604474 -0.01317086 0.99772973 -1.19782295] [ 0. 0. 0. 1. ]] SLAMing on 184.71134618399998 meters Centerline goodness [0,1] 0.8942605834335253 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.12, Z:-1.20 [[ 0.9911472 -0.11441839 -0.06734735 4.64643195] [ 0.11509548 0.99333478 0.00624816 -0.11736217] [ 0.06618356 -0.01394422 0.99771003 -1.19816317] [ 0. 0. 0. 1. ]] SLAMing on 184.74134618399998 meters Centerline goodness [0,1] 0.8978240701695201 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.12, Z:-1.20 [[ 0.99114907 -0.11428434 -0.06754704 4.64726208] [ 0.11501306 0.99333941 0.00698706 -0.12022015] [ 0.06629863 -0.01469401 0.99769162 -1.19859575] [ 0. 0. 0. 1. ]] SLAMing on 184.77134618399998 meters Centerline goodness [0,1] 0.8960639217422469 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.12, Z:-1.20 [[ 0.99088888 -0.11668347 -0.06726209 4.64682872] [ 0.11728335 0.99308577 0.0050262 -0.1231953 ] [ 0.06621055 -0.01286913 0.99772268 -1.19760345] [ 0. 0. 0. 1. ]] SLAMing on 184.80134618399998 meters Centerline goodness [0,1] 0.8950427494419408 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.13, Z:-1.20 [[ 0.99086027 -0.11690473 -0.06729935 4.64638411] [ 0.1175244 0.9930558 0.00530959 -0.12568001] [ 0.06621129 -0.01317038 0.9977187 -1.19676415] [ 0. 0. 0. 1. ]] SLAMing on 184.83134618399998 meters Centerline goodness [0,1] 0.8951214902240796 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.13, Z:-1.20 [[ 9.90494028e-01 -1.19872502e-01 -6.74697196e-02 4.64862581e+00] [ 1.20304027e-01 9.92734303e-01 2.35477484e-03 -1.26333932e-01] [ 6.66972323e-02 -1.04492694e-02 9.97718543e-01 -1.19765105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86134618399998 meters Centerline goodness [0,1] 0.8925374391810772 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.13, Z:-1.20 [[ 9.90096807e-01 -1.23158027e-01 -6.73825890e-02 4.65037871e+00] [ 1.23430346e-01 9.92353231e-01 -1.22792026e-04 -1.30324935e-01] [ 6.68824527e-02 -8.19548030e-03 9.97727203e-01 -1.19865032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89134618399999 meters Centerline goodness [0,1] 0.8908059262372596 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.13, Z:-1.20 [[ 9.90108888e-01 -1.22863804e-01 -6.77412419e-02 4.65165938e+00] [ 1.23196239e-01 9.92382056e-01 7.35988943e-04 -1.33169062e-01] [ 6.71347665e-02 -9.07417542e-03 9.97702652e-01 -1.19922875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.921346184 meters Centerline goodness [0,1] 0.8891599713961217 Centerline is valid? [False, False] Translation: X:4.65, Y:-0.13, Z:-1.20 [[ 9.90119529e-01 -1.22712760e-01 -6.78593947e-02 4.65190786e+00] [ 1.23077826e-01 9.92396285e-01 1.20945016e-03 -1.34928958e-01] [ 6.71949962e-02 -9.54948701e-03 9.97694161e-01 -1.19909751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.951346184 meters Centerline goodness [0,1] 0.885514804845222 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99038713 -0.12444019 -0.06039845 4.66346086] [ 0.12513709 0.99210815 0.00788174 -0.1373341 ] [ 0.05894099 -0.01536406 0.99814323 -1.20181365] [ 0. 0. 0. 1. ]] SLAMing on 184.981346184 meters Centerline goodness [0,1] 0.8905100281713829 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99036309 -0.1246394 -0.06038195 4.66299822] [ 0.12533689 0.99208286 0.00789012 -0.1382161 ] [ 0.05892048 -0.01538217 0.99814416 -1.20115691] [ 0. 0. 0. 1. ]] SLAMing on 185.011346184 meters Centerline goodness [0,1] 0.884821052631579 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99033578 -0.12482647 -0.06044336 4.66292518] [ 0.1255334 0.99205691 0.00802828 -0.13982111] [ 0.05896111 -0.01553835 0.99813934 -1.20076208] [ 0. 0. 0. 1. ]] SLAMing on 185.041346184 meters Centerline goodness [0,1] 0.8910238871935179 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.990336 -0.12472637 -0.06064606 4.66355166] [ 0.12546145 0.99206248 0.00845296 -0.14180669] [ 0.05911037 -0.01598001 0.99812354 -1.20088835] [ 0. 0. 0. 1. ]] SLAMing on 185.071346184 meters Centerline goodness [0,1] 0.8830212497370082 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99030803 -0.1249144 -0.06071575 4.6635073 ] [ 0.12565882 0.99203636 0.00858625 -0.14345529] [ 0.05915969 -0.0161325 0.99811817 -1.20052719] [ 0. 0. 0. 1. ]] SLAMing on 185.101346184 meters Centerline goodness [0,1] 0.8885776270615245 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99030062 -0.1249149 -0.06083537 4.66370391] [ 0.12566095 0.99203613 0.00858105 -0.14351488] [ 0.05927898 -0.01614245 0.99811093 -1.2003955 ] [ 0. 0. 0. 1. ]] SLAMing on 185.131346184 meters Centerline goodness [0,1] 0.8901658668013808 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.14, Z:-1.20 [[ 0.99029914 -0.12488026 -0.06093063 4.66382823] [ 0.12562951 0.99203987 0.0086099 -0.14388389] [ 0.0593704 -0.01618106 0.99810487 -1.20018346] [ 0. 0. 0. 1. ]] SLAMing on 185.161346184 meters Centerline goodness [0,1] 0.8890100442450041 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.99028318 -0.12494608 -0.06105487 4.66407751] [ 0.1257118 0.99202733 0.00885029 -0.14539489] [ 0.05946229 -0.01643961 0.99809517 -1.1999906 ] [ 0. 0. 0. 1. ]] SLAMing on 185.191346184 meters Centerline goodness [0,1] 0.889204665066734 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.99025567 -0.12514795 -0.0610877 4.66373111] [ 0.12591008 0.99200285 0.00877492 -0.14589996] [ 0.05950101 -0.01638097 0.99809383 -1.19935686] [ 0. 0. 0. 1. ]] SLAMing on 185.221346184 meters Centerline goodness [0,1] 0.8894402624164178 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.99021504 -0.1254663 -0.06109318 4.66315276] [ 0.12621801 0.99196534 0.00858936 -0.14643315] [ 0.05952464 -0.01621637 0.99809511 -1.19843217] [ 0. 0. 0. 1. ]] SLAMing on 185.251346184 meters Centerline goodness [0,1] 0.8877671458078658 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.99019967 -0.12558086 -0.06110698 4.66272921] [ 0.12633782 0.99194939 0.00867014 -0.1476732 ] [ 0.05952623 -0.01630529 0.99809357 -1.19766009] [ 0. 0. 0. 1. ]] SLAMing on 185.281346184 meters Centerline goodness [0,1] 0.8898248119984876 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.98983291 -0.12862439 -0.06071719 4.66298026] [ 0.12919392 0.99160391 0.00553283 -0.14931546] [ 0.05949574 -0.01332087 0.99813968 -1.19716893] [ 0. 0. 0. 1. ]] SLAMing on 185.311346184 meters Centerline goodness [0,1] 0.8950061055202324 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.9898558 -0.1284132 -0.06079103 4.66317742] [ 0.12900801 0.99162572 0.00594655 -0.15120324] [ 0.05951834 -0.01372876 0.9981328 -1.19702188] [ 0. 0. 0. 1. ]] SLAMing on 185.341346184 meters Centerline goodness [0,1] 0.8954636354067993 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.98989311 -0.12808093 -0.06088437 4.66331355] [ 0.12870073 0.99166313 0.00635359 -0.15247796] [ 0.05956301 -0.01412524 0.9981246 -1.19678633] [ 0. 0. 0. 1. ]] SLAMing on 185.371346184 meters Centerline goodness [0,1] 0.9007172756147326 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.98991986 -0.12782664 -0.06098375 4.66325752] [ 0.12846098 0.99169273 0.00658086 -0.15314212] [ 0.05963594 -0.01434855 0.99811706 -1.19631493] [ 0. 0. 0. 1. ]] SLAMing on 185.401346184 meters Centerline goodness [0,1] 0.9021486217377633 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.98998552 -0.12714933 -0.06133287 4.66370512] [ 0.12782246 0.9917712 0.00716331 -0.15377712] [ 0.05991737 -0.01493129 0.99809166 -1.19578846] [ 0. 0. 0. 1. ]] SLAMing on 185.431346184 meters Centerline goodness [0,1] 0.9011081439115167 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.15, Z:-1.20 [[ 0.98999459 -0.12697868 -0.06153965 4.66397699] [ 0.12767256 0.9917883 0.00746154 -0.1549181 ] [ 0.06008685 -0.01524381 0.99807675 -1.19546537] [ 0. 0. 0. 1. ]] SLAMing on 185.46134618399998 meters Centerline goodness [0,1] 0.9036726128016789 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.16, Z:-1.20 [[ 0.99002225 -0.12671844 -0.061631 4.66451553] [ 0.12744398 0.99181374 0.0079714 -0.15670643] [ 0.06011635 -0.01574636 0.99806717 -1.1957623 ] [ 0. 0. 0. 1. ]] SLAMing on 185.49134618399998 meters Centerline goodness [0,1] 0.904878662140073 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.16, Z:-1.19 [[ 0.99002226 -0.12668682 -0.06169577 4.66424402] [ 0.12744235 0.99180996 0.00845305 -0.15956241] [ 0.06011959 -0.01623137 0.99805921 -1.19498197] [ 0. 0. 0. 1. ]] SLAMing on 185.52134618399998 meters Centerline goodness [0,1] 0.9050848169297951 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.16, Z:-1.19 [[ 0.98999756 -0.12686057 -0.06173517 4.66388332] [ 0.1276158 0.99178783 0.00843207 -0.16027162] [ 0.06015849 -0.01622611 0.99805695 -1.19429413] [ 0. 0. 0. 1. ]] SLAMing on 185.55134618399998 meters Centerline goodness [0,1] 0.9050848169297951 Centerline is valid? [False, False] Translation: X:4.66, Y:-0.16, Z:-1.19 [[ 0.98999756 -0.12686057 -0.06173517 4.66388332] [ 0.1276158 0.99178783 0.00843207 -0.16027162] [ 0.06015849 -0.01622611 0.99805695 -1.19429413] [ 0. 0. 0. 1. ]] SLAMing on 185.58134618399998 meters Centerline goodness [0,1] 0.9045122205974514 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.20 [[ 0.98963854 -0.12954642 -0.06191356 4.66608742] [ 0.13011562 0.99148501 0.00523462 -0.15922746] [ 0.06070824 -0.0132363 0.99806779 -1.19502431] [ 0. 0. 0. 1. ]] SLAMing on 185.61134618399998 meters Centerline goodness [0,1] 0.9064965586704717 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.19 [[ 0.98964978 -0.12940035 -0.06203928 4.66625919] [ 0.12999432 0.99149882 0.0056183 -0.16103041] [ 0.06078486 -0.01362491 0.9980579 -1.19472401] [ 0. 0. 0. 1. ]] SLAMing on 185.64134618399999 meters Centerline goodness [0,1] 0.9076567101388304 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.19 [[ 0.98964744 -0.1294625 -0.06194682 4.6656672 ] [ 0.1300799 0.99148522 0.00602275 -0.16345028] [ 0.06063964 -0.01401843 0.99806128 -1.19403421] [ 0. 0. 0. 1. ]] SLAMing on 185.671346184 meters Centerline goodness [0,1] 0.9063511411878441 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.19 [[ 0.98963702 -0.12950397 -0.06202652 4.66570055] [ 0.13012907 0.99147812 0.00612954 -0.16380108] [ 0.06070414 -0.01413747 0.99805568 -1.1938134 ] [ 0. 0. 0. 1. ]] SLAMing on 185.701346184 meters Centerline goodness [0,1] 0.9036086372038313 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.16, Z:-1.19 [[ 0.98960518 -0.12970839 -0.06210728 4.66563016] [ 0.13033765 0.99145045 0.00617272 -0.16429833] [ 0.06077563 -0.01420348 0.99805039 -1.19349381] [ 0. 0. 0. 1. ]] SLAMing on 185.731346184 meters Centerline goodness [0,1] 0.9013383196419943 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.19 [[ 0.98958749 -0.12980905 -0.06217887 4.66572227] [ 0.13045948 0.99143233 0.00650034 -0.16618941] [ 0.06080234 -0.01454448 0.99804385 -1.19329561] [ 0. 0. 0. 1. ]] SLAMing on 185.761346184 meters Centerline goodness [0,1] 0.9025371351951562 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.19 [[ 9.89170853e-01 -1.33160048e-01 -6.17205430e-02 4.66620666e+00] [ 1.33624715e-01 9.91026019e-01 3.44457705e-03 -1.69079955e-01] [ 6.07079840e-02 -1.16546652e-02 9.98087526e-01 -1.19331079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.791346184 meters Centerline goodness [0,1] 0.9031583787964298 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.19 [[ 9.89174930e-01 -1.33131921e-01 -6.17158843e-02 4.66616138e+00] [ 1.33618088e-01 9.91025614e-01 3.79998184e-03 -1.70778026e-01] [ 6.06561232e-02 -1.20052052e-02 9.98086524e-01 -1.19310772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.821346184 meters Centerline goodness [0,1] 0.9010721042673955 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.19 [[ 9.89191890e-01 -1.32969057e-01 -6.17951006e-02 4.66623846e+00] [ 1.33476169e-01 9.91043402e-01 4.13361250e-03 -1.71891925e-01] [ 6.06919842e-02 -1.23371092e-02 9.98080297e-01 -1.19288463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.851346184 meters Centerline goodness [0,1] 0.9023425233938328 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.17, Z:-1.19 [[ 0.98922128 -0.13256014 -0.06220191 4.66753092] [ 0.1331172 0.99108829 0.00488039 -0.17396849] [ 0.06100064 -0.01310793 0.99805165 -1.19328218] [ 0. 0. 0. 1. ]] SLAMing on 185.881346184 meters Centerline goodness [0,1] 0.9039216921881236 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.18, Z:-1.19 [[ 0.9892712 -0.13210081 -0.06238483 4.66820309] [ 0.13272746 0.99113446 0.00599158 -0.17757042] [ 0.06104026 -0.01420748 0.99803418 -1.19353339] [ 0. 0. 0. 1. ]] SLAMing on 185.911346184 meters Centerline goodness [0,1] 0.9034310431715101 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.18, Z:-1.19 [[ 0.98927931 -0.13199856 -0.06247264 4.66843038] [ 0.13264817 0.99114285 0.00634934 -0.17860529] [ 0.0610812 -0.01456815 0.99802648 -1.19352132] [ 0. 0. 0. 1. ]] SLAMing on 185.941346184 meters Centerline goodness [0,1] 0.9027625935581532 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.18, Z:-1.19 [[ 0.98927654 -0.13195855 -0.06260095 4.66879698] [ 0.13263583 0.99114171 0.00677134 -0.18013606] [ 0.06115287 -0.01500186 0.99801567 -1.19357859] [ 0. 0. 0. 1. ]] SLAMing on 185.971346184 meters Centerline goodness [0,1] 0.8983395957093978 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.18, Z:-1.19 [[ 9.88810490e-01 -1.35566018e-01 -6.22548813e-02 4.66938057e+00] [ 1.36065554e-01 9.90692409e-01 3.83621319e-03 -1.83987838e-01] [ 6.11553782e-02 -1.22640328e-02 9.98052911e-01 -1.19338743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.001346184 meters Centerline goodness [0,1] 0.8972707629696448 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 9.88747088e-01 -1.36129870e-01 -6.20310836e-02 4.66851918e+00] [ 1.36629609e-01 9.90614655e-01 3.86714443e-03 -1.87191988e-01] [ 6.09224666e-02 -1.22989105e-02 9.98066726e-01 -1.19258558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.031346184 meters Centerline goodness [0,1] 0.8984764106336031 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 9.88706449e-01 -1.36472252e-01 -6.19264257e-02 4.66796460e+00] [ 1.36986575e-01 9.90564348e-01 4.11718677e-03 -1.89607529e-01] [ 6.07802277e-02 -1.25537780e-02 9.98072225e-01 -1.19199514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.061346184 meters Centerline goodness [0,1] 0.892915599949637 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 9.88665362e-01 -1.36836743e-01 -6.17778910e-02 4.66699734e+00] [ 1.37369864e-01 9.90509844e-01 4.44633455e-03 -1.91684596e-01] [ 6.05831872e-02 -1.28823575e-02 9.98080018e-01 -1.19102103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.091346184 meters Centerline goodness [0,1] 0.8879384628318026 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 0.98867367 -0.1367256 -0.06189091 4.66690589] [ 0.13727638 0.99052156 0.00471619 -0.19269652] [ 0.06065946 -0.01315893 0.99807178 -1.19047777] [ 0. 0. 0. 1. ]] SLAMing on 186.121346184 meters Centerline goodness [0,1] 0.8877115526122149 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 0.98869331 -0.13658528 -0.06188695 4.66678657] [ 0.13716101 0.99053547 0.00513214 -0.19425014] [ 0.06060025 -0.01356259 0.99806997 -1.19025773] [ 0. 0. 0. 1. ]] SLAMing on 186.151346184 meters Centerline goodness [0,1] 0.8876148705096074 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.19, Z:-1.19 [[ 9.88313564e-01 -1.38912186e-01 -6.27670623e-02 4.67031863e+00] [ 1.39297194e-01 9.90249023e-01 1.77879468e-03 -1.93247110e-01] [ 6.19079259e-02 -1.05012826e-02 9.98026619e-01 -1.19050654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.181346184 meters Centerline goodness [0,1] 0.8936844979312373 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.19 [[ 9.88345567e-01 -1.38610131e-01 -6.29306913e-02 4.67087517e+00] [ 1.39053144e-01 9.90281255e-01 2.69413973e-03 -1.96317976e-01] [ 6.19456489e-02 -1.14134515e-02 9.98014263e-01 -1.19067497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21134618399998 meters Centerline goodness [0,1] 0.8889098453413806 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.19 [[ 9.88368429e-01 -1.38368811e-01 -6.31024552e-02 4.67164266e+00] [ 1.38851118e-01 9.90307763e-01 3.30182393e-03 -1.98116123e-01] [ 6.20339818e-02 -1.20252650e-02 9.98001592e-01 -1.19110314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24134618399998 meters Centerline goodness [0,1] 0.88957876032194 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.19 [[ 9.88376922e-01 -1.38258099e-01 -6.32120109e-02 4.67226905e+00] [ 1.38767996e-01 9.90317904e-01 3.72736091e-03 -1.99437312e-01] [ 6.20846482e-02 -1.24558416e-02 9.97993161e-01 -1.19154315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27134618399998 meters Centerline goodness [0,1] 0.8856134046464984 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.19 [[ 9.88390040e-01 -1.38084781e-01 -6.33855024e-02 4.67324687e+00] [ 1.38647268e-01 9.90331413e-01 4.54176699e-03 -2.02838943e-01] [ 6.21455052e-02 -1.32772640e-02 9.97978783e-01 -1.19214261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30134618399998 meters Centerline goodness [0,1] 0.8870390897872964 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.20, Z:-1.19 [[ 0.98841135 -0.13787345 -0.06351314 4.67393826] [ 0.13846996 0.99035367 0.00506675 -0.20454851] [ 0.0622019 -0.0138027 0.99796814 -1.19260122] [ 0. 0. 0. 1. ]] SLAMing on 186.33134618399998 meters Centerline goodness [0,1] 0.8808438571548047 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.21, Z:-1.19 [[ 0.98842339 -0.13771534 -0.06366856 4.67441419] [ 0.13833605 0.99037049 0.00542451 -0.20567728] [ 0.06230842 -0.01416937 0.99795636 -1.19270022] [ 0. 0. 0. 1. ]] SLAMing on 186.36134618399998 meters Centerline goodness [0,1] 0.8874704886864593 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.21, Z:-1.19 [[ 0.98841867 -0.13772268 -0.06372599 4.67431781] [ 0.13835058 0.9903679 0.00552637 -0.20596565] [ 0.06235107 -0.0142789 0.99795213 -1.19241047] [ 0. 0. 0. 1. ]] SLAMing on 186.39134618399999 meters Centerline goodness [0,1] 0.8819095477386935 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.21, Z:-1.19 [[ 0.98833301 -0.1384328 -0.06351548 4.67254777] [ 0.13905512 0.99026958 0.00546272 -0.20856564] [ 0.06214123 -0.01423114 0.9979659 -1.19050461] [ 0. 0. 0. 1. ]] SLAMing on 186.421346184 meters Centerline goodness [0,1] 0.8796601678286644 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.21, Z:-1.19 [[ 0.98831458 -0.13854398 -0.06355988 4.67293113] [ 0.13919879 0.99024646 0.00597091 -0.21116269] [ 0.06211271 -0.01474859 0.99796016 -1.1906908 ] [ 0. 0. 0. 1. ]] SLAMing on 186.451346184 meters Centerline goodness [0,1] 0.8784692402756541 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.21, Z:-1.19 [[ 0.98830141 -0.13860048 -0.06364147 4.67321278] [ 0.13928414 0.99023169 0.00641294 -0.21328082] [ 0.06213097 -0.01520217 0.99795222 -1.19066676] [ 0. 0. 0. 1. ]] SLAMing on 186.481346184 meters Centerline goodness [0,1] 0.8685693929297374 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.22, Z:-1.19 [[ 0.98815853 -0.1397549 -0.06333465 4.67213169] [ 0.14040975 0.99007538 0.00598724 -0.21673569] [ 0.06186933 -0.01480915 0.99797439 -1.18963869] [ 0. 0. 0. 1. ]] SLAMing on 186.511346184 meters Centerline goodness [0,1] 0.857301116174073 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.22, Z:-1.19 [[ 0.98814601 -0.13982117 -0.06338378 4.67246923] [ 0.14050787 0.99005831 0.00648715 -0.21960726] [ 0.0618466 -0.01531617 0.99796814 -1.18972884] [ 0. 0. 0. 1. ]] SLAMing on 186.541346184 meters Centerline goodness [0,1] 0.8506348643746221 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.22, Z:-1.19 [[ 0.98813992 -0.13982169 -0.06347747 4.67311974] [ 0.14054517 0.99004912 0.00705691 -0.22258408] [ 0.06185911 -0.01589467 0.99795832 -1.19005034] [ 0. 0. 0. 1. ]] SLAMing on 186.571346184 meters Centerline goodness [0,1] 0.8558144394525128 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.22, Z:-1.19 [[ 0.98814702 -0.13973472 -0.06355848 4.67374471] [ 0.14048831 0.99005375 0.00752411 -0.22437493] [ 0.06187493 -0.01636415 0.99794975 -1.19050829] [ 0. 0. 0. 1. ]] SLAMing on 186.601346184 meters Centerline goodness [0,1] 0.846486102996411 Centerline is valid? [False, False] Translation: X:4.67, Y:-0.23, Z:-1.19 [[ 0.9881571 -0.13955604 -0.06379394 4.67466696] [ 0.14034555 0.9900699 0.00804499 -0.22574031] [ 0.06203773 -0.01690291 0.99793066 -1.19106284] [ 0. 0. 0. 1. ]] SLAMing on 186.631346184 meters Centerline goodness [0,1] 0.8483488498309188 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98816788 -0.13943646 -0.06388823 4.67510576] [ 0.140252 0.99007986 0.00844123 -0.22722528] [ 0.06207743 -0.0173018 0.99792136 -1.19124205] [ 0. 0. 0. 1. ]] SLAMing on 186.661346184 meters Centerline goodness [0,1] 0.8552733354238529 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98816534 -0.13939936 -0.06400839 4.67570603] [ 0.14023784 0.99007894 0.00877709 -0.22857826] [ 0.06214984 -0.01764961 0.99791076 -1.19159761] [ 0. 0. 0. 1. ]] SLAMing on 186.691346184 meters Centerline goodness [0,1] 0.8524298654839857 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98814034 -0.13957505 -0.06401148 4.67589301] [ 0.14041901 0.99005254 0.00885865 -0.22904127] [ 0.06213829 -0.01774202 0.99790984 -1.19182089] [ 0. 0. 0. 1. ]] SLAMing on 186.721346184 meters Centerline goodness [0,1] 0.812716617304178 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98802188 -0.14045697 -0.06391091 4.67551774] [ 0.14126768 0.98993643 0.00832537 -0.22796365] [ 0.06209838 -0.01725419 0.99792088 -1.19176544] [ 0. 0. 0. 1. ]] SLAMing on 186.751346184 meters Centerline goodness [0,1] 0.8017735391307985 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98797663 -0.14063194 -0.06422493 4.67665173] [ 0.14146062 0.98990722 0.00852037 -0.22945692] [ 0.06237848 -0.01750322 0.99789907 -1.19218595] [ 0. 0. 0. 1. ]] SLAMing on 186.781346184 meters Centerline goodness [0,1] 0.8176747101222187 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.9879609 -0.14065078 -0.06442529 4.67775625] [ 0.14150495 0.98989781 0.00886998 -0.23160359] [ 0.06252689 -0.01787969 0.99788311 -1.19284139] [ 0. 0. 0. 1. ]] SLAMing on 186.811346184 meters Centerline goodness [0,1] 0.7955274243916752 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98795107 -0.14061795 -0.06464735 4.6793938 ] [ 0.14149104 0.98989763 0.00910866 -0.23256897] [ 0.06271342 -0.01814593 0.9978666 -1.19432111] [ 0. 0. 0. 1. ]] SLAMing on 186.841346184 meters Centerline goodness [0,1] 0.8243429862738534 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98793845 -0.14065607 -0.06475722 4.67970019] [ 0.14151145 0.98989756 0.00879436 -0.23119072] [ 0.06286603 -0.01785218 0.9978623 -1.1944571 ] [ 0. 0. 0. 1. ]] SLAMing on 186.871346184 meters Centerline goodness [0,1] 0.8109362262494513 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98794249 -0.14063022 -0.06475173 4.67967302] [ 0.14146491 0.98990705 0.00846854 -0.22992708] [ 0.06290726 -0.01752653 0.99786547 -1.19443112] [ 0. 0. 0. 1. ]] SLAMing on 186.901346184 meters Centerline goodness [0,1] 0.8145421076852278 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.19 [[ 0.98794342 -0.14058537 -0.06483477 4.67975417] [ 0.14140369 0.98991816 0.00818752 -0.22876599] [ 0.06303007 -0.01725668 0.99786242 -1.19429024] [ 0. 0. 0. 1. ]] SLAMing on 186.931346184 meters Centerline goodness [0,1] 0.8340488806048294 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.23, Z:-1.20 [[ 0.98799024 -0.1402034 -0.0649484 4.68049053] [ 0.14100195 0.98997815 0.00785625 -0.22597282] [ 0.06319602 -0.01691975 0.9978577 -1.1950528 ] [ 0. 0. 0. 1. ]] SLAMing on 186.96134618399998 meters Centerline goodness [0,1] 0.8343518479762253 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98798393 -0.14017949 -0.06509585 4.68098602] [ 0.14095213 0.98998869 0.00740943 -0.22375644] [ 0.0634055 -0.0164958 0.99785151 -1.19539009] [ 0. 0. 0. 1. ]] SLAMing on 186.99134618399998 meters Centerline goodness [0,1] 0.8307065217391304 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98796564 -0.14031527 -0.06508083 4.68101717] [ 0.14105606 0.98997751 0.00690803 -0.22182466] [ 0.06345926 -0.01600495 0.99785608 -1.19556036] [ 0. 0. 0. 1. ]] SLAMing on 187.02134618399998 meters Centerline goodness [0,1] 0.8211831741243506 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.19 [[ 0.98787787 -0.1410523 -0.0648194 4.67982746] [ 0.14173965 0.98988513 0.00610754 -0.22024509] [ 0.06330227 -0.01522098 0.99787832 -1.19477811] [ 0. 0. 0. 1. ]] SLAMing on 187.05134618399998 meters Centerline goodness [0,1] 0.8106290717891782 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.19 [[ 0.98782248 -0.14150721 -0.06467198 4.67948934] [ 0.14218016 0.98982321 0.00590114 -0.22036284] [ 0.06317877 -0.01502435 0.99788913 -1.19470651] [ 0. 0. 0. 1. ]] SLAMing on 187.08134618399998 meters Centerline goodness [0,1] 0.8086303547523427 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.19 [[ 0.98777613 -0.14183527 -0.06466123 4.67948732] [ 0.14250537 0.98977675 0.00584813 -0.22083816] [ 0.06317071 -0.01499122 0.99789014 -1.19467543] [ 0. 0. 0. 1. ]] SLAMing on 187.11134618399998 meters Centerline goodness [0,1] 0.8164941541298244 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.19 [[ 0.98773081 -0.14216386 -0.06463193 4.67950022] [ 0.14282301 0.98973199 0.00567163 -0.22094415] [ 0.06316199 -0.01483297 0.99789305 -1.1947267 ] [ 0. 0. 0. 1. ]] SLAMing on 187.14134618399999 meters Centerline goodness [0,1] 0.7902911400364712 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.19 [[ 0.98767992 -0.14251565 -0.06463485 4.67969046] [ 0.14315405 0.98968605 0.00533198 -0.22032852] [ 0.06320832 -0.01451903 0.99789474 -1.19496786] [ 0. 0. 0. 1. ]] SLAMing on 187.171346184 meters Centerline goodness [0,1] 0.7835872503614912 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98767055 -0.14251441 -0.06478055 4.68034418] [ 0.14315583 0.98968572 0.00534611 -0.22034965] [ 0.06335048 -0.0145539 0.99788521 -1.19540309] [ 0. 0. 0. 1. ]] SLAMing on 187.201346184 meters Centerline goodness [0,1] 0.785387168606361 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98767181 -0.14247348 -0.06485134 4.68101798] [ 0.14311858 0.98969088 0.00538911 -0.22055957] [ 0.06341498 -0.0146041 0.99788038 -1.19602621] [ 0. 0. 0. 1. ]] SLAMing on 187.231346184 meters Centerline goodness [0,1] 0.7688124632569077 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98763335 -0.14276495 -0.0647961 4.68205206] [ 0.14340817 0.9896491 0.00536284 -0.22075964] [ 0.06335977 -0.01458881 0.99788411 -1.1975552 ] [ 0. 0. 0. 1. ]] SLAMing on 187.261346184 meters Centerline goodness [0,1] 0.7869683637125497 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98759365 -0.14299269 -0.06489897 4.68269046] [ 0.1436271 0.98961825 0.00519329 -0.22031202] [ 0.0634826 -0.01445011 0.99787833 -1.1981281 ] [ 0. 0. 0. 1. ]] SLAMing on 187.291346184 meters Centerline goodness [0,1] 0.7501783092091462 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 0.98755174 -0.14328053 -0.06490178 4.68282157] [ 0.14389969 0.98957993 0.00494367 -0.21993896] [ 0.06351716 -0.01422148 0.99787941 -1.19828195] [ 0. 0. 0. 1. ]] SLAMing on 187.321346184 meters Centerline goodness [0,1] 0.7716367290541389 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 9.87485735e-01 -1.43880641e-01 -6.45777338e-02 4.68187332e+00] [ 1.44450869e-01 9.89502953e-01 4.22520176e-03 -2.18023453e-01] [ 6.32919335e-02 -1.35006363e-02 9.97903735e-01 -1.19799005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.351346184 meters Centerline goodness [0,1] 0.7711956978405177 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 9.87422608e-01 -1.44360091e-01 -6.44729260e-02 4.68146057e+00] [ 1.44890474e-01 9.89441139e-01 3.60332359e-03 -2.16335529e-01] [ 6.32719892e-02 -1.28995160e-02 9.97912951e-01 -1.19779719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.381346184 meters Centerline goodness [0,1] 0.7842794207542 Centerline is valid? [False, False] Translation: X:4.68, Y:-0.22, Z:-1.20 [[ 9.87370659e-01 -1.44754173e-01 -6.43848621e-02 4.68108930e+00] [ 1.45251109e-01 9.89390027e-01 3.08065794e-03 -2.15026734e-01] [ 6.32558024e-02 -1.23937239e-02 9.97920387e-01 -1.19758445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.411346184 meters Centerline goodness [0,1] 0.7758043596502239 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.19 [[ 9.87019088e-01 -1.46014380e-01 -6.68813876e-02 4.68962970e+00] [ 1.46116211e-01 9.89261614e-01 -3.39304649e-03 -2.10927436e-01] [ 6.66586230e-02 -6.42345331e-03 9.97755164e-01 -1.19497837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.441346184 meters Centerline goodness [0,1] 0.7758043596502239 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.19 [[ 9.87019088e-01 -1.46014380e-01 -6.68813876e-02 4.68962970e+00] [ 1.46116211e-01 9.89261614e-01 -3.39304649e-03 -2.10927436e-01] [ 6.66586230e-02 -6.42345331e-03 9.97755164e-01 -1.19497837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.471346184 meters Centerline goodness [0,1] 0.7650814250429103 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.20 [[ 9.86999571e-01 -1.46147144e-01 -6.68794401e-02 4.68999367e+00] [ 1.46240891e-01 9.89242752e-01 -3.51836970e-03 -2.10667162e-01] [ 6.66742011e-02 -6.30787952e-03 9.97754860e-01 -1.19542969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.501346184 meters Centerline goodness [0,1] 0.7617695914548246 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.20 [[ 9.86976443e-01 -1.46286334e-01 -6.69164362e-02 4.69042363e+00] [ 1.46368151e-01 9.89223249e-01 -3.70499733e-03 -2.10154358e-01] [ 6.67372849e-02 -6.13768996e-03 9.97751704e-01 -1.19589209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.531346184 meters Centerline goodness [0,1] 0.7572213138808536 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.20 [[ 9.86984572e-01 -1.46128744e-01 -6.71404826e-02 4.69237170e+00] [ 1.46207065e-01 9.89246816e-01 -3.77233658e-03 -2.08124108e-01] [ 6.69697555e-02 -6.09317493e-03 9.97736401e-01 -1.19788777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.561346184 meters Centerline goodness [0,1] 0.7493130859743692 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.21, Z:-1.20 [[ 9.86965673e-01 -1.46248480e-01 -6.71575889e-02 4.69279135e+00] [ 1.46300338e-01 9.89231422e-01 -4.17198093e-03 -2.06372520e-01] [ 6.70445430e-02 -5.70757601e-03 9.97733658e-01 -1.19843806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.591346184 meters Centerline goodness [0,1] 0.7595540063833361 Centerline is valid? [False, False] Translation: X:4.69, Y:-0.20, Z:-1.20 [[ 9.86952973e-01 -1.46260439e-01 -6.73180022e-02 4.69356880e+00] [ 1.46288437e-01 9.89231560e-01 -4.54015257e-03 -2.04553497e-01] [ 6.72571371e-02 -5.36692828e-03 9.97721240e-01 -1.19904583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.621346184 meters Centerline goodness [0,1] 0.7458949526220009 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.20, Z:-1.20 [[ 9.87002778e-01 -1.45776979e-01 -6.76357065e-02 4.69517118e+00] [ 1.45813806e-01 9.89302184e-01 -4.41854393e-03 -2.03152286e-01] [ 6.75562741e-02 -5.50110467e-03 9.97700300e-01 -1.20024252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.651346184 meters Centerline goodness [0,1] 0.7501051480484522 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.20, Z:-1.20 [[ 9.87115564e-01 -1.44843916e-01 -6.79934122e-02 4.69748523e+00] [ 1.44902107e-01 9.89437495e-01 -4.10152135e-03 -1.99955372e-01] [ 6.78693119e-02 -5.80371312e-03 9.97677339e-01 -1.20250495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.681346184 meters Centerline goodness [0,1] 0.7503994953742641 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.20, Z:-1.20 [[ 9.87191935e-01 -1.44073850e-01 -6.85186780e-02 4.69982490e+00] [ 1.44157984e-01 9.89547614e-01 -3.74109368e-03 -1.97685926e-01] [ 6.83414881e-02 -6.18433702e-03 9.97642819e-01 -1.20420470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71134618399998 meters Centerline goodness [0,1] 0.7654675957018133 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-1.21 [[ 9.88421021e-01 -1.41159940e-01 -5.56575012e-02 4.70272056e+00] [ 1.41296091e-01 9.89966242e-01 -1.50111998e-03 -1.92104875e-01] [ 5.53109454e-02 -6.38044883e-03 9.98448791e-01 -1.20859908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74134618399998 meters Centerline goodness [0,1] 0.7593868122637547 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-1.21 [[ 9.88398388e-01 -1.41334306e-01 -5.56169097e-02 4.70217520e+00] [ 1.41430721e-01 9.89945670e-01 -2.21851226e-03 -1.89542508e-01] [ 5.53712708e-02 -5.67316573e-03 9.98449717e-01 -1.20801396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77134618399998 meters Centerline goodness [0,1] 0.7495433454408029 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-1.21 [[ 9.88410996e-01 -1.41269928e-01 -5.55563791e-02 4.70184855e+00] [ 1.41347886e-01 9.89956719e-01 -2.54354167e-03 -1.88345529e-01] [ 5.53577367e-02 -5.33871218e-03 9.98452312e-01 -1.20767489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80134618399998 meters Centerline goodness [0,1] 0.775606073315997 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.19, Z:-1.21 [[ 9.88421130e-01 -1.41132125e-01 -5.57260485e-02 4.70237729e+00] [ 1.41195560e-01 9.89977716e-01 -2.81706894e-03 -1.87119150e-01] [ 5.55651252e-02 -5.08382017e-03 9.98442122e-01 -1.20783045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83134618399998 meters Centerline goodness [0,1] 0.7804033493525844 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-1.21 [[ 9.88902472e-01 -1.37606105e-01 -5.60041216e-02 4.70202197e+00] [ 1.37838729e-01 9.90454642e-01 2.93808323e-04 -1.84666451e-01] [ 5.54291124e-02 -8.01008473e-03 9.98430494e-01 -1.20826584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86134618399998 meters Centerline goodness [0,1] 0.7901542983100661 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-1.21 [[ 9.88921973e-01 -1.37351573e-01 -5.62838997e-02 4.70301131e+00] [ 1.37568137e-01 9.90492305e-01 -2.70519555e-05 -1.82407708e-01] [ 5.57524852e-02 -7.71611895e-03 9.98414805e-01 -1.20882247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89134618399999 meters Centerline goodness [0,1] 0.7900812223224967 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-1.21 [[ 9.88936878e-01 -1.37144707e-01 -5.65259299e-02 4.70407908e+00] [ 1.37343737e-01 9.90523378e-01 -3.67118929e-04 -1.80267001e-01] [ 5.60406034e-02 -7.40042502e-03 9.98401064e-01 -1.20956680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.921346184 meters Centerline goodness [0,1] 0.7985469511170838 Centerline is valid? [False, False] Translation: X:4.70, Y:-0.18, Z:-1.21 [[ 9.89421258e-01 -1.33408867e-01 -5.69881503e-02 4.70481226e+00] [ 1.33794809e-01 9.91004533e-01 2.99423140e-03 -1.78894011e-01] [ 5.60760582e-02 -1.05872749e-02 9.98370365e-01 -1.21077423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.951346184 meters Centerline goodness [0,1] 0.8016513338502483 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.18, Z:-1.21 [[ 9.89432151e-01 -1.33225790e-01 -5.72268063e-02 4.70572808e+00] [ 1.33595534e-01 9.91032350e-01 2.66744174e-03 -1.76727414e-01] [ 5.63582442e-02 -1.02844984e-02 9.98357640e-01 -1.21134354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.981346184 meters Centerline goodness [0,1] 0.7805605748623776 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.17, Z:-1.21 [[ 9.89410762e-01 -1.33352167e-01 -5.73022208e-02 4.70614401e+00] [ 1.33682797e-01 9.91022237e-01 1.95865204e-03 -1.73827038e-01] [ 5.65265845e-02 -9.59823255e-03 9.98354957e-01 -1.21173245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.011346184 meters Centerline goodness [0,1] 0.7945185309831307 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.17, Z:-1.21 [[ 9.89381594e-01 -1.33528400e-01 -5.73953562e-02 4.70647301e+00] [ 1.33825504e-01 9.91003996e-01 1.34701695e-03 -1.71489833e-01] [ 5.66991623e-02 -9.01367624e-03 9.98350619e-01 -1.21192405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.041346184 meters Centerline goodness [0,1] 0.7898825312618416 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.17, Z:-1.21 [[ 9.89341459e-01 -1.33785360e-01 -5.74887415e-02 4.70703200e+00] [ 1.34034227e-01 9.90976588e-01 4.77624109e-04 -1.67822653e-01] [ 5.69060978e-02 -8.17799236e-03 9.98346040e-01 -1.21249782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.071346184 meters Centerline goodness [0,1] 0.7801941991904872 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.17, Z:-1.21 [[ 9.89369887e-01 -1.33391443e-01 -5.79132937e-02 4.70899597e+00] [ 1.33649464e-01 9.91028494e-01 5.87664558e-04 -1.66020908e-01] [ 5.73153348e-02 -8.32149826e-03 9.98321444e-01 -1.21392156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.101346184 meters Centerline goodness [0,1] 0.7944352072064488 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.16, Z:-1.21 [[ 9.89349981e-01 -1.33475960e-01 -5.80584414e-02 4.70980730e+00] [ 1.33710585e-01 9.91020411e-01 1.57842900e-04 -1.63786066e-01] [ 5.75160322e-02 -7.91919002e-03 9.98313174e-01 -1.21468172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.131346184 meters Centerline goodness [0,1] 0.7842307044152342 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.16, Z:-1.22 [[ 9.89336587e-01 -1.33516210e-01 -5.81939809e-02 4.71033998e+00] [ 1.33710652e-01 9.91020258e-01 -5.57240074e-04 -1.60739302e-01] [ 5.77458145e-02 -7.22985715e-03 9.98305139e-01 -1.21500877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.161346184 meters Centerline goodness [0,1] 0.7900324388086111 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.16, Z:-1.21 [[ 9.89321525e-01 -1.33578495e-01 -5.83070011e-02 4.71051736e+00] [ 1.33738535e-01 9.91015965e-01 -1.16641181e-03 -1.58565104e-01] [ 5.79389765e-02 -6.64393661e-03 9.98298018e-01 -1.21486202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.191346184 meters Centerline goodness [0,1] 0.806050568157994 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.16, Z:-1.22 [[ 9.89309522e-01 -1.33529616e-01 -5.86217705e-02 4.71143491e+00] [ 1.33660313e-01 9.91025741e-01 -1.70356719e-03 -1.56094779e-01] [ 5.83231602e-02 -6.15004896e-03 9.98278812e-01 -1.21513508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.221346184 meters Centerline goodness [0,1] 0.7915407220822838 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.16, Z:-1.21 [[ 9.89636344e-01 -1.30972160e-01 -5.88744495e-02 4.70979624e+00] [ 1.31250929e-01 9.91348791e-01 8.76394644e-04 -1.55321280e-01] [ 5.82503311e-02 -8.59463821e-03 9.98265010e-01 -1.21382507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.251346184 meters Centerline goodness [0,1] 0.7961399529569892 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.15, Z:-1.21 [[ 9.89576463e-01 -1.31461899e-01 -5.87893926e-02 4.70900570e+00] [ 1.31663673e-01 9.91294345e-01 -4.45072370e-04 -1.50211369e-01] [ 5.83361025e-02 -7.29999420e-03 9.98270309e-01 -1.21315405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.281346184 meters Centerline goodness [0,1] 0.8028683619259601 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.15, Z:-1.21 [[ 9.89546229e-01 -1.31686953e-01 -5.87946192e-02 4.70903590e+00] [ 1.31862118e-01 9.91267652e-01 -9.07485220e-04 -1.48795106e-01] [ 5.84007081e-02 -6.85478443e-03 9.98269688e-01 -1.21311829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.311346184 meters Centerline goodness [0,1] 0.8085824595455601 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.15, Z:-1.21 [[ 9.89513347e-01 -1.31916122e-01 -5.88342824e-02 4.70899705e+00] [ 1.32066694e-01 9.91239928e-01 -1.33885478e-03 -1.47715040e-01] [ 5.84955064e-02 -6.44523450e-03 9.98266865e-01 -1.21289343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.341346184 meters Centerline goodness [0,1] 0.8086903407894183 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.22 [[ 9.90282455e-01 -1.31259810e-01 -4.59512864e-02 4.71292228e+00] [ 1.31314349e-01 9.91339067e-01 -1.84286477e-03 -1.44261486e-01] [ 4.57951995e-02 -4.20910661e-03 9.98941982e-01 -1.21751630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.371346184 meters Centerline goodness [0,1] 0.8171390013495277 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.22 [[ 9.90268468e-01 -1.31333914e-01 -4.60408991e-02 4.71263719e+00] [ 1.31372688e-01 9.91330618e-01 -2.19585888e-03 -1.43388543e-01] [ 4.59301437e-02 -3.87402687e-03 9.98937142e-01 -1.21674455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.401346184 meters Centerline goodness [0,1] 0.7927310924369748 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.22 [[ 9.90296849e-01 -1.31038322e-01 -4.62721107e-02 4.71333634e+00] [ 1.31077321e-01 9.91369699e-01 -2.20355093e-03 -1.42339926e-01] [ 4.61615181e-02 -3.88305479e-03 9.98926442e-01 -1.21691039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.431346184 meters Centerline goodness [0,1] 0.814578434665771 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.22 [[ 9.90688559e-01 -1.28055386e-01 -4.62384765e-02 4.71100074e+00] [ 1.28218852e-01 9.91745731e-01 5.74580492e-04 -1.40582638e-01] [ 4.57832336e-02 -6.49787469e-03 9.98930264e-01 -1.21541233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46134618399998 meters Centerline goodness [0,1] 0.8323430257058575 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.21 [[ 9.91028434e-01 -1.25324627e-01 -4.64368523e-02 4.70937655e+00] [ 1.25614387e-01 9.92073441e-01 3.36359661e-03 -1.40577307e-01] [ 4.56472263e-02 -9.16655660e-03 9.98915564e-01 -1.21399459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49134618399998 meters Centerline goodness [0,1] 0.8269526558648153 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.21 [[ 9.91057854e-01 -1.25009710e-01 -4.66572896e-02 4.70997483e+00] [ 1.25294646e-01 9.92114344e-01 3.22172573e-03 -1.39433197e-01] [ 4.58866193e-02 -9.03882519e-03 9.98905760e-01 -1.21401864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52134618399998 meters Centerline goodness [0,1] 0.8273929895517358 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.21 [[ 9.91078162e-01 -1.24757332e-01 -4.69007957e-02 4.71087148e+00] [ 1.25039624e-01 9.92146835e-01 3.12250943e-03 -1.38597954e-01] [ 4.61429200e-02 -8.95910876e-03 9.98894672e-01 -1.21438072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55134618399998 meters Centerline goodness [0,1] 0.8143969690591455 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.14, Z:-1.21 [[ 9.91084695e-01 -1.24616906e-01 -4.71354814e-02 4.71152485e+00] [ 1.24884063e-01 9.92167518e-01 2.75454106e-03 -1.35972213e-01] [ 4.64230312e-02 -8.61645391e-03 9.98884708e-01 -1.21465546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58134618399998 meters Centerline goodness [0,1] 0.8490534286916281 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91072634e-01 -1.24652730e-01 -4.72940953e-02 4.71189477e+00] [ 1.24907847e-01 9.92165282e-01 2.46621973e-03 -1.34349704e-01] [ 4.66161384e-02 -8.35160650e-03 9.98877964e-01 -1.21467318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61134618399998 meters Centerline goodness [0,1] 0.8257327622406987 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91071534e-01 -1.24598544e-01 -4.74596351e-02 4.71235876e+00] [ 1.24847005e-01 9.92173349e-01 2.29579792e-03 -1.33138169e-01] [ 4.68021320e-02 -8.20049327e-03 9.98870518e-01 -1.21474199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64134618399999 meters Centerline goodness [0,1] 0.850437599932677 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91063240e-01 -1.24642357e-01 -4.75177524e-02 4.71223248e+00] [ 1.24871843e-01 9.92171098e-01 1.88033003e-03 -1.31772245e-01] [ 4.69113718e-02 -7.79715527e-03 9.98868624e-01 -1.21430485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.671346184 meters Centerline goodness [0,1] 0.8479766602300395 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91062938e-01 -1.24570963e-01 -4.77108862e-02 4.71261402e+00] [ 1.24794174e-01 9.92181166e-01 1.71695633e-03 -1.30940523e-01] [ 4.71239598e-02 -7.65565244e-03 9.98859712e-01 -1.21414733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.701346184 meters Centerline goodness [0,1] 0.8462267928265863 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91031592e-01 -1.24817865e-01 -4.77167149e-02 4.71237898e+00] [ 1.25015552e-01 9.92154093e-01 1.16951605e-03 -1.29239692e-01] [ 4.71963575e-02 -7.12435878e-03 9.98860224e-01 -1.21375719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.731346184 meters Centerline goodness [0,1] 0.8452466047176554 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.91017902e-01 -1.24857996e-01 -4.78957023e-02 4.71271809e+00] [ 1.25041294e-01 9.92151184e-01 8.38317317e-04 -1.28014275e-01] [ 4.74151071e-02 -6.81972804e-03 9.98851991e-01 -1.21357413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.761346184 meters Centerline goodness [0,1] 0.8484778306455009 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.90983946e-01 -1.25116031e-01 -4.79249254e-02 4.71258639e+00] [ 1.25280737e-01 9.92121236e-01 4.36682870e-04 -1.27697474e-01] [ 4.74927002e-02 -6.43681570e-03 9.98850845e-01 -1.21319611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.791346184 meters Centerline goodness [0,1] 0.8500755921384175 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.13, Z:-1.21 [[ 9.90989033e-01 -1.25041126e-01 -4.80151399e-02 4.71311523e+00] [ 1.25201256e-01 9.92131310e-01 3.30235274e-04 -1.26537419e-01] [ 4.75960307e-02 -6.33881538e-03 9.98846553e-01 -1.21359576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.821346184 meters Centerline goodness [0,1] 0.8453068857557101 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.90963157e-01 -1.25191999e-01 -4.81558482e-02 4.71332166e+00] [ 1.25329239e-01 9.92115191e-01 -1.70819224e-04 -1.24385544e-01] [ 4.77975337e-02 -5.86606025e-03 9.98839820e-01 -1.21344412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.851346184 meters Centerline goodness [0,1] 0.8467516057702432 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91216139e-01 -1.23152465e-01 -4.82082663e-02 4.71156352e+00] [ 1.23408113e-01 9.92353217e-01 2.35163959e-03 -1.22894738e-01] [ 4.75500180e-02 -8.28027431e-03 9.98834537e-01 -1.21273363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.881346184 meters Centerline goodness [0,1] 0.8211069023569024 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91187281e-01 -1.23336554e-01 -4.83308175e-02 4.71215856e+00] [ 1.23583445e-01 9.92331871e-01 2.14241681e-03 -1.21949453e-01] [ 4.76959723e-02 -8.09642521e-03 9.98829086e-01 -1.21319229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.911346184 meters Centerline goodness [0,1] 0.8172612294634228 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91166655e-01 -1.23491892e-01 -4.83571647e-02 4.71227386e+00] [ 1.23732263e-01 9.92313628e-01 1.99775604e-03 -1.21466050e-01] [ 4.77387668e-02 -7.96345058e-03 9.98828110e-01 -1.21316952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.941346184 meters Centerline goodness [0,1] 0.8207404291123265 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91121058e-01 -1.23889829e-01 -4.82737910e-02 4.71229707e+00] [ 1.24116172e-01 9.92266223e-01 1.70814505e-03 -1.21571596e-01] [ 4.76888305e-02 -7.68453667e-03 9.98832680e-01 -1.21337455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.971346184 meters Centerline goodness [0,1] 0.8391308911514642 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91128754e-01 -1.23741665e-01 -4.84952831e-02 4.71366807e+00] [ 1.23978377e-01 9.92283115e-01 1.89233505e-03 -1.21836211e-01] [ 4.78868899e-02 -7.88791418e-03 9.98821619e-01 -1.21449744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.001346184 meters Centerline goodness [0,1] 0.8172795895624383 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.22 [[ 9.91114739e-01 -1.23782107e-01 -4.86781761e-02 4.71457585e+00] [ 1.24017497e-01 9.92278337e-01 1.83380408e-03 -1.21402983e-01] [ 4.80753075e-02 -7.85445580e-03 9.98812831e-01 -1.21513642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.031346184 meters Centerline goodness [0,1] 0.8290853312601122 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.12, Z:-1.22 [[ 9.91110277e-01 -1.23716273e-01 -4.89357036e-02 4.71547821e+00] [ 1.23937096e-01 9.92288954e-01 1.49254054e-03 -1.19137019e-01] [ 4.83737066e-02 -7.54422127e-03 9.98800816e-01 -1.21564399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.061346184 meters Centerline goodness [0,1] 0.8043309645095696 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.12, Z:-1.22 [[ 9.91118851e-01 -1.23543468e-01 -4.91979067e-02 4.71595094e+00] [ 1.23758192e-01 9.92311513e-01 1.33077932e-03 -1.18037917e-01] [ 4.86552402e-02 -7.40760448e-03 9.98788163e-01 -1.21539140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.091346184 meters Centerline goodness [0,1] 0.8202664428826183 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.12, Z:-1.21 [[ 9.91134997e-01 -1.23362117e-01 -4.93275323e-02 4.71588172e+00] [ 1.23565309e-01 9.92335855e-01 1.07952805e-03 -1.16848877e-01] [ 4.88163061e-02 -7.16512980e-03 9.98782073e-01 -1.21477304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.121346184 meters Centerline goodness [0,1] 0.8509041211101767 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91505655e-01 -1.20325128e-01 -4.93801595e-02 4.71361969e+00] [ 1.20675420e-01 9.92683285e-01 4.16398001e-03 -1.16257127e-01] [ 4.85178275e-02 -1.00875812e-02 9.98771376e-01 -1.21305695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.151346184 meters Centerline goodness [0,1] 0.8503946926436009 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91522016e-01 -1.20124090e-01 -4.95408478e-02 4.71422978e+00] [ 1.20476670e-01 9.92707348e-01 4.18248157e-03 -1.15493996e-01] [ 4.86771469e-02 -1.01155389e-02 9.98763341e-01 -1.21335352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.181346184 meters Centerline goodness [0,1] 0.8458225667527993 Centerline is valid? [False, False] Translation: X:4.71, Y:-0.12, Z:-1.21 [[ 9.91520913e-01 -1.20073590e-01 -4.96851385e-02 4.71476855e+00] [ 1.20423109e-01 9.92714227e-01 4.09116418e-03 -1.15110102e-01] [ 4.88319031e-02 -1.00397137e-02 9.98756552e-01 -1.21356514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21134618399998 meters Centerline goodness [0,1] 0.8440611739002563 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.12, Z:-1.21 [[ 9.91554614e-01 -1.19745729e-01 -4.98036868e-02 4.71531396e+00] [ 1.20109788e-01 9.92750990e-01 4.37163369e-03 -1.16243697e-01] [ 4.89191749e-02 -1.03166238e-02 9.98749459e-01 -1.21377927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24134618399998 meters Centerline goodness [0,1] 0.8618523343278565 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.12, Z:-1.21 [[ 9.91574398e-01 -1.19495021e-01 -5.00115406e-02 4.71585870e+00] [ 1.19861930e-01 9.92780856e-01 4.39202884e-03 -1.15881490e-01] [ 4.91256745e-02 -1.03495031e-02 9.98738983e-01 -1.21380946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27134618399998 meters Centerline goodness [0,1] 0.8628820777477081 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 9.91595396e-01 -1.19238557e-01 -5.02069490e-02 4.71633661e+00] [ 1.19606148e-01 9.92811796e-01 4.37109966e-03 -1.14875689e-01] [ 4.93248476e-02 -1.03394221e-02 9.98729271e-01 -1.21385392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30134618399998 meters Centerline goodness [0,1] 0.8624548584866045 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99195724 -0.11611775 -0.0503737 4.71503511] [ 0.11663781 0.9931462 0.00750039 -0.1128914 ] [ 0.04915752 -0.01331554 0.99870228 -1.21329718] [ 0. 0. 0. 1. ]] SLAMing on 189.33134618399998 meters Centerline goodness [0,1] 0.8589517819706499 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99194561 -0.11612209 -0.05059222 4.71571785] [ 0.11663347 0.99314845 0.00726563 -0.11169062] [ 0.04940189 -0.01310786 0.99869296 -1.21353392] [ 0. 0. 0. 1. ]] SLAMing on 189.36134618399998 meters Centerline goodness [0,1] 0.8589517819706499 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99194561 -0.11612209 -0.05059222 4.71571785] [ 0.11663347 0.99314845 0.00726563 -0.11169062] [ 0.04940189 -0.01310786 0.99869296 -1.21353392] [ 0. 0. 0. 1. ]] SLAMing on 189.39134618399999 meters Centerline goodness [0,1] 0.8560265512750493 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.9919472 -0.11601109 -0.05081522 4.71642375] [ 0.11652544 0.99316111 0.00726908 -0.11197112] [ 0.0496244 -0.01313181 0.99868162 -1.21366994] [ 0. 0. 0. 1. ]] SLAMing on 189.421346184 meters Centerline goodness [0,1] 0.8656735234173093 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99194548 -0.11596522 -0.05095323 4.71699021] [ 0.11648229 0.99316603 0.00728836 -0.11263731] [ 0.04975982 -0.0131648 0.99867445 -1.21387554] [ 0. 0. 0. 1. ]] SLAMing on 189.451346184 meters Centerline goodness [0,1] 0.8480786228376616 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99194025 -0.11597168 -0.05104027 4.71734919] [ 0.11648484 0.99316647 0.00718684 -0.11295278] [ 0.04985801 -0.01307434 0.99867074 -1.21390626] [ 0. 0. 0. 1. ]] SLAMing on 189.481346184 meters Centerline goodness [0,1] 0.8642340979749601 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99192786 -0.11614549 -0.05088561 4.71671625] [ 0.11662601 0.99315419 0.00656789 -0.11037841] [ 0.04977443 -0.01244946 0.99868289 -1.21345053] [ 0. 0. 0. 1. ]] SLAMing on 189.511346184 meters Centerline goodness [0,1] 0.8644358464916867 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99192251 -0.11607544 -0.05114903 4.71755553] [ 0.11654502 0.99316552 0.00628559 -0.10822463] [ 0.05006985 -0.01219598 0.99867125 -1.21379903] [ 0. 0. 0. 1. ]] SLAMing on 189.541346184 meters Centerline goodness [0,1] 0.8630622692178583 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99189725 -0.11622329 -0.05130294 4.71788033] [ 0.11666891 0.99315411 0.00576827 -0.10615464] [ 0.05028131 -0.01170699 0.99866648 -1.21374429] [ 0. 0. 0. 1. ]] SLAMing on 189.571346184 meters Centerline goodness [0,1] 0.8560529634300126 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.11, Z:-1.21 [[ 0.99185427 -0.11659258 -0.05129593 4.71791455] [ 0.11701566 0.99311586 0.00531317 -0.10515545] [ 0.05032332 -0.01127232 0.99866936 -1.21383378] [ 0. 0. 0. 1. ]] SLAMing on 189.601346184 meters Centerline goodness [0,1] 0.8595360554214339 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 0.99183391 -0.11674907 -0.05133371 4.71826233] [ 0.11716464 0.99309914 0.00515181 -0.10488162] [ 0.05037799 -0.01112424 0.99866827 -1.21413083] [ 0. 0. 0. 1. ]] SLAMing on 189.631346184 meters Centerline goodness [0,1] 0.8483259209532601 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 0.99180669 -0.11692846 -0.05145111 4.71846805] [ 0.11733003 0.99308116 0.00484472 -0.10401871] [ 0.05052864 -0.01084179 0.99866376 -1.21399124] [ 0. 0. 0. 1. ]] SLAMing on 189.661346184 meters Centerline goodness [0,1] 0.8520957831832338 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 9.91770848e-01 -1.17252290e-01 -5.14051025e-02 4.71807859e+00] [ 1.17607579e-01 9.93052365e-01 3.93160633e-03 -1.01643783e-01] [ 5.05869687e-02 -9.94488221e-03 9.98670145e-01 -1.21345425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.691346184 meters Centerline goodness [0,1] 0.8548475059781013 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 9.91797087e-01 -1.16914616e-01 -5.16673136e-02 4.71953154e+00] [ 1.17279222e-01 9.93090632e-01 4.07182950e-03 -1.01348864e-01] [ 5.08342688e-02 -1.00979310e-02 9.98656051e-01 -1.21450308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.721346184 meters Centerline goodness [0,1] 0.8546231399044432 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 9.91788267e-01 -1.16931329e-01 -5.17986349e-02 4.71987689e+00] [ 1.17279727e-01 9.93091924e-01 3.72787661e-03 -9.99490263e-02] [ 5.10049004e-02 -9.77219405e-03 9.98650592e-01 -1.21451696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.751346184 meters Centerline goodness [0,1] 0.8418306154655444 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.10, Z:-1.21 [[ 9.91774151e-01 -1.17009444e-01 -5.18924291e-02 4.72000782e+00] [ 1.17327798e-01 9.93088338e-01 3.12112649e-03 -9.73455120e-02] [ 5.11685649e-02 -9.18387701e-03 9.98647803e-01 -1.21432746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.781346184 meters Centerline goodness [0,1] 0.8475990773747117 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.21 [[ 9.91764649e-01 -1.16974941e-01 -5.21511611e-02 4.72034400e+00] [ 1.17254632e-01 9.93099161e-01 2.32562480e-03 -9.20925303e-02] [ 5.15192345e-02 -8.42143769e-03 9.98636494e-01 -1.21410179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.811346184 meters Centerline goodness [0,1] 0.8411481248690551 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.21 [[ 9.91756320e-01 -1.16950348e-01 -5.23642724e-02 4.72091626e+00] [ 1.17213115e-01 9.93104841e-01 1.96492021e-03 -9.00876967e-02] [ 5.17734143e-02 -8.08650154e-03 9.98626117e-01 -1.21420594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.841346184 meters Centerline goodness [0,1] 0.8460123725129577 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.21 [[ 9.91748748e-01 -1.16971627e-01 -5.24600764e-02 4.72135998e+00] [ 1.17215557e-01 9.93105229e-01 1.58687797e-03 -8.85008384e-02] [ 5.19127565e-02 -7.72292132e-03 9.98621761e-01 -1.21440509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.871346184 meters Centerline goodness [0,1] 0.8559149703360517 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.09, Z:-1.21 [[ 9.91686947e-01 -1.17621962e-01 -5.21734991e-02 4.72018342e+00] [ 1.17801122e-01 9.93037142e-01 3.61441793e-04 -8.59268491e-02] [ 5.17677089e-02 -6.50453381e-03 9.98637970e-01 -1.21345273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.901346184 meters Centerline goodness [0,1] 0.8518131028854805 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.08, Z:-1.21 [[ 9.91682085e-01 -1.17607589e-01 -5.22981534e-02 4.72041659e+00] [ 1.17767882e-01 9.93041150e-01 -1.67661005e-05 -8.41898823e-02] [ 5.19361902e-02 -6.14241611e-03 9.98631515e-01 -1.21331062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.931346184 meters Centerline goodness [0,1] 0.8550059958344729 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.08, Z:-1.21 [[ 9.91872994e-01 -1.15982144e-01 -5.23078010e-02 4.71838935e+00] [ 1.16214536e-01 9.93223129e-01 1.41302660e-03 -8.30353243e-02] [ 5.17894319e-02 -7.48046977e-03 9.98630010e-01 -1.21159373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96134618399998 meters Centerline goodness [0,1] 0.8633501259445844 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.08, Z:-1.21 [[ 9.92235089e-01 -1.12703165e-01 -5.26072631e-02 4.71722797e+00] [ 1.13068478e-01 9.93579102e-01 4.01089308e-03 -7.97031895e-02] [ 5.18174369e-02 -9.92797204e-03 9.98607224e-01 -1.21048820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99134618399998 meters Centerline goodness [0,1] 0.8623058981740245 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.08, Z:-1.21 [[ 9.92254755e-01 -1.12448539e-01 -5.27809294e-02 4.71767010e+00] [ 1.12795543e-01 9.93611578e-01 3.63281740e-03 -7.75490084e-02] [ 5.20352375e-02 -9.55813391e-03 9.98599507e-01 -1.21038137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02134618399998 meters Centerline goodness [0,1] 0.8786792452830189 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.08, Z:-1.21 [[ 9.92342865e-01 -1.11578589e-01 -5.29703349e-02 4.71866005e+00] [ 1.11924936e-01 9.93710113e-01 3.60844084e-03 -7.54250391e-02] [ 5.22345328e-02 -9.50951189e-03 9.98589567e-01 -1.21085796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05134618399998 meters Centerline goodness [0,1] 0.871874736930718 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92343856e-01 -1.11469454e-01 -5.31811253e-02 4.71919214e+00] [ 1.11804439e-01 9.93724559e-01 3.35672553e-03 -7.39523243e-02] [ 5.24732180e-02 -9.27691185e-03 9.98579241e-01 -1.21088378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08134618399998 meters Centerline goodness [0,1] 0.883495145631068 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92351001e-01 -1.11337180e-01 -5.33246876e-02 4.71959958e+00] [ 1.11660755e-01 9.93741491e-01 3.11836605e-03 -7.21686755e-02] [ 5.26437645e-02 -9.04878853e-03 9.98572358e-01 -1.21088211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11134618399998 meters Centerline goodness [0,1] 0.8812742125652686 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92342502e-01 -1.11340943e-01 -5.34747902e-02 4.71969241e+00] [ 1.11652101e-01 9.93743248e-01 2.85769180e-03 -7.10877284e-02] [ 5.28220336e-02 -8.80638169e-03 9.98565111e-01 -1.21043050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14134618399999 meters Centerline goodness [0,1] 0.8786672254819782 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92349307e-01 -1.11027822e-01 -5.39969888e-02 4.72114536e+00] [ 1.11353863e-01 9.93776114e-01 3.05815821e-03 -7.07281060e-02] [ 5.33213770e-02 -9.04753445e-03 9.98536415e-01 -1.21083160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.171346184 meters Centerline goodness [0,1] 0.8769588535992625 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92323605e-01 -1.11217261e-01 -5.40794183e-02 4.72105545e+00] [ 1.11527313e-01 9.93757591e-01 2.74017649e-03 -7.00349175e-02] [ 5.34370776e-02 -8.75047400e-03 9.98532878e-01 -1.21035828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.201346184 meters Centerline goodness [0,1] 0.8726960455764075 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92297654e-01 -1.11412556e-01 -5.41535537e-02 4.72121230e+00] [ 1.11717245e-01 9.93736574e-01 2.62269914e-03 -7.00518615e-02] [ 5.35221653e-02 -8.65238406e-03 9.98529175e-01 -1.21028804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.231346184 meters Centerline goodness [0,1] 0.8598561875013102 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92121633e-01 -1.13011816e-01 -5.40647246e-02 4.72036240e+00] [ 1.13259162e-01 9.93564312e-01 1.52331224e-03 -7.17098738e-02] [ 5.35446286e-02 -7.63463646e-03 9.98536271e-01 -1.20923688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.261346184 meters Centerline goodness [0,1] 0.8536616082110698 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92074592e-01 -1.13457015e-01 -5.39954639e-02 4.71998252e+00] [ 1.13696748e-01 9.93514543e-01 1.37900345e-03 -7.29272630e-02] [ 5.34888211e-02 -7.50718293e-03 9.98540229e-01 -1.20877284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.291346184 meters Centerline goodness [0,1] 0.8490851416927505 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92054498e-01 -1.13628846e-01 -5.40033176e-02 4.71985812e+00] [ 1.13860420e-01 9.93496006e-01 1.22098597e-03 -7.29433063e-02] [ 5.35133411e-02 -7.36012505e-03 9.98540010e-01 -1.20840854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.321346184 meters Centerline goodness [0,1] 0.8467498110355254 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92041239e-01 -1.13647347e-01 -5.42075792e-02 4.72008201e+00] [ 1.13864973e-01 9.93495796e-01 9.33219022e-04 -7.15782128e-02] [ 5.37489442e-02 -7.09813630e-03 9.98529252e-01 -1.20799747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.351346184 meters Centerline goodness [0,1] 0.8465461872678043 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92416045e-01 -1.10004640e-01 -5.48577416e-02 4.72038298e+00] [ 1.10413463e-01 9.93875695e-01 4.46889835e-03 -7.10295724e-02] [ 5.40301765e-02 -1.04920396e-02 9.98484180e-01 -1.20792794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.381346184 meters Centerline goodness [0,1] 0.8473965426925092 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 0.99247666 -0.10920545 -0.05535558 4.72248099] [ 0.10963612 0.99396023 0.00479485 -0.07010725] [ 0.05449762 -0.01082774 0.99845519 -1.20910635] [ 0. 0. 0. 1. ]] SLAMing on 190.411346184 meters Centerline goodness [0,1] 0.8553794478849586 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92508702e-01 -1.08702273e-01 -5.57699897e-02 4.72382659e+00] [ 1.09132106e-01 9.94016089e-01 4.71143360e-03 -6.88326927e-02] [ 5.49241235e-02 -1.07624353e-02 9.98432527e-01 -1.20946664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.441346184 meters Centerline goodness [0,1] 0.8834632399410154 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92550239e-01 -1.08235922e-01 -5.59375398e-02 4.72415833e+00] [ 1.08643558e-01 9.94071515e-01 4.28947873e-03 -6.66480079e-02] [ 5.51416392e-02 -1.03347765e-02 9.98425056e-01 -1.20895548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.471346184 meters Centerline goodness [0,1] 0.8660175390633215 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92551469e-01 -1.08194508e-01 -5.59958055e-02 4.72434359e+00] [ 1.08594543e-01 9.94077495e-01 4.14224844e-03 -6.63051299e-02] [ 5.52160015e-02 -1.01922337e-02 9.98422411e-01 -1.20877316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.501346184 meters Centerline goodness [0,1] 0.8871937124364309 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.21 [[ 9.92544699e-01 -1.08251134e-01 -5.60063642e-02 4.72413358e+00] [ 1.08631385e-01 9.94074909e-01 3.78117088e-03 -6.52939443e-02] [ 5.52652054e-02 -9.83703003e-03 9.98423252e-01 -1.20817527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.531346184 meters Centerline goodness [0,1] 0.8903387123886367 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.21 [[ 9.92493031e-01 -1.08845393e-01 -5.57697371e-02 4.72217318e+00] [ 1.09162911e-01 9.94020287e-01 2.66990511e-03 -6.24236490e-02] [ 5.51456432e-02 -8.73784905e-03 9.98440087e-01 -1.20594367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.561346184 meters Centerline goodness [0,1] 0.8839306358381502 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.21 [[ 9.92489302e-01 -1.08796732e-01 -5.59308211e-02 4.72228900e+00] [ 1.09108394e-01 9.94026613e-01 2.54002949e-03 -6.20578979e-02] [ 5.53203777e-02 -8.62347414e-03 9.98431416e-01 -1.20542987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.591346184 meters Centerline goodness [0,1] 0.8883406471119323 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.21 [[ 9.92493172e-01 -1.08659002e-01 -5.61295439e-02 4.72275226e+00] [ 1.08974979e-01 9.94041117e-01 2.59056305e-03 -6.20681420e-02] [ 5.55135865e-02 -8.68783201e-03 9.98420134e-01 -1.20528483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.621346184 meters Centerline goodness [0,1] 0.8846404336225551 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.21 [[ 9.92518298e-01 -1.08301942e-01 -5.63747898e-02 4.72364246e+00] [ 1.08638008e-01 9.94077082e-01 2.92208230e-03 -6.33255151e-02] [ 5.57244193e-02 -9.02466500e-03 9.98405401e-01 -1.20552101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.651346184 meters Centerline goodness [0,1] 0.8988066525450389 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.21 [[ 9.92532095e-01 -1.08047866e-01 -5.66188911e-02 4.72447039e+00] [ 1.08399500e-01 9.94102366e-01 3.16756234e-03 -6.44840767e-02] [ 5.59427253e-02 -9.28136680e-03 9.98390839e-01 -1.20565525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.681346184 meters Centerline goodness [0,1] 0.9052631578947369 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.07, Z:-1.20 [[ 0.99278207 -0.10588004 -0.05633107 4.72280474] [ 0.10631607 0.99432084 0.00479248 -0.06609813] [ 0.05550372 -0.01074679 0.99840064 -1.20394961] [ 0. 0. 0. 1. ]] SLAMing on 190.71134618399998 meters Centerline goodness [0,1] 0.9089075206455273 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.20 [[ 9.92806708e-01 -1.05485729e-01 -5.66356867e-02 4.72322531e+00] [ 1.05917641e-01 9.94363935e-01 4.67091015e-03 -6.49297338e-02] [ 5.58237700e-02 -1.06360293e-02 9.98383985e-01 -1.20333771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74134618399998 meters Centerline goodness [0,1] 0.9070392375034115 Centerline is valid? [False, False] Translation: X:4.72, Y:-0.06, Z:-1.20 [[ 0.99283965 -0.10494464 -0.05706175 4.72417727] [ 0.10538841 0.99441947 0.00481593 -0.06446287] [ 0.05623791 -0.0107951 0.99835904 -1.20308309] [ 0. 0. 0. 1. ]] SLAMing on 190.77134618399998 meters Centerline goodness [0,1] 0.9076690529674806 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.06, Z:-1.20 [[ 0.99287601 -0.10439625 -0.05743382 4.72512987] [ 0.10485878 0.99447409 0.0050912 -0.0643765 ] [ 0.05658495 -0.01107737 0.99833633 -1.2030358 ] [ 0. 0. 0. 1. ]] SLAMing on 190.80134618399998 meters Centerline goodness [0,1] 0.9031464783403745 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.06, Z:-1.20 [[ 0.99291095 -0.10381545 -0.05788092 4.72602344] [ 0.1043052 0.99453014 0.00549716 -0.06492092] [ 0.05699363 -0.01149547 0.99830836 -1.20266667] [ 0. 0. 0. 1. ]] SLAMing on 190.83134618399998 meters Centerline goodness [0,1] 0.90216271884655 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 0.99289701 -0.10385877 -0.05804213 4.72619848] [ 0.10435641 0.99452419 0.00560137 -0.06608108] [ 0.05714255 -0.01161865 0.99829842 -1.20220745] [ 0. 0. 0. 1. ]] SLAMing on 190.86134618399998 meters Centerline goodness [0,1] 0.906152460355699 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 9.92573396e-01 -1.06759762e-01 -5.83130023e-02 4.72832718e+00] [ 1.07065179e-01 9.94249723e-01 2.12962536e-03 -6.50057158e-02] [ 5.77503281e-02 -8.35710153e-03 9.98296078e-01 -1.20246906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89134618399999 meters Centerline goodness [0,1] 0.9089897781415948 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 9.92558512e-01 -1.06865686e-01 -5.83723085e-02 4.72788776e+00] [ 1.07173693e-01 9.94237961e-01 2.16265897e-03 -6.61017457e-02] [ 5.78048510e-02 -8.40254142e-03 9.98292541e-01 -1.20144844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.921346184 meters Centerline goodness [0,1] 0.9083062742222687 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 9.93337444e-01 -1.05055172e-01 -4.73722783e-02 4.73247620e+00] [ 1.05175667e-01 9.94453657e-01 5.12448130e-05 -6.51456757e-02] [ 4.71041519e-02 -5.03331435e-03 9.98877302e-01 -1.20262369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.951346184 meters Centerline goodness [0,1] 0.9073330671094391 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 9.93349838e-01 -1.04775053e-01 -4.77314076e-02 4.73317226e+00] [ 1.04905515e-01 9.94482167e-01 2.29505142e-04 -6.51962688e-02] [ 4.74439872e-02 -5.23526680e-03 9.98860180e-01 -1.20239074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.981346184 meters Centerline goodness [0,1] 0.9061209083855816 Centerline is valid? [False, False] Translation: X:4.73, Y:-0.07, Z:-1.20 [[ 9.93389666e-01 -1.04151609e-01 -4.82640120e-02 4.73496746e+00] [ 1.04320018e-01 9.94543302e-01 9.76778212e-04 -6.66919164e-02] [ 4.78989169e-02 -6.00522400e-03 9.98834136e-01 -1.20314239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.011346184 meters Centerline goodness [0,1] 0.9030037678657882 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.20 [[ 9.93419456e-01 -1.03635930e-01 -4.87583627e-02 4.73683311e+00] [ 1.03851237e-01 9.94591033e-01 1.89654859e-03 -6.94681710e-02] [ 4.82980798e-02 -6.94768453e-03 9.98808803e-01 -1.20419102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.041346184 meters Centerline goodness [0,1] 0.8984299364397862 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93448422e-01 -1.03140953e-01 -4.92156043e-02 4.73849627e+00] [ 1.03383767e-01 9.94638629e-01 2.40704942e-03 -6.99700798e-02] [ 4.87034758e-02 -7.47937403e-03 9.98785277e-01 -1.20503342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.071346184 meters Centerline goodness [0,1] 0.8953969621210529 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93479577e-01 -1.02555413e-01 -4.98067977e-02 4.74046430e+00] [ 1.02831007e-01 9.94694329e-01 2.99592742e-03 -7.05497621e-02] [ 4.92352906e-02 -8.09807584e-03 9.98754378e-01 -1.20587390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.101346184 meters Centerline goodness [0,1] 0.8941431487678094 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93503497e-01 -1.02128407e-01 -5.02054699e-02 4.74162408e+00] [ 1.02435188e-01 9.94733277e-01 3.56918184e-03 -7.24523084e-02] [ 4.95765368e-02 -8.68880141e-03 9.98732533e-01 -1.20612282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.131346184 meters Centerline goodness [0,1] 0.8868260587138277 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93532260e-01 -1.01572304e-01 -5.07613596e-02 4.74356472e+00] [ 1.01916806e-01 9.94783897e-01 4.23829823e-03 -7.32743475e-02] [ 5.00660894e-02 -9.38432165e-03 9.98701818e-01 -1.20704769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.161346184 meters Centerline goodness [0,1] 0.8933902811799929 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93538410e-01 -1.01327188e-01 -5.11295271e-02 4.74448938e+00] [ 1.01685252e-01 9.94806693e-01 4.44438076e-03 -7.29066837e-02] [ 5.04136591e-02 -9.61478186e-03 9.98682141e-01 -1.20719126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.191346184 meters Centerline goodness [0,1] 0.8900847119164232 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.07, Z:-1.21 [[ 9.93528112e-01 -1.01359546e-01 -5.12653184e-02 4.74410598e+00] [ 1.01716639e-01 9.94803688e-01 4.39849231e-03 -7.27147068e-02] [ 5.05530987e-02 -9.58456164e-03 9.98675383e-01 -1.20611422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.221346184 meters Centerline goodness [0,1] 0.8880451427492606 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.07, Z:-1.21 [[ 0.99351779 -0.10128784 -0.05160601 4.74526458] [ 0.10166799 0.99480686 0.00478845 -0.07487103] [ 0.050853 -0.01000409 0.99865604 -1.20652678] [ 0. 0. 0. 1. ]] SLAMing on 191.251346184 meters Centerline goodness [0,1] 0.8880451427492606 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.07, Z:-1.21 [[ 0.99351779 -0.10128784 -0.05160601 4.74526458] [ 0.10166799 0.99480686 0.00478845 -0.07487103] [ 0.050853 -0.01000409 0.99865604 -1.20652678] [ 0. 0. 0. 1. ]] SLAMing on 191.281346184 meters Centerline goodness [0,1] 0.8886723661051044 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.08, Z:-1.21 [[ 0.99350637 -0.10130913 -0.05178369 4.74598081] [ 0.10171102 0.99480051 0.00517887 -0.07724723] [ 0.05098977 -0.01041221 0.9986449 -1.2068102 ] [ 0. 0. 0. 1. ]] SLAMing on 191.311346184 meters Centerline goodness [0,1] 0.8890778890778891 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.08, Z:-1.21 [[ 9.93083677e-01 -1.05449870e-01 -5.16249558e-02 4.74602436e+00] [ 1.05656467e-01 9.94401865e-01 1.28165832e-03 -7.80995561e-02] [ 5.12008016e-02 -6.72730438e-03 9.98665720e-01 -1.20576329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.341346184 meters Centerline goodness [0,1] 0.8894363834605384 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.08, Z:-1.21 [[ 9.93031228e-01 -1.05904937e-01 -5.17022602e-02 4.74623737e+00] [ 1.06125929e-01 9.94351505e-01 1.54012172e-03 -8.06003104e-02] [ 5.12471138e-02 -7.01633936e-03 9.98661356e-01 -1.20573921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.371346184 meters Centerline goodness [0,1] 0.888663586763384 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.08, Z:-1.21 [[ 9.92660748e-01 -1.09226268e-01 -5.19062825e-02 4.74834302e+00] [ 1.09285631e-01 9.94008931e-01 -1.70171340e-03 -8.11457613e-02] [ 5.17811802e-02 -3.98338673e-03 9.98650510e-01 -1.20648852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.401346184 meters Centerline goodness [0,1] 0.8872550049366636 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.92560298e-01 -1.10213877e-01 -5.17393036e-02 4.74827822e+00] [ 1.10269090e-01 9.93900149e-01 -1.79492312e-03 -8.57296530e-02] [ 5.16215270e-02 -3.92367651e-03 9.98659012e-01 -1.20652850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.431346184 meters Centerline goodness [0,1] 0.8793539148380576 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.92568369e-01 -1.09994086e-01 -5.20512654e-02 4.74953771e+00] [ 1.10084481e-01 9.93921585e-01 -1.13585225e-03 -8.78660581e-02] [ 5.18598132e-02 -4.60262550e-03 9.98643768e-01 -1.20734875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46134618399998 meters Centerline goodness [0,1] 0.8763988114054498 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.92598981e-01 -1.09580612e-01 -5.23388257e-02 4.75073081e+00] [ 1.09700208e-01 9.93964544e-01 -5.90937347e-04 -8.90577889e-02] [ 5.20876923e-02 -5.15501624e-03 9.98629210e-01 -1.20802846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49134618399998 meters Centerline goodness [0,1] 0.8769485764639238 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.92653406e-01 -1.08789801e-01 -5.29527520e-02 4.75269695e+00] [ 1.08949773e-01 9.94047247e-01 1.35244774e-04 -8.95762991e-02] [ 5.26228241e-02 -5.90344152e-03 9.98597010e-01 -1.20880122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52134618399998 meters Centerline goodness [0,1] 0.8758604768300873 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.93045024e-01 -1.04993082e-01 -5.32731992e-02 4.75186139e+00] [ 1.05352160e-01 9.94427053e-01 3.96968258e-03 -9.13882116e-02] [ 5.25595213e-02 -9.55452014e-03 9.98572084e-01 -1.20783325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55134618399998 meters Centerline goodness [0,1] 0.8747014706498513 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.93083978e-01 -1.04545501e-01 -5.34270523e-02 4.75221223e+00] [ 1.04912279e-01 9.94473030e-01 4.09946330e-03 -9.10794755e-02] [ 5.27031821e-02 -9.67626513e-03 9.98563340e-01 -1.20763636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58134618399998 meters Centerline goodness [0,1] 0.8741508009729095 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 9.93107223e-01 -1.04274157e-01 -5.35251700e-02 4.75229762e+00] [ 1.04648760e-01 9.94500220e-01 4.23665466e-03 -9.14206535e-02] [ 5.27890198e-02 -9.80879503e-03 9.98557513e-01 -1.20726874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61134618399998 meters Centerline goodness [0,1] 0.8860594873515962 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.09, Z:-1.21 [[ 0.99313041 -0.10392829 -0.05376707 4.75285937] [ 0.10433923 0.99452977 0.00488559 -0.09463408] [ 0.0529652 -0.01046204 0.99854155 -1.20703317] [ 0. 0. 0. 1. ]] SLAMing on 191.64134618399999 meters Centerline goodness [0,1] 0.8843537414965986 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.10, Z:-1.21 [[ 0.99313111 -0.1038964 -0.05381574 4.75302927] [ 0.10432192 0.99453024 0.00515156 -0.09591232] [ 0.05298615 -0.01073034 0.99853759 -1.20699568] [ 0. 0. 0. 1. ]] SLAMing on 191.671346184 meters Centerline goodness [0,1] 0.8859501701609176 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.10, Z:-1.21 [[ 0.99312914 -0.10385425 -0.0539333 4.75343651] [ 0.10429121 0.99453245 0.00534403 -0.09637128] [ 0.05308342 -0.01093208 0.99853024 -1.20712194] [ 0. 0. 0. 1. ]] SLAMing on 191.701346184 meters Centerline goodness [0,1] 0.8691008288741999 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.10, Z:-1.21 [[ 0.99309673 -0.10415268 -0.05395469 4.75298806] [ 0.10460188 0.99449862 0.00556182 -0.0977432 ] [ 0.05307859 -0.01116719 0.9985279 -1.20639198] [ 0. 0. 0. 1. ]] SLAMing on 191.731346184 meters Centerline goodness [0,1] 0.8836404079405716 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.10, Z:-1.21 [[ 0.99308076 -0.10418993 -0.05417624 4.75369832] [ 0.10466672 0.99448906 0.00603143 -0.10005594] [ 0.05324927 -0.01166015 0.99851317 -1.20667026] [ 0. 0. 0. 1. ]] SLAMing on 191.761346184 meters Centerline goodness [0,1] 0.8801107638087646 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.10, Z:-1.21 [[ 0.99303339 -0.10455799 -0.0543351 4.75413849] [ 0.10505015 0.99444713 0.0062741 -0.10289315] [ 0.05337738 -0.0119383 0.99850305 -1.20669667] [ 0. 0. 0. 1. ]] SLAMing on 191.791346184 meters Centerline goodness [0,1] 0.8849308154939648 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.21 [[ 9.92616602e-01 -1.08667820e-01 -5.38849322e-02 4.75428864e+00] [ 1.08982624e-01 9.94039337e-01 2.92983890e-03 -1.05759700e-01] [ 5.32453631e-02 -8.78072805e-03 9.98542853e-01 -1.20672452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.821346184 meters Centerline goodness [0,1] 0.8787180078395204 Centerline is valid? [False, False] Translation: X:4.75, Y:-0.11, Z:-1.21 [[ 9.92588001e-01 -1.08823043e-01 -5.40981022e-02 4.75491165e+00] [ 1.09162587e-01 9.94018253e-01 3.35285625e-03 -1.08095675e-01] [ 5.34096330e-02 -9.23349367e-03 9.98529996e-01 -1.20686685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.851346184 meters Centerline goodness [0,1] 0.8774032407018723 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92565708e-01 -1.08998329e-01 -5.41542174e-02 4.75517040e+00] [ 1.09353344e-01 9.93996322e-01 3.62745020e-03 -1.09742822e-01] [ 5.34337069e-02 -9.52242745e-03 9.98525995e-01 -1.20698249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.881346184 meters Centerline goodness [0,1] 0.8726033412089406 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92258569e-01 -1.11662321e-01 -5.43549266e-02 4.75782091e+00] [ 1.11884741e-01 9.93720629e-01 1.05678271e-03 -1.10714843e-01] [ 5.38956091e-02 -7.13008859e-03 9.98521119e-01 -1.20843369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.911346184 meters Centerline goodness [0,1] 0.8713329148357397 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92278463e-01 -1.11408794e-01 -5.45117730e-02 4.75840904e+00] [ 1.11650571e-01 9.93746541e-01 1.40067854e-03 -1.11679568e-01] [ 5.40148379e-02 -7.47613372e-03 9.98512145e-01 -1.20865706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.941346184 meters Centerline goodness [0,1] 0.8750104821802935 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92309667e-01 -1.11084461e-01 -5.46055549e-02 4.75873544e+00] [ 1.11331560e-01 9.93782194e-01 1.49480517e-03 -1.11278684e-01] [ 5.40999785e-02 -7.56263125e-03 9.98506885e-01 -1.20868131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.971346184 meters Centerline goodness [0,1] 0.8820171862259298 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92401719e-01 -1.10106042e-01 -5.49134639e-02 4.75928220e+00] [ 1.10345013e-01 9.93892454e-01 1.32966134e-03 -1.08665141e-01] [ 5.44316736e-02 -7.37898509e-03 9.98490232e-01 -1.20791590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.001346184 meters Centerline goodness [0,1] 0.8789563101705224 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92429373e-01 -1.09784009e-01 -5.50582416e-02 4.75970750e+00] [ 1.10026399e-01 9.93927705e-01 1.38148594e-03 -1.08524536e-01] [ 5.45722467e-02 -7.42888731e-03 9.98482189e-01 -1.20791672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.031346184 meters Centerline goodness [0,1] 0.8805457174591864 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92466580e-01 -1.09360486e-01 -5.52301682e-02 4.76055055e+00] [ 1.09620373e-01 9.93972093e-01 1.68903339e-03 -1.08860818e-01] [ 5.47125324e-02 -7.73066082e-03 9.98472221e-01 -1.20844076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.061346184 meters Centerline goodness [0,1] 0.8764302059496567 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92495873e-01 -1.09035542e-01 -5.53461173e-02 4.76127761e+00] [ 1.09320097e-01 9.94004313e-01 2.13106732e-03 -1.09663847e-01] [ 5.47819172e-02 -8.16551842e-03 9.98464955e-01 -1.20899799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.091346184 meters Centerline goodness [0,1] 0.876802922466461 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92491950e-01 -1.08995911e-01 -5.54943302e-02 4.76190982e+00] [ 1.09290053e-01 9.94007277e-01 2.28436792e-03 -1.10291589e-01] [ 5.49127812e-02 -8.33219507e-03 9.98456389e-01 -1.20934560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.121346184 meters Centerline goodness [0,1] 0.8752364140713655 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92491388e-01 -1.08994287e-01 -5.55075727e-02 4.76200739e+00] [ 1.09296782e-01 9.94006181e-01 2.43426219e-03 -1.10928275e-01] [ 5.49095497e-02 -8.48278335e-03 9.98455299e-01 -1.20934268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.151346184 meters Centerline goodness [0,1] 0.8739428619514453 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92503771e-01 -1.08949713e-01 -5.53734994e-02 4.76137927e+00] [ 1.09251624e-01 9.94011117e-01 2.44562527e-03 -1.11311072e-01] [ 5.47754239e-02 -8.47693707e-03 9.98462716e-01 -1.20858126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.181346184 meters Centerline goodness [0,1] 0.8746251127283404 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92523599e-01 -1.08648197e-01 -5.56100150e-02 4.76220552e+00] [ 1.08968477e-01 9.94041399e-01 2.75092498e-03 -1.11875652e-01] [ 5.49797741e-02 -8.79009659e-03 9.98448776e-01 -1.20886768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21134618399998 meters Centerline goodness [0,1] 0.8737104755514552 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.11, Z:-1.21 [[ 9.92550189e-01 -1.08323710e-01 -5.57682317e-02 4.76276752e+00] [ 1.08675071e-01 9.94071855e-01 3.29777806e-03 -1.13815444e-01] [ 5.50804020e-02 -9.33382679e-03 9.98438295e-01 -1.20896127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24134618399998 meters Centerline goodness [0,1] 0.8705586416518185 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-1.21 [[ 9.92557722e-01 -1.08266394e-01 -5.57454638e-02 4.76291483e+00] [ 1.08638149e-01 9.94074575e-01 3.67319457e-03 -1.15223384e-01] [ 5.50174647e-02 -9.70194164e-03 9.98438256e-01 -1.20910519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27134618399998 meters Centerline goodness [0,1] 0.87049771478888 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-1.21 [[ 9.92555153e-01 -1.08295469e-01 -5.57347232e-02 4.76297364e+00] [ 1.08683940e-01 9.94068397e-01 3.97779932e-03 -1.16683310e-01] [ 5.49733493e-02 -1.00056545e-02 9.98437688e-01 -1.20911056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30134618399998 meters Centerline goodness [0,1] 0.8705201827555854 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-1.21 [[ 9.92557516e-01 -1.08220762e-01 -5.58376567e-02 4.76323870e+00] [ 1.08630741e-01 9.94072648e-01 4.35118017e-03 -1.18343549e-01] [ 5.50357992e-02 -1.03844826e-02 9.98430380e-01 -1.20900240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33134618399998 meters Centerline goodness [0,1] 0.8676331745798628 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-1.21 [[ 0.99257142 -0.10806127 -0.05589934 4.76311399] [ 0.10850456 0.99408364 0.00494793 -0.1208919 ] [ 0.05503394 -0.01097651 0.99842415 -1.20846117] [ 0. 0. 0. 1. ]] SLAMing on 192.36134618399998 meters Centerline goodness [0,1] 0.8671327207652217 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.12, Z:-1.21 [[ 0.99259082 -0.1077714 -0.05611408 4.76397936] [ 0.1082485 0.99410852 0.00552446 -0.12299795] [ 0.05518811 -0.01155779 0.99840908 -1.20884717] [ 0. 0. 0. 1. ]] SLAMing on 192.39134618399999 meters Centerline goodness [0,1] 0.8658763901396946 Centerline is valid? [False, False] Translation: X:4.76, Y:-0.13, Z:-1.21 [[ 0.99261356 -0.10747744 -0.05627545 4.76491105] [ 0.10799087 0.99413284 0.00615451 -0.12538435] [ 0.0552838 -0.01218628 0.99839631 -1.20954858] [ 0. 0. 0. 1. ]] SLAMing on 192.421346184 meters Centerline goodness [0,1] 0.8627836864584206 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.99263481 -0.1072196 -0.05639234 4.76573027] [ 0.10775757 0.99415544 0.00657831 -0.12695799] [ 0.05535743 -0.01260656 0.99838701 -1.21018561] [ 0. 0. 0. 1. ]] SLAMing on 192.451346184 meters Centerline goodness [0,1] 0.8703413390188333 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.9926787 -0.1066846 -0.0566338 4.76684454] [ 0.10726198 0.99420439 0.0072463 -0.12803988] [ 0.05553251 -0.0132679 0.99836872 -1.21080609] [ 0. 0. 0. 1. ]] SLAMing on 192.481346184 meters Centerline goodness [0,1] 0.8714333598692756 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.9926745 -0.1066758 -0.05672404 4.7670768 ] [ 0.10726488 0.99420268 0.00743487 -0.12922665] [ 0.05560207 -0.01346491 0.99836221 -1.21074698] [ 0. 0. 0. 1. ]] SLAMing on 192.511346184 meters Centerline goodness [0,1] 0.8704637202200423 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.99266473 -0.10672052 -0.0568108 4.76745919] [ 0.10733014 0.99419299 0.00778122 -0.13127113] [ 0.05565048 -0.01382166 0.99835464 -1.21090795] [ 0. 0. 0. 1. ]] SLAMing on 192.541346184 meters Centerline goodness [0,1] 0.8723146114423177 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.99264004 -0.10701956 -0.05667943 4.76707228] [ 0.1076442 0.99415668 0.00807577 -0.13390749] [ 0.05548397 -0.01411754 0.99835977 -1.21050724] [ 0. 0. 0. 1. ]] SLAMing on 192.571346184 meters Centerline goodness [0,1] 0.8693903205531113 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.13, Z:-1.21 [[ 0.99261626 -0.1072138 -0.0567289 4.76690311] [ 0.1078425 0.99413474 0.00813089 -0.13464954] [ 0.05552443 -0.01418864 0.99835651 -1.21007696] [ 0. 0. 0. 1. ]] SLAMing on 192.601346184 meters Centerline goodness [0,1] 0.8689601774541194 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.14, Z:-1.21 [[ 0.99258312 -0.10743751 -0.05688517 4.76743492] [ 0.10809104 0.9941044 0.00853028 -0.13678374] [ 0.05563332 -0.01461579 0.99834429 -1.2102857 ] [ 0. 0. 0. 1. ]] SLAMing on 192.631346184 meters Centerline goodness [0,1] 0.8672070744288872 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.14, Z:-1.21 [[ 0.9921762 -0.11121819 -0.05671772 4.76906425] [ 0.11172248 0.99372258 0.00578942 -0.1417681 ] [ 0.05571779 -0.01208077 0.99837347 -1.21140038] [ 0. 0. 0. 1. ]] SLAMing on 192.661346184 meters Centerline goodness [0,1] 0.8673503628203515 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.14, Z:-1.21 [[ 0.99215988 -0.11117364 -0.05708936 4.77067632] [ 0.11172347 0.99371794 0.0065214 -0.14469437] [ 0.05600572 -0.0128485 0.99834777 -1.21244076] [ 0. 0. 0. 1. ]] SLAMing on 192.691346184 meters Centerline goodness [0,1] 0.8632541363474322 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99215491 -0.11115429 -0.05721331 4.77139333] [ 0.11173191 0.99371382 0.00698788 -0.14645294] [ 0.05607693 -0.01332561 0.99833752 -1.21298468] [ 0. 0. 0. 1. ]] SLAMing on 192.721346184 meters Centerline goodness [0,1] 0.8628913945592489 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99212549 -0.11141371 -0.05721881 4.77170652] [ 0.11201614 0.99367868 0.00742128 -0.1488579 ] [ 0.05603028 -0.01377227 0.99833408 -1.21321019] [ 0. 0. 0. 1. ]] SLAMing on 192.751346184 meters Centerline goodness [0,1] 0.8603319136437069 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99210862 -0.11154572 -0.05725417 4.77182892] [ 0.11215434 0.99366235 0.00751917 -0.14969915] [ 0.05605258 -0.01388113 0.99833132 -1.21321173] [ 0. 0. 0. 1. ]] SLAMing on 192.781346184 meters Centerline goodness [0,1] 0.8642573821066549 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99209702 -0.11160284 -0.05734377 4.77197957] [ 0.11222253 0.99365333 0.00769227 -0.15065496] [ 0.05612135 -0.01406674 0.99832486 -1.2130954 ] [ 0. 0. 0. 1. ]] SLAMing on 192.811346184 meters Centerline goodness [0,1] 0.8628323226388568 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91727960e-01 -1.15033572e-01 -5.69467272e-02 4.77209281e+00] [ 1.15459101e-01 9.93303235e-01 4.22850524e-03 -1.51749355e-01] [ 5.60789482e-02 -1.07685448e-02 9.98368264e-01 -1.21257983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.841346184 meters Centerline goodness [0,1] 0.8629250771912873 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91675727e-01 -1.15607997e-01 -5.66925319e-02 4.77083092e+00] [ 1.16018308e-01 9.93239064e-01 3.98926127e-03 -1.53686320e-01] [ 5.58480468e-02 -1.05334252e-02 9.98383715e-01 -1.21141392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.871346184 meters Centerline goodness [0,1] 0.8637300685767175 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91669109e-01 -1.15714695e-01 -5.65905249e-02 4.77029443e+00] [ 1.16124546e-01 9.93226616e-01 3.99731520e-03 -1.54414369e-01] [ 5.57446675e-02 -1.05355630e-02 9.98389470e-01 -1.21081040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.901346184 meters Centerline goodness [0,1] 0.8616766215193068 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91671360e-01 -1.15707512e-01 -5.65657625e-02 4.77007250e+00] [ 1.16112456e-01 9.93228360e-01 3.91428505e-03 -1.54002025e-01] [ 5.57298073e-02 -1.04496740e-02 9.98391202e-01 -1.21049151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.931346184 meters Centerline goodness [0,1] 0.8658526333487453 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91776277e-01 -1.14717381e-01 -5.67427337e-02 4.77123650e+00] [ 1.15155472e-01 9.93337282e-01 4.50125881e-03 -1.52884918e-01] [ 5.58483003e-02 -1.09984780e-02 9.98378686e-01 -1.21137860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96134618399998 meters Centerline goodness [0,1] 0.8661331086773378 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 9.91795412e-01 -1.14486414e-01 -5.68746078e-02 4.77194872e+00] [ 1.14936126e-01 9.93361817e-01 4.68908944e-03 -1.53113605e-01] [ 5.59602267e-02 -1.11875645e-02 9.98370318e-01 -1.21193060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99134618399998 meters Centerline goodness [0,1] 0.8655352480417755 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99180814 -0.11435 -0.05692711 4.77260257] [ 0.11481387 0.99337477 0.00493478 -0.15361396] [ 0.05598566 -0.01143038 0.99836614 -1.21265152] [ 0. 0. 0. 1. ]] SLAMing on 193.02134618399998 meters Centerline goodness [0,1] 0.8615646831074826 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.15, Z:-1.21 [[ 0.99175546 -0.11486856 -0.05680066 4.77248215] [ 0.11532963 0.99331521 0.00489605 -0.15440803] [ 0.05585856 -0.01140648 0.99837353 -1.21272255] [ 0. 0. 0. 1. ]] SLAMing on 193.05134618399998 meters Centerline goodness [0,1] 0.860221610142764 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 0.99170541 -0.11523966 -0.0569228 4.77283287] [ 0.11570886 0.99327056 0.00500571 -0.15586784] [ 0.05596288 -0.01155066 0.99836603 -1.21280041] [ 0. 0. 0. 1. ]] SLAMing on 193.08134618399998 meters Centerline goodness [0,1] 0.8551939029011748 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 0.99163493 -0.11585288 -0.05690591 4.77295541] [ 0.11632056 0.99319931 0.00496494 -0.1574067 ] [ 0.05594371 -0.01154273 0.9983672 -1.21302057] [ 0. 0. 0. 1. ]] SLAMing on 193.11134618399998 meters Centerline goodness [0,1] 0.8354515613163875 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 9.91157502e-01 -1.19950846e-01 -5.67327229e-02 4.77460162e+00] [ 1.20214230e-01 9.92747199e-01 1.24038486e-03 -1.56246248e-01] [ 5.61724665e-02 -8.04949738e-03 9.98388632e-01 -1.21439237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14134618399999 meters Centerline goodness [0,1] 0.8168477345460671 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 9.91106564e-01 -1.20388279e-01 -5.66960331e-02 4.77451552e+00] [ 1.20645665e-01 9.92694996e-01 1.12651204e-03 -1.56398940e-01] [ 5.61462495e-02 -7.95662409e-03 9.98390851e-01 -1.21436528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.171346184 meters Centerline goodness [0,1] 0.8168477345460671 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 9.91106564e-01 -1.20388279e-01 -5.66960331e-02 4.77451552e+00] [ 1.20645665e-01 9.92694996e-01 1.12651204e-03 -1.56398940e-01] [ 5.61462495e-02 -7.95662409e-03 9.98390851e-01 -1.21436528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.201346184 meters Centerline goodness [0,1] 0.8055064410204598 Centerline is valid? [False, False] Translation: X:4.77, Y:-0.16, Z:-1.21 [[ 9.91068785e-01 -1.20735317e-01 -5.66184380e-02 4.77441085e+00] [ 1.20991324e-01 9.92652952e-01 1.10309320e-03 -1.56817246e-01] [ 5.60692773e-02 -7.94358101e-03 9.98395280e-01 -1.21442357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.231346184 meters Centerline goodness [0,1] 0.8115433137089991 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.16, Z:-1.22 [[ 9.91528943e-01 -1.22708164e-01 -4.25800618e-02 4.77671752e+00] [ 1.22812362e-01 9.92429894e-01 -1.70006429e-04 -1.56104069e-01] [ 4.22785874e-02 -5.06079167e-03 9.99093043e-01 -1.21965880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.261346184 meters Centerline goodness [0,1] 0.805197526983129 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.16, Z:-1.22 [[ 9.91530363e-01 -1.22635921e-01 -4.27547685e-02 4.77751634e+00] [ 1.22745011e-01 9.92438238e-01 -7.42074342e-05 -1.55926335e-01] [ 4.24405676e-02 -5.17435560e-03 9.99085594e-01 -1.22029830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.291346184 meters Centerline goodness [0,1] 0.8041169915263147 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.15, Z:-1.22 [[ 9.91521722e-01 -1.22707532e-01 -4.27496918e-02 4.77783851e+00] [ 1.22805391e-01 9.92430713e-01 -3.39414961e-04 -1.54592364e-01] [ 4.24677559e-02 -4.91335533e-03 9.99085756e-01 -1.22076067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.321346184 meters Centerline goodness [0,1] 0.7916211446340029 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.15, Z:-1.22 [[ 9.91526330e-01 -1.22573281e-01 -4.30270605e-02 4.77898789e+00] [ 1.22667785e-01 9.92447689e-01 -4.46950483e-04 -1.53033664e-01] [ 4.27568910e-02 -4.83487105e-03 9.99073807e-01 -1.22162970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.351346184 meters Centerline goodness [0,1] 0.7841993748557763 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.15, Z:-1.22 [[ 9.91564613e-01 -1.22151831e-01 -4.33422261e-02 4.78082807e+00] [ 1.22247742e-01 9.92499519e-01 -4.40643740e-04 -1.50284117e-01] [ 4.30709640e-02 -4.86156255e-03 9.99060187e-01 -1.22336893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.381346184 meters Centerline goodness [0,1] 0.782806568654181 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.15, Z:-1.22 [[ 9.91553542e-01 -1.22160090e-01 -4.35716041e-02 4.78166189e+00] [ 1.22239226e-01 9.92500299e-01 -8.53509830e-04 -1.48102916e-01] [ 4.33490949e-02 -4.47985846e-03 9.99049942e-01 -1.22392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.411346184 meters Centerline goodness [0,1] 0.7724437724437725 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.15, Z:-1.22 [[ 9.91927615e-01 -1.18962514e-01 -4.39036104e-02 4.78136003e+00] [ 1.19186763e-01 9.92868663e-01 2.51663755e-03 -1.47470869e-01] [ 4.32911334e-02 -7.72905148e-03 9.99032602e-01 -1.22412271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.441346184 meters Centerline goodness [0,1] 0.8072445833420727 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.14, Z:-1.23 [[ 9.91967081e-01 -1.18469302e-01 -4.43433688e-02 4.78354976e+00] [ 1.18687095e-01 9.92929038e-01 2.30204468e-03 -1.42689783e-01] [ 4.37570969e-02 -7.54653814e-03 9.99013697e-01 -1.22612277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.471346184 meters Centerline goodness [0,1] 0.8183458520414586 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.14, Z:-1.23 [[ 9.91956495e-01 -1.18525256e-01 -4.44305690e-02 4.78413199e+00] [ 1.18729441e-01 9.92924678e-01 1.97584466e-03 -1.41697084e-01] [ 4.38820209e-02 -7.23516856e-03 9.99010521e-01 -1.22665860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.501346184 meters Centerline goodness [0,1] 0.7590091034945673 Centerline is valid? [False, False] Translation: X:4.78, Y:-0.14, Z:-1.23 [[ 9.91942470e-01 -1.18646644e-01 -4.44197059e-02 4.78460878e+00] [ 1.18832877e-01 9.92913034e-01 1.56638133e-03 -1.40305942e-01] [ 4.39190590e-02 -6.83228163e-03 9.99011730e-01 -1.22735783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.531346184 meters Centerline goodness [0,1] 0.7512375199261683 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.14, Z:-1.23 [[ 9.91922172e-01 -1.18792798e-01 -4.44823015e-02 4.78500124e+00] [ 1.18953607e-01 9.92899333e-01 9.76344223e-04 -1.38031201e-01] [ 4.40504649e-02 -6.25978769e-03 9.99009695e-01 -1.22776303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.561346184 meters Centerline goodness [0,1] 0.8111660866283702 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.23 [[ 9.92188415e-01 -1.16499985e-01 -4.46083164e-02 4.78500851e+00] [ 1.16740898e-01 9.93158386e-01 2.82526305e-03 -1.34436437e-01] [ 4.39739804e-02 -8.01080819e-03 9.99000559e-01 -1.22842198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.591346184 meters Centerline goodness [0,1] 0.8245981684444351 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.23 [[ 9.92212617e-01 -1.16189199e-01 -4.48797674e-02 4.78604737e+00] [ 1.16414866e-01 9.93197680e-01 2.43885850e-03 -1.31831140e-01] [ 4.42911119e-02 -7.64453828e-03 9.98989419e-01 -1.22906994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.621346184 meters Centerline goodness [0,1] 0.8251989945538333 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.23 [[ 0.99261854 -0.11248313 -0.04534289 4.78618399] [ 0.11286599 0.99359231 0.0059655 -0.1308316 ] [ 0.04438133 -0.01103914 0.99895367 -1.22940341] [ 0. 0. 0. 1. ]] SLAMing on 193.651346184 meters Centerline goodness [0,1] 0.8282164816485845 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.13, Z:-1.23 [[ 0.99299455 -0.10900559 -0.04560274 4.78580308] [ 0.10949959 0.99395074 0.00847116 -0.12586988] [ 0.04440348 -0.01340529 0.99892374 -1.22960693] [ 0. 0. 0. 1. ]] SLAMing on 193.681346184 meters Centerline goodness [0,1] 0.8303563923678239 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-1.23 [[ 0.99297624 -0.10912397 -0.04571815 4.78606472] [ 0.10958356 0.99394805 0.00766237 -0.12295986] [ 0.04460531 -0.01261851 0.99892499 -1.229645 ] [ 0. 0. 0. 1. ]] SLAMing on 193.71134618399998 meters Centerline goodness [0,1] 0.8383439704400403 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.12, Z:-1.23 [[ 0.99295818 -0.10921344 -0.04589642 4.78663557] [ 0.10964685 0.99394577 0.0070268 -0.12055433] [ 0.04485113 -0.01200972 0.99892149 -1.22994162] [ 0. 0. 0. 1. ]] SLAMing on 193.74134618399998 meters Centerline goodness [0,1] 0.8358829084041548 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.11, Z:-1.23 [[ 0.99303899 -0.10832215 -0.04625872 4.78798737] [ 0.10875972 0.99404312 0.00704207 -0.11473566] [ 0.04522035 -0.01202414 0.99890467 -1.23121687] [ 0. 0. 0. 1. ]] SLAMing on 193.77134618399998 meters Centerline goodness [0,1] 0.8347720160460379 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.11, Z:-1.23 [[ 0.99301009 -0.10852646 -0.04640021 4.78837904] [ 0.10893236 0.99402918 0.00630306 -0.11196504] [ 0.04543911 -0.01131348 0.99890304 -1.23142267] [ 0. 0. 0. 1. ]] SLAMing on 193.80134618399998 meters Centerline goodness [0,1] 0.8376118527211384 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.11, Z:-1.23 [[ 0.99299096 -0.10864863 -0.04652334 4.78906895] [ 0.10903418 0.99402094 0.00582381 -0.1099942 ] [ 0.04561242 -0.01085562 0.99890023 -1.23207856] [ 0. 0. 0. 1. ]] SLAMing on 193.83134618399998 meters Centerline goodness [0,1] 0.8387509705579922 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.11, Z:-1.23 [[ 0.99296471 -0.10881499 -0.04669464 4.78963907] [ 0.1091784 0.99400806 0.00529664 -0.10805321] [ 0.0458385 -0.01035742 0.99889517 -1.23244458] [ 0. 0. 0. 1. ]] SLAMing on 193.86134618399998 meters Centerline goodness [0,1] 0.8301397372604803 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.10, Z:-1.23 [[ 9.92894091e-01 -1.09457358e-01 -4.66948589e-02 4.78918485e+00] [ 1.09739739e-01 9.93954125e-01 3.51955964e-03 -1.02147538e-01] [ 4.60273060e-02 -8.61883160e-03 9.98903000e-01 -1.23166552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89134618399999 meters Centerline goodness [0,1] 0.8372438000125357 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.10, Z:-1.23 [[ 9.92864894e-01 -1.09698443e-01 -4.67499164e-02 4.78913741e+00] [ 1.09946053e-01 9.93933750e-01 2.75062487e-03 -9.94601484e-02] [ 4.61645805e-02 -7.87096767e-03 9.98902838e-01 -1.23140091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.921346184 meters Centerline goodness [0,1] 0.8317661317285189 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.10, Z:-1.23 [[ 9.92852248e-01 -1.09756837e-01 -4.68812344e-02 4.78941013e+00] [ 1.09973583e-01 9.93932373e-01 2.06150280e-03 -9.67138431e-02] [ 4.63705125e-02 -7.20246501e-03 9.98898343e-01 -1.23136166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.951346184 meters Centerline goodness [0,1] 0.8405854845135992 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 0.99319865 -0.1064171 -0.04724233 4.78940073] [ 0.10677535 0.99427 0.0051185 -0.09456704] [ 0.04642693 -0.010128 0.99887034 -1.23184926] [ 0. 0. 0. 1. ]] SLAMing on 193.981346184 meters Centerline goodness [0,1] 0.8429083439877596 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 9.93171100e-01 -1.06602565e-01 -4.74031566e-02 4.78994370e+00] [ 1.06940513e-01 9.94254575e-01 4.64398222e-03 -9.27453099e-02] [ 4.66357449e-02 -9.68158681e-03 9.98865043e-01 -1.23220139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.011346184 meters Centerline goodness [0,1] 0.8385456979687467 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 9.93156189e-01 -1.06686209e-01 -4.75272314e-02 4.79056140e+00] [ 1.07013841e-01 9.94247813e-01 4.39598552e-03 -9.14605430e-02] [ 4.67848548e-02 -9.45197183e-03 9.98860269e-01 -1.23271031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.041346184 meters Centerline goodness [0,1] 0.8270953696726115 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 9.93059586e-01 -1.07689265e-01 -4.72829869e-02 4.78965446e+00] [ 1.07970359e-01 9.94148216e-01 3.42426932e-03 -9.01177969e-02] [ 4.66375400e-02 -8.50566454e-03 9.98875665e-01 -1.23224641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.071346184 meters Centerline goodness [0,1] 0.8310248727028896 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 9.93011846e-01 -1.08151104e-01 -4.72314864e-02 4.78933001e+00] [ 1.08403415e-01 9.94103026e-01 2.80609631e-03 -8.86339450e-02] [ 4.66494811e-02 -7.90654131e-03 9.98880029e-01 -1.23192184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.101346184 meters Centerline goodness [0,1] 0.7952280467166705 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.09, Z:-1.23 [[ 9.92988077e-01 -1.08288112e-01 -4.74169071e-02 4.78980453e+00] [ 1.08520072e-01 9.94091510e-01 2.33765799e-03 -8.64446802e-02] [ 4.68836042e-02 -7.46695268e-03 9.98872450e-01 -1.23207394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.131346184 meters Centerline goodness [0,1] 0.8251526047328372 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 9.92963662e-01 -1.08473539e-01 -4.75042888e-02 4.78985340e+00] [ 1.08675583e-01 9.94075844e-01 1.68364478e-03 -8.38097745e-02] [ 4.70402351e-02 -6.83435437e-03 9.98869615e-01 -1.23187974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.161346184 meters Centerline goodness [0,1] 0.8380213993145532 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 9.93312718e-01 -1.05087987e-01 -4.78158834e-02 4.78906315e+00] [ 1.05419957e-01 9.94417756e-01 4.46763879e-03 -8.12524394e-02] [ 4.70794683e-02 -9.47851079e-03 9.98846175e-01 -1.23118108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.191346184 meters Centerline goodness [0,1] 0.8464175952833937 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 9.93334168e-01 -1.04792084e-01 -4.80192663e-02 4.78965268e+00] [ 1.05105403e-01 9.94452881e-01 4.04002162e-03 -7.90037763e-02] [ 4.73295355e-02 -9.06017587e-03 9.98838239e-01 -1.23128630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.221346184 meters Centerline goodness [0,1] 0.8519935603922306 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 9.93368455e-01 -1.04388695e-01 -4.81883032e-02 4.79014205e+00] [ 1.04682497e-01 9.94499152e-01 3.60713468e-03 -7.63090958e-02] [ 4.75466826e-02 -8.62768571e-03 9.98831756e-01 -1.23130491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.251346184 meters Centerline goodness [0,1] 0.8595313542361575 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99373735 -0.10070329 -0.04842439 4.78879705] [ 0.1011104 0.99485696 0.00602608 -0.07162412] [ 0.0475685 -0.01088455 0.99880867 -1.2297757 ] [ 0. 0. 0. 1. ]] SLAMing on 194.281346184 meters Centerline goodness [0,1] 0.8609102687340662 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99408927 -0.09701514 -0.0487298 4.78810055] [ 0.09759336 0.99517984 0.00962449 -0.07131578] [ 0.04756119 -0.01432331 0.99876563 -1.22924475] [ 0. 0. 0. 1. ]] SLAMing on 194.311346184 meters Centerline goodness [0,1] 0.8613614452781154 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99407545 -0.09705005 -0.04894166 4.78847972] [ 0.09760682 0.99518334 0.00911195 -0.06928695] [ 0.04782161 -0.01383501 0.99876007 -1.22913471] [ 0. 0. 0. 1. ]] SLAMing on 194.341346184 meters Centerline goodness [0,1] 0.8634140249359948 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99410051 -0.09650178 -0.04951349 4.79074872] [ 0.09708464 0.99523079 0.00949947 -0.06887039] [ 0.04836064 -0.01425043 0.99872828 -1.23054096] [ 0. 0. 0. 1. ]] SLAMing on 194.371346184 meters Centerline goodness [0,1] 0.8643723424310341 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.9940874 -0.09648926 -0.0498002 4.79195972] [ 0.09709003 0.99522752 0.00978327 -0.07041817] [ 0.04861855 -0.01456053 0.99871128 -1.23136843] [ 0. 0. 0. 1. ]] SLAMing on 194.401346184 meters Centerline goodness [0,1] 0.8629025512337933 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99407475 -0.09656648 -0.04990297 4.79234502] [ 0.09718273 0.99521563 0.01006811 -0.07198218] [ 0.04869198 -0.01485816 0.99870332 -1.23156716] [ 0. 0. 0. 1. ]] SLAMing on 194.431346184 meters Centerline goodness [0,1] 0.8636164303464406 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99404986 -0.09682696 -0.04989396 4.79218712] [ 0.09744399 0.99518996 0.01008062 -0.07271552] [ 0.04867789 -0.01488251 0.99870365 -1.23134774] [ 0. 0. 0. 1. ]] SLAMing on 194.46134618399998 meters Centerline goodness [0,1] 0.8645946397261418 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.07, Z:-1.23 [[ 0.99403346 -0.09693611 -0.05000869 4.79203918] [ 0.09756391 0.99517634 0.01026361 -0.0737354 ] [ 0.04877255 -0.01508142 0.99869604 -1.23076568] [ 0. 0. 0. 1. ]] SLAMing on 194.49134618399998 meters Centerline goodness [0,1] 0.8626008443757054 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.99404294 -0.09677513 -0.050132 4.79232539] [ 0.09742071 0.99518692 0.01059262 -0.07513986] [ 0.04886561 -0.01541341 0.99868643 -1.23070544] [ 0. 0. 0. 1. ]] SLAMing on 194.52134618399998 meters Centerline goodness [0,1] 0.8639694369637377 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.99406553 -0.09643614 -0.0503368 4.79289417] [ 0.09710703 0.99521259 0.0110514 -0.07687106] [ 0.04903006 -0.01587387 0.99867115 -1.23074766] [ 0. 0. 0. 1. ]] SLAMing on 194.55134618399998 meters Centerline goodness [0,1] 0.8622648207312744 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.9941687 -0.09526583 -0.05052741 4.79363415] [ 0.09598764 0.99530957 0.01205124 -0.07913365] [ 0.04914234 -0.01683097 0.99864996 -1.23080747] [ 0. 0. 0. 1. ]] SLAMing on 194.58134618399998 meters Centerline goodness [0,1] 0.864476128843705 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.99419107 -0.09496153 -0.05065985 4.79386483] [ 0.09569452 0.9953355 0.01223958 -0.07963736] [ 0.04926126 -0.01701636 0.99864096 -1.2305917 ] [ 0. 0. 0. 1. ]] SLAMing on 194.61134618399998 meters Centerline goodness [0,1] 0.8629342821264128 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.99420678 -0.09467769 -0.05088237 4.79429929] [ 0.09542501 0.99535865 0.01245873 -0.08002137] [ 0.04946665 -0.017242 0.99862694 -1.23049454] [ 0. 0. 0. 1. ]] SLAMing on 194.64134618399999 meters Centerline goodness [0,1] 0.8652087475149105 Centerline is valid? [False, False] Translation: X:4.79, Y:-0.08, Z:-1.23 [[ 0.9942193 -0.09442129 -0.05111368 4.79477909] [ 0.09518565 0.99537818 0.01272685 -0.08036284] [ 0.04967576 -0.01751857 0.99861175 -1.23045664] [ 0. 0. 0. 1. ]] SLAMing on 194.671346184 meters Centerline goodness [0,1] 0.8620833943552942 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.08, Z:-1.23 [[ 0.99424642 -0.093974 -0.0514095 4.79562666] [ 0.09476868 0.99541128 0.01323951 -0.08094491] [ 0.04992943 -0.01803534 0.9985899 -1.2307341 ] [ 0. 0. 0. 1. ]] SLAMing on 194.701346184 meters Centerline goodness [0,1] 0.8633676602677919 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.08, Z:-1.23 [[ 0.99424769 -0.09384547 -0.05161942 4.79630511] [ 0.09465913 0.99541759 0.01354517 -0.08206917] [ 0.05011173 -0.0183535 0.99857497 -1.23098703] [ 0. 0. 0. 1. ]] SLAMing on 194.731346184 meters Centerline goodness [0,1] 0.8621704552570606 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.08, Z:-1.23 [[ 0.99424976 -0.09373438 -0.05178107 4.797015 ] [ 0.09457315 0.99541964 0.01398767 -0.08395225] [ 0.05023277 -0.01880434 0.9985605 -1.23143539] [ 0. 0. 0. 1. ]] SLAMing on 194.761346184 meters Centerline goodness [0,1] 0.8632165371646386 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99392443 -0.09716116 -0.05171005 4.79869681] [ 0.09784891 0.99514123 0.01093295 -0.08667059] [ 0.05039655 -0.0159263 0.99860229 -1.23256334] [ 0. 0. 0. 1. ]] SLAMing on 194.791346184 meters Centerline goodness [0,1] 0.8640092069470601 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99391482 -0.09723218 -0.05176132 4.79895979] [ 0.09793775 0.99512875 0.01126789 -0.08860698] [ 0.05041358 -0.01626871 0.99859591 -1.2327508 ] [ 0. 0. 0. 1. ]] SLAMing on 194.821346184 meters Centerline goodness [0,1] 0.8616466746216165 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99389972 -0.09735798 -0.05181481 4.79903504] [ 0.0980647 0.99511622 0.01127042 -0.08893488] [ 0.0504645 -0.01628287 0.99859311 -1.23268866] [ 0. 0. 0. 1. ]] SLAMing on 194.851346184 meters Centerline goodness [0,1] 0.862444044680584 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99387259 -0.09764309 -0.0517986 4.79834601] [ 0.09832488 0.99509603 0.01077544 -0.08731727] [ 0.05049243 -0.01580251 0.99859942 -1.23177065] [ 0. 0. 0. 1. ]] SLAMing on 194.881346184 meters Centerline goodness [0,1] 0.8619314979858488 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.9938487 -0.09791724 -0.05173952 4.79757375] [ 0.09857863 0.99507509 0.01038362 -0.08684259] [ 0.05046797 -0.01542016 0.99860663 -1.23081117] [ 0. 0. 0. 1. ]] SLAMing on 194.911346184 meters Centerline goodness [0,1] 0.8597220771079301 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99383694 -0.09801884 -0.05177291 4.79702361] [ 0.09867782 0.99506589 0.01032311 -0.08749816] [ 0.0505056 -0.01536833 0.99860553 -1.22990673] [ 0. 0. 0. 1. ]] SLAMing on 194.941346184 meters Centerline goodness [0,1] 0.858749400154395 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.9938626 -0.09762797 -0.0520183 4.79818432] [ 0.09832127 0.99509466 0.01093378 -0.08971057] [ 0.05069569 -0.01598118 0.99858627 -1.23062186] [ 0. 0. 0. 1. ]] SLAMing on 194.971346184 meters Centerline goodness [0,1] 0.8597476920506286 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99388046 -0.09731642 -0.05226032 4.79943419] [ 0.09802959 0.99511985 0.01125503 -0.09028815] [ 0.05090999 -0.01630921 0.99857007 -1.2315658 ] [ 0. 0. 0. 1. ]] SLAMing on 195.001346184 meters Centerline goodness [0,1] 0.8628939498504716 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99388676 -0.09709476 -0.05255209 4.80067495] [ 0.09782297 0.99513784 0.01146087 -0.09060365] [ 0.05118378 -0.01653161 0.99855242 -1.23238723] [ 0. 0. 0. 1. ]] SLAMing on 195.031346184 meters Centerline goodness [0,1] 0.8607565755003668 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99390054 -0.09679729 -0.05283931 4.801591 ] [ 0.09753841 0.99516385 0.01162597 -0.09042014] [ 0.05145841 -0.01670892 0.99853535 -1.23275207] [ 0. 0. 0. 1. ]] SLAMing on 195.061346184 meters Centerline goodness [0,1] 0.8607565755003668 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99390054 -0.09679729 -0.05283931 4.801591 ] [ 0.09753841 0.99516385 0.01162597 -0.09042014] [ 0.05145841 -0.01670892 0.99853535 -1.23275207] [ 0. 0. 0. 1. ]] SLAMing on 195.091346184 meters Centerline goodness [0,1] 0.8606595059974088 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99388804 -0.09683646 -0.05300244 4.80169199] [ 0.09757014 0.99516303 0.01142839 -0.08990416] [ 0.05163938 -0.01653 0.99852898 -1.23237463] [ 0. 0. 0. 1. ]] SLAMing on 195.121346184 meters Centerline goodness [0,1] 0.8605468504842995 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99387217 -0.09694659 -0.05309859 4.80139859] [ 0.09767404 0.9951546 0.0112745 -0.08998006] [ 0.05174829 -0.01639176 0.99852563 -1.23162792] [ 0. 0. 0. 1. ]] SLAMing on 195.151346184 meters Centerline goodness [0,1] 0.8607213800313643 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99386448 -0.09696946 -0.05320079 4.80125316] [ 0.09770875 0.99514896 0.0114698 -0.09153933] [ 0.05183049 -0.01659761 0.99851796 -1.23106195] [ 0. 0. 0. 1. ]] SLAMing on 195.181346184 meters Centerline goodness [0,1] 0.8586156419907989 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.09, Z:-1.23 [[ 0.99351229 -0.10065988 -0.0529238 4.80160181] [ 0.10122965 0.99482936 0.00819103 -0.09425844] [ 0.05182564 -0.01349535 0.99856496 -1.23090877] [ 0. 0. 0. 1. ]] SLAMing on 195.21134618399998 meters Centerline goodness [0,1] 0.8587486655642309 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.10, Z:-1.23 [[ 0.9935046 -0.10073539 -0.05292444 4.80161629] [ 0.10132946 0.99481526 0.00865715 -0.09637269] [ 0.05177796 -0.01396372 0.99856099 -1.23092741] [ 0. 0. 0. 1. ]] SLAMing on 195.24134618399998 meters Centerline goodness [0,1] 0.8660171033098459 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.10, Z:-1.23 [[ 0.99349711 -0.1006947 -0.05314204 4.80179139] [ 0.10131471 0.99481282 0.00909807 -0.09807326] [ 0.05195026 -0.01442298 0.99854552 -1.23048459] [ 0. 0. 0. 1. ]] SLAMing on 195.27134618399998 meters Centerline goodness [0,1] 0.8590966122961105 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.10, Z:-1.23 [[ 0.99343864 -0.10134782 -0.05299329 4.80012175] [ 0.10196946 0.99474541 0.00915446 -0.1025796 ] [ 0.05178705 -0.01449809 0.99855291 -1.22839294] [ 0. 0. 0. 1. ]] SLAMing on 195.30134618399998 meters Centerline goodness [0,1] 0.8594947844665075 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.11, Z:-1.23 [[ 0.99344789 -0.10126064 -0.05298656 4.800214 ] [ 0.10191684 0.9947444 0.00982548 -0.10540114] [ 0.05171315 -0.01516132 0.99854689 -1.22846685] [ 0. 0. 0. 1. ]] SLAMing on 195.33134618399998 meters Centerline goodness [0,1] 0.8574149659863946 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.11, Z:-1.23 [[ 0.99347475 -0.10092007 -0.05313257 4.8008345 ] [ 0.10162032 0.99476635 0.01064016 -0.10789926] [ 0.05178069 -0.01597008 0.99853078 -1.22881543] [ 0. 0. 0. 1. ]] SLAMing on 195.36134618399998 meters Centerline goodness [0,1] 0.8590585774058578 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.11, Z:-1.23 [[ 0.99349926 -0.10064011 -0.05320522 4.80115337] [ 0.10137438 0.9947844 0.01127999 -0.11005054] [ 0.0517925 -0.01660031 0.99851989 -1.22893821] [ 0. 0. 0. 1. ]] SLAMing on 195.39134618399999 meters Centerline goodness [0,1] 0.8567777079404987 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.11, Z:-1.23 [[ 0.99350887 -0.10043489 -0.05341305 4.80140017] [ 0.10120026 0.9947959 0.01181606 -0.112407 ] [ 0.05194834 -0.01714478 0.99850259 -1.22858509] [ 0. 0. 0. 1. ]] SLAMing on 195.421346184 meters Centerline goodness [0,1] 0.856537517568333 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-1.23 [[ 0.99324671 -0.10292298 -0.05355225 4.80336431] [ 0.1035811 0.99457415 0.00965508 -0.11723937] [ 0.05226795 -0.01513688 0.99851837 -1.22916167] [ 0. 0. 0. 1. ]] SLAMing on 195.451346184 meters Centerline goodness [0,1] 0.8541710399261094 Centerline is valid? [False, False] Translation: X:4.80, Y:-0.12, Z:-1.23 [[ 0.99328434 -0.10242754 -0.05380359 4.80435553] [ 0.10314692 0.99460792 0.01076102 -0.12088598] [ 0.05241125 -0.01623843 0.99849355 -1.22966774] [ 0. 0. 0. 1. ]] SLAMing on 195.481346184 meters Centerline goodness [0,1] 0.8546259202550496 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.13, Z:-1.23 [[ 0.99298446 -0.10518557 -0.05401719 4.80656436] [ 0.10582057 0.99434428 0.00902512 -0.12698925] [ 0.05276237 -0.01467794 0.99849922 -1.23052287] [ 0. 0. 0. 1. ]] SLAMing on 195.511346184 meters Centerline goodness [0,1] 0.8566472297113716 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.13, Z:-1.23 [[ 0.99300479 -0.10488546 -0.0542267 4.80726355] [ 0.10558378 0.99435841 0.01016953 -0.13095367] [ 0.05285414 -0.01582385 0.99847686 -1.23077311] [ 0. 0. 0. 1. ]] SLAMing on 195.541346184 meters Centerline goodness [0,1] 0.8586535441315045 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.13, Z:-1.23 [[ 0.9930114 -0.1047558 -0.05435614 4.80727635] [ 0.10549507 0.99436001 0.01090645 -0.13373176] [ 0.05290705 -0.01656453 0.99846205 -1.23034307] [ 0. 0. 0. 1. ]] SLAMing on 195.571346184 meters Centerline goodness [0,1] 0.8531958504141219 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.14, Z:-1.23 [[ 0.99302096 -0.10464226 -0.05440006 4.80707159] [ 0.10541548 0.99436135 0.01153607 -0.13627247] [ 0.05288615 -0.01719017 0.99845258 -1.22984077] [ 0. 0. 0. 1. ]] SLAMing on 195.601346184 meters Centerline goodness [0,1] 0.8536646533887855 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.14, Z:-1.23 [[ 0.99298845 -0.10505099 -0.05420539 4.80635867] [ 0.10583144 0.99431494 0.01172626 -0.14267423] [ 0.05266537 -0.01738068 0.99846095 -1.22860094] [ 0. 0. 0. 1. ]] SLAMing on 195.631346184 meters Centerline goodness [0,1] 0.8517495973729895 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.15, Z:-1.23 [[ 0.99302308 -0.10459815 -0.05444629 4.80694557] [ 0.10542848 0.99434706 0.01260037 -0.1456193 ] [ 0.05282053 -0.01825265 0.99843719 -1.22856856] [ 0. 0. 0. 1. ]] SLAMing on 195.661346184 meters Centerline goodness [0,1] 0.8521933676243048 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.15, Z:-1.23 [[ 0.99304453 -0.1043361 -0.05455765 4.80714664] [ 0.10519722 0.99436444 0.01314963 -0.14754701] [ 0.05287821 -0.01879748 0.99842403 -1.22839438] [ 0. 0. 0. 1. ]] SLAMing on 195.691346184 meters Centerline goodness [0,1] 0.85390559732665 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.15, Z:-1.23 [[ 0.99305591 -0.10413844 -0.05472797 4.80740661] [ 0.10502584 0.99437665 0.01358894 -0.14900942] [ 0.05300509 -0.01924243 0.99840883 -1.22819537] [ 0. 0. 0. 1. ]] SLAMing on 195.721346184 meters Centerline goodness [0,1] 0.8499154717926242 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.15, Z:-1.23 [[ 0.99309408 -0.10360937 -0.05503854 4.80850622] [ 0.1045593 0.99441057 0.01466178 -0.1524654 ] [ 0.05321181 -0.02031532 0.99837658 -1.22860825] [ 0. 0. 0. 1. ]] SLAMing on 195.751346184 meters Centerline goodness [0,1] 0.8493027346203778 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.15, Z:-1.23 [[ 0.99310953 -0.10340308 -0.05514763 4.80878514] [ 0.10438373 0.99442092 0.01520088 -0.15446304] [ 0.05326813 -0.02085266 0.9983625 -1.22860079] [ 0. 0. 0. 1. ]] SLAMing on 195.781346184 meters Centerline goodness [0,1] 0.8488832136651944 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.9931203 -0.10325223 -0.05523629 4.8089483 ] [ 0.10426066 0.99442624 0.01568993 -0.15647346] [ 0.0533084 -0.02134096 0.99835003 -1.22845415] [ 0. 0. 0. 1. ]] SLAMing on 195.811346184 meters Centerline goodness [0,1] 0.8452088967150913 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99296101 -0.10511596 -0.05458078 4.80738254] [ 0.10602124 0.99426592 0.01395609 -0.15931606] [ 0.0528008 -0.01964457 0.99841182 -1.22724903] [ 0. 0. 0. 1. ]] SLAMing on 195.841346184 meters Centerline goodness [0,1] 0.845333277665282 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99294709 -0.10517263 -0.05472464 4.80753606] [ 0.1060935 0.99425483 0.01419539 -0.16055325] [ 0.05291727 -0.0199012 0.99840057 -1.22700174] [ 0. 0. 0. 1. ]] SLAMing on 195.871346184 meters Centerline goodness [0,1] 0.8506163279827554 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99293737 -0.10519135 -0.05486499 4.8076304 ] [ 0.10612742 0.99424785 0.01442824 -0.16173008] [ 0.05303167 -0.02014901 0.99838953 -1.226686 ] [ 0. 0. 0. 1. ]] SLAMing on 195.901346184 meters Centerline goodness [0,1] 0.8513865993364356 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99258098 -0.10857548 -0.05472072 4.80856686] [ 0.10931835 0.99394854 0.01076139 -0.16161968] [ 0.05322115 -0.01666353 0.99844371 -1.22684802] [ 0. 0. 0. 1. ]] SLAMing on 195.931346184 meters Centerline goodness [0,1] 0.8503364400050153 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99259245 -0.10841804 -0.05482476 4.80912191] [ 0.1091772 0.99396101 0.0110382 -0.16248609] [ 0.05329694 -0.01694205 0.99843498 -1.22726755] [ 0. 0. 0. 1. ]] SLAMing on 195.96134618399998 meters Centerline goodness [0,1] 0.8531255223132208 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99257935 -0.10845845 -0.05498179 4.80949845] [ 0.10921376 0.99395836 0.01091515 -0.16177972] [ 0.05346577 -0.01683892 0.99842769 -1.22736597] [ 0. 0. 0. 1. ]] SLAMing on 195.99134618399998 meters Centerline goodness [0,1] 0.8503325709729537 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99254978 -0.10872221 -0.05499471 4.80938213] [ 0.109464 0.99393368 0.01065209 -0.16132034] [ 0.05350297 -0.01659267 0.99842982 -1.22717388] [ 0. 0. 0. 1. ]] SLAMing on 196.02134618399998 meters Centerline goodness [0,1] 0.8530450962764734 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99251632 -0.10898137 -0.05508559 4.80936778] [ 0.10972322 0.99390546 0.01061816 -0.16189094] [ 0.05359269 -0.01658287 0.99842518 -1.22688058] [ 0. 0. 0. 1. ]] SLAMing on 196.05134618399998 meters Centerline goodness [0,1] 0.856802806314207 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.16, Z:-1.23 [[ 0.99247002 -0.10940886 -0.05507235 4.80908954] [ 0.11015046 0.99385833 0.0106065 -0.16317006] [ 0.05357367 -0.01659288 0.99842603 -1.22653901] [ 0. 0. 0. 1. ]] SLAMing on 196.08134618399998 meters Centerline goodness [0,1] 0.8573103087388801 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.17, Z:-1.23 [[ 0.99200152 -0.11380466 -0.05460302 4.80887414] [ 0.11434374 0.99341768 0.00684209 -0.16517293] [ 0.05346495 -0.01303088 0.9984847 -1.22613122] [ 0. 0. 0. 1. ]] SLAMing on 196.11134618399998 meters Centerline goodness [0,1] 0.8545043820201217 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.17, Z:-1.23 [[ 0.99189554 -0.11483315 -0.05437451 4.80779033] [ 0.11535366 0.99330307 0.00652258 -0.16731955] [ 0.05326136 -0.01274202 0.99849931 -1.2252663 ] [ 0. 0. 0. 1. ]] SLAMing on 196.14134618399999 meters Centerline goodness [0,1] 0.8583448738931554 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.17, Z:-1.23 [[ 0.99186272 -0.11510633 -0.05439562 4.80778393] [ 0.11564805 0.99326623 0.00690796 -0.16986878] [ 0.05323419 -0.0131425 0.99849557 -1.22512987] [ 0. 0. 0. 1. ]] SLAMing on 196.171346184 meters Centerline goodness [0,1] 0.8564829330490583 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.17, Z:-1.23 [[ 0.99189041 -0.11469856 -0.05475077 4.80939474] [ 0.11530664 0.99329717 0.00806917 -0.17346352] [ 0.05345826 -0.01431686 0.99846745 -1.2262602 ] [ 0. 0. 0. 1. ]] SLAMing on 196.201346184 meters Centerline goodness [0,1] 0.8602096646201395 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.17, Z:-1.23 [[ 0.99192144 -0.1143099 -0.05500103 4.81030789] [ 0.11494562 0.99333519 0.00852675 -0.17433301] [ 0.05365976 -0.01477999 0.99844989 -1.22676655] [ 0. 0. 0. 1. ]] SLAMing on 196.231346184 meters Centerline goodness [0,1] 0.8551666317333892 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99196417 -0.11383606 -0.05521268 4.81105213] [ 0.11450073 0.99338223 0.00901791 -0.17524301] [ 0.05382073 -0.01526733 0.99843389 -1.22712304] [ 0. 0. 0. 1. ]] SLAMing on 196.261346184 meters Centerline goodness [0,1] 0.8491803278688524 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99208333 -0.1126652 -0.05547275 4.81199047] [ 0.11338474 0.99350094 0.00998908 -0.17658572] [ 0.0539868 -0.01619977 0.99841023 -1.22752124] [ 0. 0. 0. 1. ]] SLAMing on 196.291346184 meters Centerline goodness [0,1] 0.8466179273938454 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99210988 -0.11236478 -0.05560707 4.8122581 ] [ 0.11309923 0.99353101 0.01023189 -0.17728521] [ 0.05409764 -0.01644028 0.9984003 -1.22738614] [ 0. 0. 0. 1. ]] SLAMing on 196.321346184 meters Centerline goodness [0,1] 0.8480991458717133 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99214142 -0.11201705 -0.05574575 4.81255321] [ 0.11277052 0.99356506 0.0105493 -0.17805617] [ 0.05420533 -0.01675287 0.99838926 -1.22730299] [ 0. 0. 0. 1. ]] SLAMing on 196.351346184 meters Centerline goodness [0,1] 0.850267268019711 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99216603 -0.11170423 -0.05593513 4.81308516] [ 0.11247933 0.99359432 0.01089613 -0.17884671] [ 0.05435968 -0.01710231 0.99837495 -1.2274109 ] [ 0. 0. 0. 1. ]] SLAMing on 196.381346184 meters Centerline goodness [0,1] 0.8462780795771546 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.99218832 -0.11140428 -0.05613755 4.8139294 ] [ 0.11221586 0.99361721 0.01150841 -0.18081331] [ 0.05449715 -0.01771804 0.99835672 -1.22791611] [ 0. 0. 0. 1. ]] SLAMing on 196.411346184 meters Centerline goodness [0,1] 0.8474700818811673 Centerline is valid? [False, False] Translation: X:4.81, Y:-0.18, Z:-1.23 [[ 0.9921999 -0.11118238 -0.05637231 4.81479854] [ 0.11202883 0.9936316 0.01207446 -0.18284455] [ 0.05467084 -0.0182956 0.9983368 -1.22836408] [ 0. 0. 0. 1. ]] SLAMing on 196.441346184 meters Centerline goodness [0,1] 0.850934276328179 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99219769 -0.11107354 -0.05662518 4.81597494] [ 0.11195332 0.99363359 0.01259914 -0.18491789] [ 0.05486525 -0.01884021 0.99831601 -1.22913851] [ 0. 0. 0. 1. ]] SLAMing on 196.471346184 meters Centerline goodness [0,1] 0.8484524408656265 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.19, Z:-1.23 [[ 0.99221065 -0.11088202 -0.05677335 4.81713655] [ 0.11180376 0.9936411 0.01331511 -0.18701344] [ 0.05493592 -0.01955887 0.9982983 -1.23027057] [ 0. 0. 0. 1. ]] SLAMing on 196.501346184 meters Centerline goodness [0,1] 0.8469452158545822 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.19, Z:-1.23 [[ 0.99219135 -0.11102119 -0.05683859 4.81704091] [ 0.11193686 0.99362794 0.01317817 -0.18669736] [ 0.05501335 -0.0194376 0.9982964 -1.22997588] [ 0. 0. 0. 1. ]] SLAMing on 196.531346184 meters Centerline goodness [0,1] 0.8483590227534864 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.19, Z:-1.23 [[ 0.99215344 -0.11132581 -0.05690439 4.81682 ] [ 0.11222215 0.99360074 0.01279653 -0.18587111] [ 0.05511566 -0.01908206 0.99829762 -1.22947389] [ 0. 0. 0. 1. ]] SLAMing on 196.561346184 meters Centerline goodness [0,1] 0.8486679253199076 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99211936 -0.11159713 -0.05696706 4.81649056] [ 0.11246644 0.99357966 0.0122788 -0.18443192] [ 0.05523103 -0.01858892 0.99830055 -1.22885913] [ 0. 0. 0. 1. ]] SLAMing on 196.591346184 meters Centerline goodness [0,1] 0.8509077187539307 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99209713 -0.11184266 -0.05687265 4.81571123] [ 0.11266682 0.99356642 0.01148748 -0.18222753] [ 0.05522197 -0.01780436 0.99831535 -1.22803713] [ 0. 0. 0. 1. ]] SLAMing on 196.621346184 meters Centerline goodness [0,1] 0.8526119793301115 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99208457 -0.11187925 -0.05701956 4.81635929] [ 0.11270323 0.99356288 0.01143589 -0.1826751 ] [ 0.05537308 -0.01777166 0.99830756 -1.22840762] [ 0. 0. 0. 1. ]] SLAMing on 196.651346184 meters Centerline goodness [0,1] 0.8500325650776309 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99207933 -0.11185811 -0.0571521 4.81700784] [ 0.1126938 0.993562 0.01160451 -0.18377881] [ 0.0554861 -0.01795329 0.99829804 -1.22887721] [ 0. 0. 0. 1. ]] SLAMing on 196.681346184 meters Centerline goodness [0,1] 0.8511434336640322 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99205835 -0.11205055 -0.05713934 4.81729008] [ 0.11287488 0.99354382 0.01139896 -0.18341542] [ 0.05549318 -0.01775803 0.99830114 -1.2293227 ] [ 0. 0. 0. 1. ]] SLAMing on 196.71134618399998 meters Centerline goodness [0,1] 0.8569274901065768 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99199182 -0.11265764 -0.05710074 4.81708394] [ 0.11341348 0.99349589 0.0101635 -0.17875744] [ 0.05558436 -0.0165581 0.99831669 -1.22928923] [ 0. 0. 0. 1. ]] SLAMing on 196.74134618399998 meters Centerline goodness [0,1] 0.8557538849223015 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99195111 -0.11300594 -0.05711966 4.81681867] [ 0.11372487 0.99346699 0.00948606 -0.1768134 ] [ 0.05567451 -0.01590563 0.99832227 -1.22893911] [ 0. 0. 0. 1. ]] SLAMing on 196.77134618399998 meters Centerline goodness [0,1] 0.8554650700274248 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.18, Z:-1.23 [[ 0.99191377 -0.11334366 -0.05709889 4.81654938] [ 0.11403428 0.99343627 0.00897519 -0.17548704] [ 0.05570682 -0.01541385 0.99832818 -1.22863743] [ 0. 0. 0. 1. ]] SLAMing on 196.80134618399998 meters Centerline goodness [0,1] 0.8557696352698667 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99184497 -0.11398995 -0.05700743 4.81572804] [ 0.11462136 0.99337768 0.00792073 -0.17288866] [ 0.05572702 -0.01439041 0.99834233 -1.22785216] [ 0. 0. 0. 1. ]] SLAMing on 196.83134618399998 meters Centerline goodness [0,1] 0.8614441445399954 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99181377 -0.11418457 -0.05716054 4.81599179] [ 0.11478915 0.99336234 0.00739682 -0.17128398] [ 0.05593653 -0.01389768 0.9983376 -1.22777695] [ 0. 0. 0. 1. ]] SLAMing on 196.86134618399998 meters Centerline goodness [0,1] 0.8625619161075929 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99180747 -0.11418401 -0.05727091 4.81612239] [ 0.11476458 0.99336846 0.00694187 -0.16959409] [ 0.05609846 -0.01345767 0.99833454 -1.22765476] [ 0. 0. 0. 1. ]] SLAMing on 196.89134618399999 meters Centerline goodness [0,1] 0.857089060440595 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99190433 -0.1133545 -0.05724119 4.81642984] [ 0.11391954 0.99346741 0.00669601 -0.16686389] [ 0.05610823 -0.01316269 0.99833792 -1.22804771] [ 0. 0. 0. 1. ]] SLAMing on 196.921346184 meters Centerline goodness [0,1] 0.8570980359346567 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99192366 -0.1131003 -0.05740881 4.81679494] [ 0.11366141 0.99349766 0.00659404 -0.16612596] [ 0.05628973 -0.01306595 0.99832898 -1.22804007] [ 0. 0. 0. 1. ]] SLAMing on 196.951346184 meters Centerline goodness [0,1] 0.8552830505627415 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99194953 -0.11284494 -0.05746439 4.8167347 ] [ 0.11339692 0.99352898 0.00642659 -0.16526606] [ 0.05636733 -0.01289114 0.99832687 -1.22775938] [ 0. 0. 0. 1. ]] SLAMing on 196.981346184 meters Centerline goodness [0,1] 0.8552830505627415 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 0.99194953 -0.11284494 -0.05746439 4.8167347 ] [ 0.11339692 0.99352898 0.00642659 -0.16526606] [ 0.05636733 -0.01289114 0.99832687 -1.22775938] [ 0. 0. 0. 1. ]] SLAMing on 197.011346184 meters Centerline goodness [0,1] 0.8567096760701813 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.16, Z:-1.23 [[ 0.99200161 -0.11218581 -0.05785461 4.81747645] [ 0.11272346 0.99360765 0.00610445 -0.16239267] [ 0.05679995 -0.01257719 0.99830636 -1.22759478] [ 0. 0. 0. 1. ]] SLAMing on 197.041346184 meters Centerline goodness [0,1] 0.8538580634362708 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.16, Z:-1.23 [[ 0.99199981 -0.11218024 -0.05789625 4.81738498] [ 0.11271104 0.99360984 0.00597519 -0.1617668 ] [ 0.05685598 -0.01245293 0.99830472 -1.22735813] [ 0. 0. 0. 1. ]] SLAMing on 197.071346184 meters Centerline goodness [0,1] 0.851276359600444 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.16, Z:-1.23 [[ 0.99200752 -0.11205619 -0.05800431 4.8178101 ] [ 0.11260411 0.99362024 0.00625514 -0.16272519] [ 0.05693333 -0.01273667 0.99829674 -1.22758239] [ 0. 0. 0. 1. ]] SLAMing on 197.101346184 meters Centerline goodness [0,1] 0.8544184684873071 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.16, Z:-1.23 [[ 9.91672489e-01 -1.14987898e-01 -5.79953303e-02 4.81983613e+00] [ 1.15377409e-01 9.93315902e-01 3.40190432e-03 -1.64638332e-01] [ 5.72165060e-02 -1.00649259e-02 9.98311058e-01 -1.22871218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.131346184 meters Centerline goodness [0,1] 0.8555606636853763 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 9.91683876e-01 -1.14820086e-01 -5.81329351e-02 4.82050542e+00] [ 1.15249026e-01 9.93328296e-01 4.06930426e-03 -1.66959558e-01] [ 5.72778515e-02 -1.07352276e-02 9.98300557e-01 -1.22914165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.161346184 meters Centerline goodness [0,1] 0.8559405628895838 Centerline is valid? [False, False] Translation: X:4.82, Y:-0.17, Z:-1.23 [[ 9.91674051e-01 -1.14838985e-01 -5.82630658e-02 4.82076795e+00] [ 1.15295331e-01 9.93320968e-01 4.52115071e-03 -1.69136723e-01] [ 5.73547206e-02 -1.12009673e-02 9.98291027e-01 -1.22905058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.191346184 meters Centerline goodness [0,1] 0.8548562581077123 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.17, Z:-1.23 [[ 0.99172331 -0.11757048 -0.05159521 4.83335718] [ 0.11823951 0.99293373 0.01010131 -0.17278658] [ 0.05004301 -0.0161183 0.99861699 -1.2305603 ] [ 0. 0. 0. 1. ]] SLAMing on 197.221346184 meters Centerline goodness [0,1] 0.856535756154748 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.17, Z:-1.23 [[ 0.99166714 -0.11812258 -0.05141338 4.83186863] [ 0.11877776 0.99287181 0.00986941 -0.17383873] [ 0.04988109 -0.01589394 0.99862869 -1.22900333] [ 0. 0. 0. 1. ]] SLAMing on 197.251346184 meters Centerline goodness [0,1] 0.8564213865353312 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.17, Z:-1.23 [[ 0.99166305 -0.1181461 -0.05143818 4.83168034] [ 0.11881542 0.99286454 0.010144 -0.1749619 ] [ 0.04987267 -0.01617108 0.99862466 -1.22859022] [ 0. 0. 0. 1. ]] SLAMing on 197.281346184 meters Centerline goodness [0,1] 0.8588899341486359 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.18, Z:-1.23 [[ 0.99166256 -0.11808299 -0.05159234 4.83175209] [ 0.11877014 0.99286677 0.01045165 -0.17612283] [ 0.04999016 -0.01649214 0.99861354 -1.22818613] [ 0. 0. 0. 1. ]] SLAMing on 197.311346184 meters Centerline goodness [0,1] 0.8585983263598327 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.18, Z:-1.23 [[ 0.99169873 -0.11766509 -0.05185127 4.83243263] [ 0.11840458 0.99289979 0.01141787 -0.17972207] [ 0.05013963 -0.01746251 0.99858954 -1.22816742] [ 0. 0. 0. 1. ]] SLAMing on 197.341346184 meters Centerline goodness [0,1] 0.8576121526615333 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.18, Z:-1.23 [[ 0.99172753 -0.11736495 -0.05198058 4.83311645] [ 0.11813477 0.99292527 0.01198295 -0.18163798] [ 0.05020645 -0.01802454 0.9985762 -1.22860884] [ 0. 0. 0. 1. ]] SLAMing on 197.371346184 meters Centerline goodness [0,1] 0.8582672233820459 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.18, Z:-1.23 [[ 0.99174901 -0.11715436 -0.0520458 4.83352825] [ 0.11794926 0.99294141 0.01246303 -0.18345737] [ 0.05021833 -0.01849896 0.99856693 -1.22884163] [ 0. 0. 0. 1. ]] SLAMing on 197.401346184 meters Centerline goodness [0,1] 0.8526027282617792 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.99178326 -0.11680306 -0.05218243 4.83455356] [ 0.11763917 0.99296815 0.01323909 -0.18604518] [ 0.05026912 -0.01926901 0.99854981 -1.22967421] [ 0. 0. 0. 1. ]] SLAMing on 197.431346184 meters Centerline goodness [0,1] 0.854107232757174 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.99178533 -0.11675613 -0.0522482 4.83479289] [ 0.11760133 0.99297054 0.01339512 -0.18659741] [ 0.05031696 -0.01942954 0.99854429 -1.22977692] [ 0. 0. 0. 1. ]] SLAMing on 197.46134618399998 meters Centerline goodness [0,1] 0.8549287820794378 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.99176923 -0.11687814 -0.05228093 4.83462856] [ 0.11772306 0.9929564 0.01337423 -0.18699462] [ 0.05034953 -0.01941883 0.99854286 -1.22940582] [ 0. 0. 0. 1. ]] SLAMing on 197.49134618399998 meters Centerline goodness [0,1] 0.8575195680381733 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.99175132 -0.11703656 -0.05226637 4.83397647] [ 0.1178873 0.99293532 0.01349165 -0.18827311] [ 0.05031811 -0.0195419 0.99854204 -1.22847318] [ 0. 0. 0. 1. ]] SLAMing on 197.52134618399998 meters Centerline goodness [0,1] 0.8566500815319646 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.99173751 -0.11714398 -0.05228775 4.83391918] [ 0.11799287 0.99292343 0.01344401 -0.18853763] [ 0.05034285 -0.01950251 0.99854156 -1.22830771] [ 0. 0. 0. 1. ]] SLAMing on 197.55134618399998 meters Centerline goodness [0,1] 0.8576569037656904 Centerline is valid? [False, False] Translation: X:4.83, Y:-0.19, Z:-1.23 [[ 0.9917285 -0.11719868 -0.05233599 4.83418998] [ 0.11805585 0.99291399 0.01358792 -0.18932346] [ 0.05037265 -0.0196541 0.99853709 -1.22847604] [ 0. 0. 0. 1. ]] SLAMing on 197.58134618399998 meters Centerline goodness [0,1] 0.8596054475847785 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99168003 -0.11754657 -0.05247409 4.83505205] [ 0.11841469 0.99286913 0.01374239 -0.19036292] [ 0.05048453 -0.01984175 0.99852772 -1.22927155] [ 0. 0. 0. 1. ]] SLAMing on 197.61134618399998 meters Centerline goodness [0,1] 0.8601770281864027 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99165106 -0.11777044 -0.05251948 4.83517502] [ 0.1186383 0.99284283 0.01371414 -0.19079783] [ 0.05052847 -0.01983046 0.99852573 -1.22929751] [ 0. 0. 0. 1. ]] SLAMing on 197.64134618399999 meters Centerline goodness [0,1] 0.8596428721130067 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99163322 -0.11791502 -0.05253198 4.83515024] [ 0.11878354 0.9928254 0.01371878 -0.19138219] [ 0.05053743 -0.01984393 0.99852501 -1.22916144] [ 0. 0. 0. 1. ]] SLAMing on 197.671346184 meters Centerline goodness [0,1] 0.858965258059128 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99131745 -0.12058733 -0.05242527 4.83681441] [ 0.12128628 0.9925636 0.0103503 -0.19029325] [ 0.0507873 -0.0166189 0.99857121 -1.23003103] [ 0. 0. 0. 1. ]] SLAMing on 197.701346184 meters Centerline goodness [0,1] 0.8575647766071092 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.991323 -0.12053985 -0.05242949 4.83673769] [ 0.12123845 0.99256952 0.01034324 -0.1906041 ] [ 0.05079314 -0.01660996 0.99857106 -1.2298306 ] [ 0. 0. 0. 1. ]] SLAMing on 197.731346184 meters Centerline goodness [0,1] 0.8579264718197805 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99133709 -0.12044629 -0.05237805 4.83661746] [ 0.121148 0.99257973 0.01042335 -0.19089029] [ 0.05073393 -0.01667855 0.99857293 -1.22974385] [ 0. 0. 0. 1. ]] SLAMing on 197.761346184 meters Centerline goodness [0,1] 0.8591121446378815 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.991338 -0.12046729 -0.05231248 4.83629328] [ 0.12116522 0.99257818 0.01037005 -0.19052208] [ 0.05067497 -0.01661867 0.99857692 -1.22949064] [ 0. 0. 0. 1. ]] SLAMing on 197.791346184 meters Centerline goodness [0,1] 0.8580006695120931 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99133547 -0.12049976 -0.05228568 4.8363144 ] [ 0.12119946 0.99257355 0.01041296 -0.19068712] [ 0.05064263 -0.01665974 0.99857788 -1.22956732] [ 0. 0. 0. 1. ]] SLAMing on 197.821346184 meters Centerline goodness [0,1] 0.8571965819108707 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.19, Z:-1.23 [[ 0.99135024 -0.12028091 -0.052509 4.83700257] [ 0.12100418 0.99259316 0.010808 -0.19193185] [ 0.05082008 -0.01706832 0.99856196 -1.22977357] [ 0. 0. 0. 1. ]] SLAMing on 197.851346184 meters Centerline goodness [0,1] 0.8568585970718221 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.991425 -0.11959488 -0.05266436 4.83805455] [ 0.12038098 0.99265518 0.01200503 -0.19691998] [ 0.05084181 -0.01824187 0.99854011 -1.23030698] [ 0. 0. 0. 1. ]] SLAMing on 197.881346184 meters Centerline goodness [0,1] 0.8582362659194044 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.99144602 -0.11939523 -0.05272169 4.83823981] [ 0.12020664 0.99267037 0.012486 -0.19899443] [ 0.05084449 -0.0187167 0.99853118 -1.23024915] [ 0. 0. 0. 1. ]] SLAMing on 197.911346184 meters Centerline goodness [0,1] 0.8572741898414158 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.99145588 -0.11929266 -0.05276843 4.83836949] [ 0.12012324 0.99267585 0.01284763 -0.20038988] [ 0.05084932 -0.01907657 0.99852413 -1.23018898] [ 0. 0. 0. 1. ]] SLAMing on 197.941346184 meters Centerline goodness [0,1] 0.8596788357797014 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.99146577 -0.11916819 -0.05286377 4.83877178] [ 0.12002504 0.99268137 0.01333 -0.20194936] [ 0.05088837 -0.01956121 0.99851276 -1.23037887] [ 0. 0. 0. 1. ]] SLAMing on 197.971346184 meters Centerline goodness [0,1] 0.8598418277680141 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.99145681 -0.11924866 -0.05285035 4.83886166] [ 0.12014186 0.99265734 0.01404744 -0.20474384] [ 0.05078715 -0.02027697 0.99850364 -1.2304001 ] [ 0. 0. 0. 1. ]] SLAMing on 198.001346184 meters Centerline goodness [0,1] 0.8596913167140706 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99145093 -0.11929264 -0.05286141 4.83899418] [ 0.12020668 0.99264369 0.01445172 -0.20643901] [ 0.05074857 -0.02068247 0.99849728 -1.23045865] [ 0. 0. 0. 1. ]] SLAMing on 198.031346184 meters Centerline goodness [0,1] 0.8620005015883632 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99144398 -0.11932741 -0.05291316 4.83913749] [ 0.12026821 0.99262877 0.01495602 -0.20895167] [ 0.05073846 -0.02119182 0.99848711 -1.2303371 ] [ 0. 0. 0. 1. ]] SLAMing on 198.061346184 meters Centerline goodness [0,1] 0.8595295347621537 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99102672 -0.12288555 -0.05258506 4.83993781] [ 0.12364624 0.99226026 0.01145347 -0.20990365] [ 0.0507706 -0.01785264 0.99855076 -1.2307644 ] [ 0. 0. 0. 1. ]] SLAMing on 198.091346184 meters Centerline goodness [0,1] 0.8617357290773318 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99062137 -0.12625202 -0.05224673 4.84100414] [ 0.12687929 0.99187864 0.00885518 -0.21485798] [ 0.05070443 -0.01540116 0.99859495 -1.23132106] [ 0. 0. 0. 1. ]] SLAMing on 198.121346184 meters Centerline goodness [0,1] 0.8619680628709974 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99062794 -0.12619761 -0.05225367 4.84127889] [ 0.12684699 0.99187879 0.00929006 -0.21641603] [ 0.05065692 -0.01583121 0.99859063 -1.23157871] [ 0. 0. 0. 1. ]] SLAMing on 198.151346184 meters Centerline goodness [0,1] 0.863016848530457 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.9905816 -0.12658937 -0.05218457 4.84113573] [ 0.12724187 0.99182752 0.00936359 -0.21655232] [ 0.05057276 -0.01591546 0.99859356 -1.2316252 ] [ 0. 0. 0. 1. ]] SLAMing on 198.181346184 meters Centerline goodness [0,1] 0.861561643262248 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99056703 -0.12666403 -0.05227984 4.841443 ] [ 0.12733022 0.99181391 0.00960164 -0.21754614] [ 0.05063569 -0.01616787 0.99858631 -1.2317121 ] [ 0. 0. 0. 1. ]] SLAMing on 198.21134618399998 meters Centerline goodness [0,1] 0.8638475058587212 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99056855 -0.12661541 -0.05236884 4.8420825 ] [ 0.12730527 0.99181276 0.01004079 -0.2192997 ] [ 0.05066876 -0.01661292 0.99857733 -1.23218726] [ 0. 0. 0. 1. ]] SLAMing on 198.24134618399998 meters Centerline goodness [0,1] 0.8629913349240236 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99057383 -0.12655287 -0.05242001 4.84268902] [ 0.12726069 0.991815 0.01037897 -0.22067334] [ 0.05067746 -0.01695214 0.99857119 -1.23275914] [ 0. 0. 0. 1. ]] SLAMing on 198.27134618399998 meters Centerline goodness [0,1] 0.8629856423331731 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99056423 -0.12664888 -0.05236951 4.8427739 ] [ 0.12736102 0.99180107 0.01047874 -0.2211723 ] [ 0.05061301 -0.0170497 0.9985728 -1.23296659] [ 0. 0. 0. 1. ]] SLAMing on 198.30134618399998 meters Centerline goodness [0,1] 0.8660691850238713 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99042462 -0.12793433 -0.05188336 4.84050628] [ 0.12859285 0.99165153 0.00954546 -0.22155348] [ 0.05022902 -0.01612588 0.99860753 -1.23123609] [ 0. 0. 0. 1. ]] SLAMing on 198.33134618399998 meters Centerline goodness [0,1] 0.8660949592135536 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99039435 -0.12818987 -0.0518304 4.84036666] [ 0.12884893 0.99161808 0.00956697 -0.22241255] [ 0.05016957 -0.01615337 0.99861008 -1.23107764] [ 0. 0. 0. 1. ]] SLAMing on 198.36134618399998 meters Centerline goodness [0,1] 0.8671603698590017 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99037419 -0.12839508 -0.05170743 4.84027443] [ 0.12905328 0.99159134 0.00958446 -0.22288562] [ 0.05004205 -0.01616522 0.99861628 -1.23126486] [ 0. 0. 0. 1. ]] SLAMing on 198.39134618399999 meters Centerline goodness [0,1] 0.8660314136125654 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99036589 -0.12842623 -0.05178903 4.84066616] [ 0.12908215 0.99158828 0.00951206 -0.222497 ] [ 0.0501318 -0.01610546 0.99861275 -1.23157949] [ 0. 0. 0. 1. ]] SLAMing on 198.421346184 meters Centerline goodness [0,1] 0.866282722513089 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99036562 -0.12835959 -0.05195923 4.84141167] [ 0.1290113 0.9915988 0.00937545 -0.22165587] [ 0.05031928 -0.01598845 0.9986052 -1.23214332] [ 0. 0. 0. 1. ]] SLAMing on 198.451346184 meters Centerline goodness [0,1] 0.8665759162303666 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99040519 -0.12806442 -0.05193326 4.8418345 ] [ 0.12869875 0.99164248 0.0090461 -0.21883724] [ 0.05034074 -0.01564305 0.99860959 -1.23291971] [ 0. 0. 0. 1. ]] SLAMing on 198.481346184 meters Centerline goodness [0,1] 0.8698129412011144 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99040671 -0.12800313 -0.05205532 4.84201747] [ 0.12861982 0.99165616 0.00866084 -0.21738582] [ 0.05051236 -0.0152731 0.99860665 -1.23282666] [ 0. 0. 0. 1. ]] SLAMing on 198.511346184 meters Centerline goodness [0,1] 0.8701890896921017 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.22, Z:-1.23 [[ 0.99041138 -0.12796302 -0.05206504 4.84194552] [ 0.1285608 0.99166702 0.00828537 -0.21625238] [ 0.05057097 -0.01489945 0.99860932 -1.23267107] [ 0. 0. 0. 1. ]] SLAMing on 198.541346184 meters Centerline goodness [0,1] 0.8698730571033558 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99045218 -0.12768731 -0.05196574 4.84148408] [ 0.12825102 0.99171225 0.00764802 -0.21357719] [ 0.05055851 -0.01423965 0.99861958 -1.23227972] [ 0. 0. 0. 1. ]] SLAMing on 198.571346184 meters Centerline goodness [0,1] 0.8723689446457369 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99043631 -0.12776549 -0.05207586 4.84176135] [ 0.12830198 0.99170988 0.007079 -0.21124608] [ 0.05073969 -0.01369273 0.99861804 -1.23243329] [ 0. 0. 0. 1. ]] SLAMing on 198.601346184 meters Centerline goodness [0,1] 0.8719022103148024 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99043498 -0.12772748 -0.05219426 4.84222052] [ 0.12825084 0.99171851 0.00679028 -0.20983246] [ 0.05089471 -0.01341929 0.99861386 -1.23274892] [ 0. 0. 0. 1. ]] SLAMing on 198.631346184 meters Centerline goodness [0,1] 0.8739793140990746 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99044012 -0.12771666 -0.05212314 4.84201076] [ 0.12822542 0.9917236 0.00652249 -0.20913784] [ 0.05085872 -0.01314365 0.99861936 -1.23260169] [ 0. 0. 0. 1. ]] SLAMing on 198.661346184 meters Centerline goodness [0,1] 0.8735212685627989 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99043264 -0.12775645 -0.05216784 4.8420885 ] [ 0.12825056 0.99172227 0.00622275 -0.20788954] [ 0.05094101 -0.01285377 0.99861894 -1.23261858] [ 0. 0. 0. 1. ]] SLAMing on 198.691346184 meters Centerline goodness [0,1] 0.8733604324686753 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99042344 -0.12781599 -0.05219649 4.84209324] [ 0.12828842 0.99172 0.00578939 -0.20572898] [ 0.05102433 -0.01243015 0.99862005 -1.23260063] [ 0. 0. 0. 1. ]] SLAMing on 198.721346184 meters Centerline goodness [0,1] 0.8741839638433211 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.20, Z:-1.23 [[ 0.99040102 -0.12793622 -0.05232723 4.84225545] [ 0.12839128 0.9917088 0.00541548 -0.20404839] [ 0.05120054 -0.01208185 0.99861531 -1.23253932] [ 0. 0. 0. 1. ]] SLAMing on 198.751346184 meters Centerline goodness [0,1] 0.8737766414485404 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99030091 -0.12867145 -0.0524192 4.84242624] [ 0.12911737 0.9916157 0.00519695 -0.20597382] [ 0.051311 -0.01191478 0.99861165 -1.23233952] [ 0. 0. 0. 1. ]] SLAMing on 198.781346184 meters Centerline goodness [0,1] 0.875740388036585 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99027659 -0.12883532 -0.05247599 4.84323058] [ 0.12930284 0.99158934 0.00559977 -0.20818195] [ 0.05131318 -0.01233062 0.99860649 -1.2330957 ] [ 0. 0. 0. 1. ]] SLAMing on 198.811346184 meters Centerline goodness [0,1] 0.8744187020821986 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99023389 -0.12912008 -0.05258188 4.84370534] [ 0.12960271 0.99154868 0.00586044 -0.21000743] [ 0.05138079 -0.01261796 0.99859942 -1.2333375 ] [ 0. 0. 0. 1. ]] SLAMing on 198.841346184 meters Centerline goodness [0,1] 0.8726223820074411 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99019435 -0.12940131 -0.05263499 4.8442436 ] [ 0.12990078 0.99150782 0.00616715 -0.21226482] [ 0.05138997 -0.012944 0.99859477 -1.23365844] [ 0. 0. 0. 1. ]] SLAMing on 198.871346184 meters Centerline goodness [0,1] 0.8726223820074411 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 0.99019435 -0.12940131 -0.05263499 4.8442436 ] [ 0.12990078 0.99150782 0.00616715 -0.21226482] [ 0.05138997 -0.012944 0.99859477 -1.23365844] [ 0. 0. 0. 1. ]] SLAMing on 198.901346184 meters Centerline goodness [0,1] 0.8713484679841234 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 9.89958814e-01 -1.31396062e-01 -5.21212206e-02 4.84321515e+00] [ 1.31811368e-01 9.91264156e-01 4.59734135e-03 -2.14636075e-01] [ 5.10618252e-02 -1.14213480e-02 9.98630183e-01 -1.23299055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.931346184 meters Centerline goodness [0,1] 0.8675436940055811 Centerline is valid? [False, False] Translation: X:4.84, Y:-0.21, Z:-1.23 [[ 9.89969626e-01 -1.31247796e-01 -5.22891552e-02 4.84412996e+00] [ 1.31672663e-01 9.91281870e-01 4.75006331e-03 -2.14257693e-01] [ 5.12098562e-02 -1.15874707e-02 9.98620689e-01 -1.23378376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96134618399998 meters Centerline goodness [0,1] 0.8718168872507958 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-1.23 [[ 0.99001891 -0.1307647 -0.05256575 4.84543184] [ 0.13120424 0.99134283 0.00498478 -0.21290659] [ 0.05145884 -0.01183188 0.99860502 -1.23483128] [ 0. 0. 0. 1. ]] SLAMing on 198.99134618399998 meters Centerline goodness [0,1] 0.8729417186910797 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-1.24 [[ 0.99004858 -0.13042665 -0.05284603 4.84639938] [ 0.13087086 0.99138672 0.00501936 -0.2119571 ] [ 0.05173619 -0.01188542 0.99859006 -1.235355 ] [ 0. 0. 0. 1. ]] SLAMing on 199.02134618399998 meters Centerline goodness [0,1] 0.8768570830717723 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.21, Z:-1.24 [[ 0.9901437 -0.12963098 -0.05302139 4.84728746] [ 0.13012214 0.99148039 0.00590401 -0.21486766] [ 0.05180432 -0.01274508 0.99857592 -1.2356869 ] [ 0. 0. 0. 1. ]] SLAMing on 199.05134618399998 meters Centerline goodness [0,1] 0.8774664685819505 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99017603 -0.12934296 -0.05312097 4.84775831] [ 0.12985864 0.99151213 0.00635908 -0.21689699] [ 0.05184759 -0.01319482 0.99856784 -1.23581222] [ 0. 0. 0. 1. ]] SLAMing on 199.08134618399998 meters Centerline goodness [0,1] 0.8808253141152246 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99022006 -0.12895565 -0.05324171 4.84840143] [ 0.12950987 0.99155286 0.00707951 -0.21971509] [ 0.05187902 -0.0139056 0.99855656 -1.2360906 ] [ 0. 0. 0. 1. ]] SLAMing on 199.11134618399998 meters Centerline goodness [0,1] 0.8773786123541466 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99022217 -0.12887018 -0.05340903 4.84914168] [ 0.12943388 0.99156178 0.00721889 -0.21962475] [ 0.05202805 -0.01406124 0.99854663 -1.23652224] [ 0. 0. 0. 1. ]] SLAMing on 199.14134618399999 meters Centerline goodness [0,1] 0.8795526420508095 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99021141 -0.12890208 -0.05353154 4.84912613] [ 0.12946081 0.99155919 0.00708971 -0.21883849] [ 0.05216581 -0.01395054 0.99854099 -1.23620238] [ 0. 0. 0. 1. ]] SLAMing on 199.171346184 meters Centerline goodness [0,1] 0.8803195962994113 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99020506 -0.1288818 -0.05369755 4.84924972] [ 0.1294531 0.99155878 0.00728598 -0.21974797] [ 0.05230525 -0.01416593 0.99853066 -1.23578418] [ 0. 0. 0. 1. ]] SLAMing on 199.201346184 meters Centerline goodness [0,1] 0.8790428939270238 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.9902326 -0.12859843 -0.0538688 4.85002147] [ 0.12920343 0.99158673 0.0078887 -0.22200344] [ 0.05240112 -0.01477168 0.99851686 -1.23609166] [ 0. 0. 0. 1. ]] SLAMing on 199.231346184 meters Centerline goodness [0,1] 0.8778622764499415 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99023041 -0.12859803 -0.05390993 4.85023317] [ 0.12922011 0.99158201 0.00820247 -0.22349341] [ 0.0524013 -0.01508858 0.99851211 -1.23608816] [ 0. 0. 0. 1. ]] SLAMing on 199.261346184 meters Centerline goodness [0,1] 0.8790778508312743 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99020395 -0.12876986 -0.05398583 4.85029249] [ 0.12939544 0.99155881 0.00824261 -0.22364791] [ 0.05246873 -0.01514739 0.99850768 -1.23590862] [ 0. 0. 0. 1. ]] SLAMing on 199.291346184 meters Centerline goodness [0,1] 0.8786820814082328 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.22, Z:-1.24 [[ 0.99021441 -0.12861856 -0.05415439 4.85089804] [ 0.12926134 0.99157392 0.00852434 -0.22444401] [ 0.05260169 -0.01544099 0.99849619 -1.23613173] [ 0. 0. 0. 1. ]] SLAMing on 199.321346184 meters Centerline goodness [0,1] 0.8785661880306047 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99022569 -0.1284946 -0.05424227 4.85139709] [ 0.12915406 0.99158533 0.00881802 -0.22563841] [ 0.05265277 -0.01573744 0.99848887 -1.236421 ] [ 0. 0. 0. 1. ]] SLAMing on 199.351346184 meters Centerline goodness [0,1] 0.8785537311552514 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99026564 -0.12812053 -0.05439761 4.85229198] [ 0.12881481 0.99162373 0.00944017 -0.22779089] [ 0.05273248 -0.01635549 0.99847473 -1.23694237] [ 0. 0. 0. 1. ]] SLAMing on 199.381346184 meters Centerline goodness [0,1] 0.8798416322768502 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99027748 -0.12796392 -0.05455036 4.85319429] [ 0.12867156 0.99164032 0.00964914 -0.22832571] [ 0.05285959 -0.0165744 0.9984644 -1.2376035 ] [ 0. 0. 0. 1. ]] SLAMing on 199.411346184 meters Centerline goodness [0,1] 0.8798933691568187 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99027938 -0.12789429 -0.05467904 4.85369247] [ 0.12860805 0.99164781 0.00972609 -0.22845829] [ 0.05297844 -0.01666372 0.99845661 -1.23783957] [ 0. 0. 0. 1. ]] SLAMing on 199.441346184 meters Centerline goodness [0,1] 0.8825697294580785 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99027829 -0.1278484 -0.05480605 4.85408713] [ 0.1285719 0.99165107 0.00987056 -0.22900738] [ 0.05308655 -0.01682112 0.99844823 -1.23789604] [ 0. 0. 0. 1. ]] SLAMing on 199.471346184 meters Centerline goodness [0,1] 0.8766153523929208 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.9902628 -0.12795167 -0.05484487 4.85412535] [ 0.1286739 0.99163822 0.00983171 -0.22898894] [ 0.05312829 -0.01679308 0.99844648 -1.23778704] [ 0. 0. 0. 1. ]] SLAMing on 199.501346184 meters Centerline goodness [0,1] 0.882574799831437 Centerline is valid? [False, False] Translation: X:4.85, Y:-0.23, Z:-1.24 [[ 0.99025368 -0.12797341 -0.05495876 4.85446917] [ 0.12869189 0.99163694 0.00972472 -0.228661 ] [ 0.05325463 -0.01670269 0.99844127 -1.23788831] [ 0. 0. 0. 1. ]] SLAMing on 199.531346184 meters Centerline goodness [0,1] 0.8739700178215746 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-1.24 [[ 0.99024121 -0.12795059 -0.05523581 4.85539081] [ 0.12867415 0.99163916 0.00973349 -0.22883334] [ 0.05352859 -0.01674592 0.99842589 -1.23822326] [ 0. 0. 0. 1. ]] SLAMing on 199.561346184 meters Centerline goodness [0,1] 0.8812953400372128 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-1.24 [[ 9.90518834e-01 -1.28336063e-01 -4.90132058e-02 4.86230340e+00] [ 1.28499431e-01 9.91709566e-01 1.83732230e-04 -2.25846684e-01] [ 4.85832856e-02 -6.48015932e-03 9.98798114e-01 -1.23744601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.591346184 meters Centerline goodness [0,1] 0.8826139063518429 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.23, Z:-1.24 [[ 9.90501089e-01 -1.28501920e-01 -4.89372050e-02 4.86191768e+00] [ 1.28654263e-01 9.91689508e-01 -3.71616122e-05 -2.25425769e-01] [ 4.85352880e-02 -6.25917141e-03 9.98801857e-01 -1.23712041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.621346184 meters Centerline goodness [0,1] 0.8805951383067896 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.22, Z:-1.24 [[ 9.90503051e-01 -1.28383891e-01 -4.92065274e-02 4.86291518e+00] [ 1.28533461e-01 9.91705165e-01 -1.25655437e-04 -2.24146371e-01] [ 4.88144995e-02 -6.20022316e-03 9.98788617e-01 -1.23773750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.651346184 meters Centerline goodness [0,1] 0.8792710229531522 Centerline is valid? [False, False] Translation: X:4.86, Y:-0.22, Z:-1.24 [[ 9.90538953e-01 -1.27957156e-01 -4.95938392e-02 4.86457727e+00] [ 1.28120389e-01 9.91758616e-01 1.13403841e-04 -2.23172458e-01] [ 4.91706065e-02 -6.46631291e-03 9.98769462e-01 -1.23891332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.681346184 meters Centerline goodness [0,1] 0.8787223772848418 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90598441e-01 -1.27315022e-01 -5.00561136e-02 4.86719713e+00] [ 1.27511330e-01 9.91836842e-01 7.35067723e-04 -2.23639408e-01] [ 4.95539124e-02 -7.11087853e-03 9.98746136e-01 -1.24105343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71134618399998 meters Centerline goodness [0,1] 0.8804498052519161 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90620542e-01 -1.27026106e-01 -5.03518664e-02 4.86862372e+00] [ 1.27242708e-01 9.91870994e-01 1.10682917e-03 -2.24349693e-01] [ 4.98019595e-02 -7.50335555e-03 9.98730927e-01 -1.24207675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74134618399998 meters Centerline goodness [0,1] 0.8827332843497429 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90631789e-01 -1.26909220e-01 -5.04252816e-02 4.86927924e+00] [ 1.27131153e-01 9.91885183e-01 1.20548338e-03 -2.24163821e-01] [ 4.98631028e-02 -7.60481434e-03 9.98727109e-01 -1.24274364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77134618399998 meters Centerline goodness [0,1] 0.8825480809607794 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90599331e-01 -1.27212659e-01 -5.02981683e-02 4.86833256e+00] [ 1.27412349e-01 9.91849535e-01 7.70823498e-04 -2.22719581e-01] [ 4.97901564e-02 -7.17218501e-03 9.98733949e-01 -1.24182180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80134618399998 meters Centerline goodness [0,1] 0.8793628779760029 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90573368e-01 -1.27419454e-01 -5.02860271e-02 4.86802468e+00] [ 1.27611384e-01 9.91824057e-01 6.11677864e-04 -2.22700068e-01] [ 4.97969518e-02 -7.02298130e-03 9.98734670e-01 -1.24133764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83134618399998 meters Centerline goodness [0,1] 0.8779743235896793 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90577211e-01 -1.27293470e-01 -5.05288233e-02 4.86903452e+00] [ 1.27497759e-01 9.91838514e-01 8.27403544e-04 -2.23090476e-01] [ 5.00111099e-02 -7.26191882e-03 9.98722260e-01 -1.24187552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86134618399998 meters Centerline goodness [0,1] 0.8805901045941452 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90576567e-01 -1.27217327e-01 -5.07328060e-02 4.86958821e+00] [ 1.27415104e-01 9.91849254e-01 6.70288046e-04 -2.22326930e-01] [ 5.02340235e-02 -7.12809738e-03 9.98712037e-01 -1.24201504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89134618399999 meters Centerline goodness [0,1] 0.8798921787826233 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90594383e-01 -1.26943921e-01 -5.10686809e-02 4.87071304e+00] [ 1.27145127e-01 9.91883879e-01 6.97487628e-04 -2.21945906e-01] [ 5.05656595e-02 -7.18406127e-03 9.98694900e-01 -1.24248068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.921346184 meters Centerline goodness [0,1] 0.8824712463075859 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90613410e-01 -1.26761711e-01 -5.11521404e-02 4.87111445e+00] [ 1.26961180e-01 9.91907470e-01 6.56064806e-04 -2.21315438e-01] [ 5.06550263e-02 -7.14424268e-03 9.98690657e-01 -1.24276520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.951346184 meters Centerline goodness [0,1] 0.8843808286354968 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90619739e-01 -1.26704253e-01 -5.11719153e-02 4.87087979e+00] [ 1.26887588e-01 9.91917046e-01 3.36918783e-04 -2.19357109e-01] [ 5.07156061e-02 -6.82683928e-03 9.98689802e-01 -1.24243614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.981346184 meters Centerline goodness [0,1] 0.881746513038205 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90636866e-01 -1.26501267e-01 -5.13422715e-02 4.87147046e+00] [ 1.26698185e-01 9.91941141e-01 5.85905942e-04 -2.19482769e-01] [ 5.08543935e-02 -7.08539263e-03 9.98680944e-01 -1.24271452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.011346184 meters Centerline goodness [0,1] 0.8812048948854723 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90646087e-01 -1.26405380e-01 -5.14004908e-02 4.87205999e+00] [ 1.26620264e-01 9.91950825e-01 9.32833789e-04 -2.20470186e-01] [ 5.08688440e-02 -7.43245184e-03 9.98677685e-01 -1.24328850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.041346184 meters Centerline goodness [0,1] 0.8792670682730923 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90610580e-01 -1.26747056e-01 -5.12431638e-02 4.87175432e+00] [ 1.26975094e-01 9.91905172e-01 1.20624428e-03 -2.22369221e-01] [ 5.06754713e-02 -7.70152390e-03 9.98685478e-01 -1.24315014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.071346184 meters Centerline goodness [0,1] 0.8802225488137728 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90595263e-01 -1.26846061e-01 -5.12942588e-02 4.87189617e+00] [ 1.27078156e-01 9.91891887e-01 1.27578793e-03 -2.22966961e-01] [ 5.07165304e-02 -7.78216929e-03 9.98682768e-01 -1.24310840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.101346184 meters Centerline goodness [0,1] 0.8731880279486912 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90591879e-01 -1.26726771e-01 -5.16532247e-02 4.87316382e+00] [ 1.26985065e-01 9.91903109e-01 1.73651721e-03 -2.24597294e-01] [ 5.10149309e-02 -8.27936795e-03 9.98663571e-01 -1.24362635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.131346184 meters Centerline goodness [0,1] 0.8774915026645965 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.23, Z:-1.24 [[ 9.90447503e-01 -1.28045389e-01 -5.11675796e-02 4.87148098e+00] [ 1.28250759e-01 9.91741498e-01 7.37141022e-04 -2.26606530e-01] [ 5.06506245e-02 -7.29238038e-03 9.98689809e-01 -1.24236067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.161346184 meters Centerline goodness [0,1] 0.86599366172057 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.23, Z:-1.24 [[ 9.90430943e-01 -1.28109986e-01 -5.13261971e-02 4.87181988e+00] [ 1.28306966e-01 9.91734351e-01 5.47784485e-04 -2.25726714e-01] [ 5.08317761e-02 -7.12805135e-03 9.98681792e-01 -1.24239061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.191346184 meters Centerline goodness [0,1] 0.8734951110738888 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90444441e-01 -1.27870778e-01 -5.16611480e-02 4.87288475e+00] [ 1.28066805e-01 9.91765423e-01 4.88536744e-04 -2.24160036e-01] [ 5.11732707e-02 -7.09994667e-03 9.98664552e-01 -1.24289631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.221346184 meters Centerline goodness [0,1] 0.8628875665518321 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90443315e-01 -1.27788100e-01 -5.18868181e-02 4.87334652e+00] [ 1.27976168e-01 9.91777196e-01 3.04836295e-04 -2.22768572e-01] [ 5.14212086e-02 -6.94219923e-03 9.98652925e-01 -1.24288717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.251346184 meters Centerline goodness [0,1] 0.8791828182294394 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90420270e-01 -1.27996342e-01 -5.18133673e-02 4.87282027e+00] [ 1.28168919e-01 9.91752352e-01 8.15528700e-06 -2.22502664e-01] [ 5.13849850e-02 -6.64894045e-03 9.98656785e-01 -1.24227624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.281346184 meters Centerline goodness [0,1] 0.8779094018520064 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90431892e-01 -1.27787305e-01 -5.21063566e-02 4.87376401e+00] [ 1.27976933e-01 9.91777098e-01 3.05399491e-04 -2.23039357e-01] [ 5.16388649e-02 -6.97088911e-03 9.98641494e-01 -1.24265703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.311346184 meters Centerline goodness [0,1] 0.8707392004012623 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90397518e-01 -1.28062025e-01 -5.20852540e-02 4.87369611e+00] [ 1.28241369e-01 9.91742981e-01 1.02121894e-04 -2.22809292e-01] [ 5.16421071e-02 -6.78062554e-03 9.98642637e-01 -1.24261509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.341346184 meters Centerline goodness [0,1] 0.8728515133730192 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90285355e-01 -1.29036064e-01 -5.18132157e-02 4.87231043e+00] [ 1.29162294e-01 9.91623042e-01 -9.18811485e-04 -2.20984662e-01] [ 5.14977383e-02 -5.78242822e-03 9.98656371e-01 -1.24146641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.371346184 meters Centerline goodness [0,1] 0.8628163367577049 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90275258e-01 -1.29046709e-01 -5.19794302e-02 4.87286478e+00] [ 1.29165730e-01 9.91622435e-01 -1.07706886e-03 -2.19924398e-01] [ 5.16829613e-02 -5.64736641e-03 9.98647575e-01 -1.24172460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.401346184 meters Centerline goodness [0,1] 0.8718602415681029 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90266103e-01 -1.29057138e-01 -5.21277350e-02 4.87289405e+00] [ 1.29161154e-01 9.91622652e-01 -1.38253763e-03 -2.18845040e-01] [ 5.18694692e-02 -5.36379825e-03 9.98639468e-01 -1.24133052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43134618399998 meters Centerline goodness [0,1] 0.8791719918707703 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90318921e-01 -1.28579595e-01 -5.23041376e-02 4.87364571e+00] [ 1.28675960e-01 9.91685505e-01 -1.53491902e-03 -2.17108732e-01] [ 5.20666144e-02 -5.21022579e-03 9.98630022e-01 -1.24184845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46134618399998 meters Centerline goodness [0,1] 0.8775348078772421 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90752631e-01 -1.24904189e-01 -5.29921528e-02 4.87446058e+00] [ 1.25207081e-01 9.92127674e-01 2.42191497e-03 -2.18168029e-01] [ 5.22724740e-02 -9.03451137e-03 9.98591992e-01 -1.24244374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49134618399998 meters Centerline goodness [0,1] 0.8797413883582779 Centerline is valid? [False, False] Translation: X:4.87, Y:-0.22, Z:-1.24 [[ 9.90740299e-01 -1.24921965e-01 -5.31804760e-02 4.87481128e+00] [ 1.25199823e-01 9.92129702e-01 1.91270249e-03 -2.15902772e-01] [ 5.25229912e-02 -8.55317762e-03 9.98583085e-01 -1.24244845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52134618399998 meters Centerline goodness [0,1] 0.8850721571748739 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.21, Z:-1.24 [[ 9.91352174e-01 -1.21224778e-01 -5.02535706e-02 4.88260647e+00] [ 1.21173734e-01 9.92622960e-01 -4.07240063e-03 -2.11021182e-01] [ 5.03765239e-02 -2.05222960e-03 9.98728188e-01 -1.24035672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55134618399998 meters Centerline goodness [0,1] 0.886859398291029 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.21, Z:-1.24 [[ 9.91651880e-01 -1.18722159e-01 -5.03149838e-02 4.88155310e+00] [ 1.18788829e-01 9.92918130e-01 -1.67382381e-03 -2.11837739e-01] [ 5.01573796e-02 -4.31700749e-03 9.98731996e-01 -1.23967836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58134618399998 meters Centerline goodness [0,1] 0.8899535545420311 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.21, Z:-1.24 [[ 9.91735163e-01 -1.17757935e-01 -5.09356014e-02 4.88402301e+00] [ 1.17860872e-01 9.93029626e-01 -9.88444099e-04 -2.11068438e-01] [ 5.06969583e-02 -5.02303963e-03 9.98701451e-01 -1.24125418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61134618399998 meters Centerline goodness [0,1] 0.8916399589434215 Centerline is valid? [False, False] Translation: X:4.88, Y:-0.21, Z:-1.24 [[ 9.92079677e-01 -1.14546336e-01 -5.15465882e-02 4.88492500e+00] [ 1.14820635e-01 9.93383384e-01 2.38216275e-03 -2.11056526e-01] [ 5.09326562e-02 -8.28190725e-03 9.98667750e-01 -1.24198869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64134618399999 meters Centerline goodness [0,1] 0.8880640832075155 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92089850e-01 -1.14342730e-01 -5.18022102e-02 4.88596141e+00] [ 1.14634950e-01 9.93404027e-01 2.69568328e-03 -2.11883496e-01] [ 5.11522924e-02 -8.61270381e-03 9.98653726e-01 -1.24259981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.671346184 meters Centerline goodness [0,1] 0.8883752065769931 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92110653e-01 -1.14021087e-01 -5.21118488e-02 4.88729379e+00] [ 1.14345028e-01 9.93435723e-01 3.26795471e-03 -2.13662189e-01] [ 5.13971564e-02 -9.20090348e-03 9.98635907e-01 -1.24336587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.701346184 meters Centerline goodness [0,1] 0.8851064723423916 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92092845e-01 -1.14088729e-01 -5.23024786e-02 4.88769642e+00] [ 1.14422722e-01 9.93426242e-01 3.42673820e-03 -2.14308482e-01] [ 5.15677026e-02 -9.38423444e-03 9.98625409e-01 -1.24335626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.731346184 meters Centerline goodness [0,1] 0.8892458892458892 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92072187e-01 -1.14225302e-01 -5.23961528e-02 4.88767789e+00] [ 1.14555767e-01 9.93411211e-01 3.33792415e-03 -2.14020972e-01] [ 5.16696502e-02 -9.31374318e-03 9.98620800e-01 -1.24307782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.761346184 meters Centerline goodness [0,1] 0.8871604316244699 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92071710e-01 -1.14163863e-01 -5.25388963e-02 4.88788032e+00] [ 1.14504190e-01 9.93416586e-01 3.50393886e-03 -2.14697946e-01] [ 5.17929878e-02 -9.49208239e-03 9.98612731e-01 -1.24283763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.791346184 meters Centerline goodness [0,1] 0.8871604316244699 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.21, Z:-1.24 [[ 9.92071710e-01 -1.14163863e-01 -5.25388963e-02 4.88788032e+00] [ 1.14504190e-01 9.93416586e-01 3.50393886e-03 -2.14697946e-01] [ 5.17929878e-02 -9.49208239e-03 9.98612731e-01 -1.24283763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.821346184 meters Centerline goodness [0,1] 0.8876960496519333 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 9.92076295e-01 -1.14026963e-01 -5.27491791e-02 4.88834228e+00] [ 1.14385514e-01 9.93429096e-01 3.81910077e-03 -2.15962140e-01] [ 5.19670888e-02 -9.82258129e-03 9.98600490e-01 -1.24274895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.851346184 meters Centerline goodness [0,1] 0.8872876022655758 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 9.92084999e-01 -1.13845100e-01 -5.29778125e-02 4.88920612e+00] [ 1.14244275e-01 9.93442230e-01 4.55854685e-03 -2.19285953e-01] [ 5.21114280e-02 -1.05748777e-02 9.98585285e-01 -1.24302502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.881346184 meters Centerline goodness [0,1] 0.8866368873674543 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 0.9920911 -0.11362599 -0.05333271 4.8904653 ] [ 0.11404835 0.99346295 0.00493382 -0.22015131] [ 0.05242346 -0.01097731 0.99856461 -1.24359127] [ 0. 0. 0. 1. ]] SLAMing on 200.911346184 meters Centerline goodness [0,1] 0.8852554988709542 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 9.92080094e-01 -1.13684144e-01 -5.34135042e-02 4.89058276e+00] [ 1.14103447e-01 9.93456999e-01 4.85738798e-03 -2.19946958e-01] [ 5.25118116e-02 -1.09135829e-02 9.98560666e-01 -1.24350396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.941346184 meters Centerline goodness [0,1] 0.8830771166712108 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 9.92046408e-01 -1.13925137e-01 -5.35255872e-02 4.89060870e+00] [ 1.14346637e-01 9.93428979e-01 4.86941328e-03 -2.20670408e-01] [ 5.26191208e-02 -1.09511548e-02 9.98554606e-01 -1.24315761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.971346184 meters Centerline goodness [0,1] 0.8813108575018322 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 0.99204096 -0.11393683 -0.05360167 4.89118581] [ 0.11438142 0.99342282 0.00529091 -0.22244244] [ 0.05264629 -0.01137984 0.99854838 -1.24355544] [ 0. 0. 0. 1. ]] SLAMing on 201.001346184 meters Centerline goodness [0,1] 0.8784298940136568 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 0.99199798 -0.11429049 -0.05364419 4.89127631] [ 0.11474237 0.99338055 0.00541077 -0.22417565] [ 0.0526707 -0.01152273 0.99854545 -1.24341549] [ 0. 0. 0. 1. ]] SLAMing on 201.031346184 meters Centerline goodness [0,1] 0.8726062660890312 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99196862 -0.11450703 -0.05372513 4.89179353] [ 0.11497995 0.99335096 0.00578551 -0.22633814] [ 0.05270543 -0.01191635 0.998539 -1.24374492] [ 0. 0. 0. 1. ]] SLAMing on 201.061346184 meters Centerline goodness [0,1] 0.8638388655330363 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99187961 -0.11522239 -0.05383894 4.89220369] [ 0.11569302 0.99326867 0.00569783 -0.22831108] [ 0.05282002 -0.01188035 0.99853338 -1.24376691] [ 0. 0. 0. 1. ]] SLAMing on 201.091346184 meters Centerline goodness [0,1] 0.8616456466539357 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99186089 -0.11537297 -0.05386145 4.89206771] [ 0.11583951 0.99325209 0.00561133 -0.2283141 ] [ 0.0528506 -0.01180494 0.99853265 -1.24349138] [ 0. 0. 0. 1. ]] SLAMing on 201.121346184 meters Centerline goodness [0,1] 0.8595084466161331 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99184255 -0.11540266 -0.05413483 4.89267336] [ 0.11586381 0.99325017 0.00544829 -0.22750571] [ 0.05314068 -0.01167611 0.99851877 -1.24349894] [ 0. 0. 0. 1. ]] SLAMing on 201.151346184 meters Centerline goodness [0,1] 0.8619619031635479 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99212686 -0.1129085 -0.05418449 4.89025946] [ 0.11350064 0.99350597 0.00796842 -0.22706619] [ 0.05293291 -0.01405566 0.99849915 -1.24140154] [ 0. 0. 0. 1. ]] SLAMing on 201.18134618399998 meters Centerline goodness [0,1] 0.8690794419847966 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99213514 -0.11264597 -0.05457798 4.89108617] [ 0.11323906 0.99353645 0.00788912 -0.22625859] [ 0.05333654 -0.01400743 0.99847835 -1.24134171] [ 0. 0. 0. 1. ]] SLAMing on 201.21134618399998 meters Centerline goodness [0,1] 0.8749921385295906 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99216821 -0.11221459 -0.0548646 4.89176738] [ 0.1128147 0.99358419 0.00795634 -0.22595482] [ 0.05361978 -0.01408356 0.9984621 -1.24136587] [ 0. 0. 0. 1. ]] SLAMing on 201.24134618399998 meters Centerline goodness [0,1] 0.8870011688094841 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.23, Z:-1.24 [[ 0.99230362 -0.11061502 -0.05565834 4.89402965] [ 0.11126285 0.9937532 0.00866901 -0.22563535] [ 0.05435173 -0.01479499 0.99841224 -1.24193775] [ 0. 0. 0. 1. ]] SLAMing on 201.27134618399998 meters Centerline goodness [0,1] 0.8908809114899677 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 0.99233091 -0.11027514 -0.05584584 4.89456357] [ 0.110921 0.99379209 0.00859111 -0.22478654] [ 0.05455177 -0.0147197 0.99840244 -1.24207706] [ 0. 0. 0. 1. ]] SLAMing on 201.30134618399998 meters Centerline goodness [0,1] 0.891509236375822 Centerline is valid? [False, False] Translation: X:4.89, Y:-0.22, Z:-1.24 [[ 0.99234681 -0.11004364 -0.05601964 4.89477966] [ 0.11068338 0.99381989 0.00843898 -0.22370036] [ 0.05474478 -0.01457484 0.998394 -1.24187823] [ 0. 0. 0. 1. ]] SLAMing on 201.33134618399998 meters Centerline goodness [0,1] 0.8934123489764831 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92929876e-01 -1.06263644e-01 -5.28989508e-02 4.90103048e+00] [ 1.06544949e-01 9.94304697e-01 2.51843572e-03 -2.19042300e-01] [ 5.23300571e-02 -8.13674608e-03 9.98596695e-01 -1.23844457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36134618399998 meters Centerline goodness [0,1] 0.896622270468874 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92918368e-01 -1.06326590e-01 -5.29884108e-02 4.90071672e+00] [ 1.06593036e-01 9.94300255e-01 2.21988151e-03 -2.18137742e-01] [ 5.24503579e-02 -7.85235673e-03 9.98592660e-01 -1.23772852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39134618399999 meters Centerline goodness [0,1] 0.8961673346693386 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92961236e-01 -1.05839671e-01 -5.31596382e-02 4.90113778e+00] [ 1.06122184e-01 9.94349924e-01 2.51216048e-03 -2.18648609e-01] [ 5.25933959e-02 -8.13589485e-03 9.98582867e-01 -1.23766626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.421346184 meters Centerline goodness [0,1] 0.8982502296834545 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92979069e-01 -1.05587970e-01 -5.33268180e-02 4.90176269e+00] [ 1.05885668e-01 9.94374424e-01 2.78048782e-03 -2.19361038e-01] [ 5.27332379e-02 -8.40751195e-03 9.98573242e-01 -1.23797755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.451346184 meters Centerline goodness [0,1] 0.8966719559044597 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92987443e-01 -1.05485668e-01 -5.33733293e-02 4.90200839e+00] [ 1.05790536e-01 9.94384174e-01 2.91147441e-03 -2.19897602e-01] [ 5.27664752e-02 -8.53745064e-03 9.98570384e-01 -1.23808891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.481346184 meters Centerline goodness [0,1] 0.8972312193083273 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92984278e-01 -1.05476240e-01 -5.34507913e-02 4.90223510e+00] [ 1.05782722e-01 9.94384952e-01 2.92968104e-03 -2.19994419e-01] [ 5.28416508e-02 -8.56329739e-03 9.98566187e-01 -1.23815619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.511346184 meters Centerline goodness [0,1] 0.8973347525723707 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92973295e-01 -1.05561816e-01 -5.34858788e-02 4.90249807e+00] [ 1.05882084e-01 9.94373601e-01 3.18210941e-03 -2.21078854e-01] [ 5.28490366e-02 -8.82294595e-03 9.98563536e-01 -1.23826582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.541346184 meters Centerline goodness [0,1] 0.8996051889452905 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92963629e-01 -1.05592588e-01 -5.36044461e-02 4.90284708e+00] [ 1.05933277e-01 9.94366915e-01 3.54662566e-03 -2.22428104e-01] [ 5.29279903e-02 -9.20016490e-03 9.98555950e-01 -1.23834371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.571346184 meters Centerline goodness [0,1] 0.8990959767835146 Centerline is valid? [False, False] Translation: X:4.90, Y:-0.22, Z:-1.24 [[ 9.92953531e-01 -1.05605176e-01 -5.37664658e-02 4.90337515e+00] [ 1.05973109e-01 9.94360826e-01 4.03081943e-03 -2.24434518e-01] [ 5.30375920e-02 -9.70021592e-03 9.98545402e-01 -1.23848278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.601346184 meters Centerline goodness [0,1] 0.8969579044271487 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92624966e-01 -1.08578536e-01 -5.39108431e-02 4.90583497e+00] [ 1.08818877e-01 9.94060410e-01 1.53418856e-03 -2.27065287e-01] [ 5.34240549e-02 -7.38939125e-03 9.98544574e-01 -1.23995503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.631346184 meters Centerline goodness [0,1] 0.894558605263708 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92632170e-01 -1.08436190e-01 -5.40644795e-02 4.90686238e+00] [ 1.08715442e-01 9.94070382e-01 2.24251841e-03 -2.29239469e-01] [ 5.35007276e-02 -8.10363971e-03 9.98534928e-01 -1.24080123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.661346184 meters Centerline goodness [0,1] 0.8922802226656864 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92630669e-01 -1.08422559e-01 -5.41193422e-02 4.90738580e+00] [ 1.08725385e-01 9.94068226e-01 2.67429132e-03 -2.30711645e-01] [ 5.35083650e-02 -8.53872990e-03 9.98530893e-01 -1.24129668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.691346184 meters Centerline goodness [0,1] 0.889489401076716 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92639588e-01 -1.08305719e-01 -5.41896561e-02 4.90772488e+00] [ 1.08628357e-01 9.94077796e-01 3.03558850e-03 -2.31749434e-01] [ 5.35399623e-02 -8.89977865e-03 9.98526047e-01 -1.24151590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.721346184 meters Centerline goodness [0,1] 0.8879373521221131 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92411887e-01 -1.10231289e-01 -5.44766803e-02 4.91040174e+00] [ 1.10433306e-01 9.93883288e-01 7.02865916e-04 -2.31151075e-01] [ 5.40659843e-02 -6.71357239e-03 9.98514796e-01 -1.24293346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.751346184 meters Centerline goodness [0,1] 0.8877250546861855 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92423970e-01 -1.10085103e-01 -5.45521174e-02 4.91055597e+00] [ 1.10312354e-01 9.93896288e-01 1.16310477e-03 -2.33438235e-01] [ 5.40911065e-02 -7.17206556e-03 9.98510247e-01 -1.24278690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.781346184 meters Centerline goodness [0,1] 0.8982264665757163 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92470226e-01 -1.09593047e-01 -5.47011301e-02 4.91136776e+00] [ 1.09860835e-01 9.93945156e-01 1.90360916e-03 -2.36222476e-01] [ 5.41613010e-02 -7.89878723e-03 9.98500958e-01 -1.24315234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.811346184 meters Centerline goodness [0,1] 0.8999327702844657 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92485217e-01 -1.09434519e-01 -5.47465171e-02 4.91149640e+00] [ 1.09696400e-01 9.93963524e-01 1.79254648e-03 -2.35212432e-01] [ 5.42198746e-02 -7.78457173e-03 9.98498676e-01 -1.24322115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.841346184 meters Centerline goodness [0,1] 0.8985300593428254 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.23, Z:-1.24 [[ 9.92514597e-01 -1.09047716e-01 -5.49851879e-02 4.91200407e+00] [ 1.09319808e-01 9.94004705e-01 1.95621110e-03 -2.34632255e-01] [ 5.44422151e-02 -7.95253826e-03 9.98485254e-01 -1.24320392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.871346184 meters Centerline goodness [0,1] 0.899076807134334 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92577123e-01 -1.08428385e-01 -5.50812058e-02 4.91221302e+00] [ 1.08728709e-01 9.94068376e-01 2.47635363e-03 -2.35083990e-01] [ 5.44859777e-02 -8.44688036e-03 9.98478807e-01 -1.24313819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.901346184 meters Centerline goodness [0,1] 0.8929602812539237 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92590039e-01 -1.08204833e-01 -5.52876892e-02 4.91292627e+00] [ 1.08523430e-01 9.94089992e-01 2.78423580e-03 -2.35634638e-01] [ 5.46596708e-02 -8.76361439e-03 9.98466584e-01 -1.24350993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93134618399998 meters Centerline goodness [0,1] 0.8979864929851339 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92602297e-01 -1.07980659e-01 -5.55054800e-02 4.91393955e+00] [ 1.08321505e-01 9.94110890e-01 3.16052185e-03 -2.36413526e-01] [ 5.48373269e-02 -9.14957840e-03 9.98453380e-01 -1.24421540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96134618399998 meters Centerline goodness [0,1] 0.8965654366981309 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92615451e-01 -1.07742331e-01 -5.57328976e-02 4.91475292e+00] [ 1.08106212e-01 9.94133022e-01 3.54704140e-03 -2.37501802e-01] [ 5.50237474e-02 -9.54592051e-03 9.98439414e-01 -1.24460636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99134618399998 meters Centerline goodness [0,1] 0.8997478461861735 Centerline is valid? [False, False] Translation: X:4.91, Y:-0.24, Z:-1.24 [[ 9.92504751e-01 -1.08945221e-01 -5.53647801e-02 4.91290434e+00] [ 1.09263755e-01 9.94008988e-01 2.75024843e-03 -2.40246788e-01] [ 5.47334627e-02 -8.77899838e-03 9.98462407e-01 -1.24286253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02134618399998 meters Centerline goodness [0,1] 0.8921244347680456 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-1.25 [[ 9.92954581e-01 -1.08650848e-01 -4.72884103e-02 4.92321249e+00] [ 1.08590434e-01 9.94079110e-01 -3.85230259e-03 -2.38417974e-01] [ 4.74269768e-02 -1.30990751e-03 9.98873849e-01 -1.24636489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05134618399998 meters Centerline goodness [0,1] 0.9008613480515136 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-1.25 [[ 9.92929899e-01 -1.08842540e-01 -4.73657899e-02 4.92321448e+00] [ 1.08791257e-01 9.94057853e-01 -3.66699953e-03 -2.39075503e-01] [ 4.74834610e-02 -1.51191033e-03 9.98870880e-01 -1.24606330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08134618399998 meters Centerline goodness [0,1] 0.9018569868078312 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-1.25 [[ 9.92927409e-01 -1.08781596e-01 -4.75575883e-02 4.92365598e+00] [ 1.08729860e-01 9.94064518e-01 -3.68113446e-03 -2.38315480e-01] [ 4.76757508e-02 -1.51583063e-03 9.98861715e-01 -1.24616210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11134618399998 meters Centerline goodness [0,1] 0.9015444418901126 Centerline is valid? [False, False] Translation: X:4.92, Y:-0.24, Z:-1.25 [[ 9.92945939e-01 -1.08436508e-01 -4.79571155e-02 4.92482488e+00] [ 1.08395668e-01 9.94101812e-01 -3.45915231e-03 -2.38027956e-01] [ 4.80493539e-02 -1.76359234e-03 9.98843406e-01 -1.24660977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14134618399999 meters Centerline goodness [0,1] 0.9029878892008549 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-1.25 [[ 9.93017190e-01 -1.07745586e-01 -4.80390342e-02 4.92519982e+00] [ 1.07738423e-01 9.94175483e-01 -2.74596385e-03 -2.39964138e-01] [ 4.80550956e-02 -2.44886050e-03 9.98841685e-01 -1.24673445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.171346184 meters Centerline goodness [0,1] 0.9046135184875356 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-1.25 [[ 9.92819123e-01 -1.08837702e-01 -4.96441615e-02 4.92979757e+00] [ 1.08679034e-01 9.94059429e-01 -5.89234100e-03 -2.38969099e-01] [ 4.99905557e-02 4.54749318e-04 9.98749587e-01 -1.24640478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.201346184 meters Centerline goodness [0,1] 0.9067126725219573 Centerline is valid? [False, False] Translation: X:4.93, Y:-0.24, Z:-1.25 [[ 9.92861810e-01 -1.08408490e-01 -4.97295143e-02 4.92985392e+00] [ 1.08263272e-01 9.94106415e-01 -5.61250185e-03 -2.39213050e-01] [ 5.00448721e-02 1.88558792e-04 9.98746953e-01 -1.24618894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.231346184 meters Centerline goodness [0,1] 0.9068019541525743 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.25 [[ 9.93709568e-01 -1.04972934e-01 -3.90125284e-02 4.93673264e+00] [ 1.04825433e-01 9.94473648e-01 -5.81301650e-03 -2.36906225e-01] [ 3.94071409e-02 1.68694493e-03 9.99221813e-01 -1.24907209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.261346184 meters Centerline goodness [0,1] 0.9081039243577943 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.25 [[ 9.94065064e-01 -1.01441579e-01 -3.92970175e-02 4.93601321e+00] [ 1.01450302e-01 9.94839021e-01 -1.77722750e-03 -2.38861240e-01] [ 3.92744912e-02 -2.22001454e-03 9.99225993e-01 -1.24842682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.291346184 meters Centerline goodness [0,1] 0.9069518940663761 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.25 [[ 9.94114433e-01 -1.00928400e-01 -3.93694285e-02 4.93624787e+00] [ 1.00954434e-01 9.94890160e-01 -1.33130360e-03 -2.39591465e-01] [ 3.93026233e-02 -2.65105024e-03 9.99223837e-01 -1.24850149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.321346184 meters Centerline goodness [0,1] 0.9074721181812475 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.25 [[ 9.94172541e-01 -1.00243626e-01 -3.96506609e-02 4.93735177e+00] [ 1.00298511e-01 9.94957205e-01 -6.07609118e-04 -2.41027180e-01] [ 3.95116197e-02 -3.37283395e-03 9.99213419e-01 -1.24911635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.351346184 meters Centerline goodness [0,1] 0.9046065700604312 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.24, Z:-1.25 [[ 9.94235613e-01 -9.95887574e-02 -3.97193347e-02 4.93824002e+00] [ 9.96838760e-02 9.95019071e-01 4.16590985e-04 -2.43699318e-01] [ 3.94800077e-02 -4.37356682e-03 9.99210789e-01 -1.25003572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.381346184 meters Centerline goodness [0,1] 0.9038690662820593 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.25 [[ 9.94254232e-01 -9.93600480e-02 -3.98259132e-02 4.93890706e+00] [ 9.94830022e-02 9.95038640e-01 1.11256564e-03 -2.45737306e-01] [ 3.95177779e-02 -5.06817451e-03 9.99206014e-01 -1.25057911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.411346184 meters Centerline goodness [0,1] 0.9056788988909543 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.25 [[ 9.94285574e-01 -9.90333972e-02 -3.98570435e-02 4.93934459e+00] [ 9.91920728e-02 9.95066258e-01 2.01858974e-03 -2.48520742e-01] [ 3.94604913e-02 -5.96055742e-03 9.99203353e-01 -1.25098606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.441346184 meters Centerline goodness [0,1] 0.9058068024934108 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.25 [[ 9.94277374e-01 -9.91257522e-02 -3.98320124e-02 4.93932644e+00] [ 9.93193176e-02 9.95051371e-01 2.90556979e-03 -2.52059969e-01] [ 3.93468818e-02 -6.84503060e-03 9.99202166e-01 -1.25094418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.471346184 meters Centerline goodness [0,1] 0.9039961523180193 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.25, Z:-1.25 [[ 9.94288058e-01 -9.89536116e-02 -3.99929958e-02 4.93996065e+00] [ 9.91737601e-02 9.95063785e-01 3.55387469e-03 -2.53872849e-01] [ 3.94439130e-02 -7.49983094e-03 9.99193640e-01 -1.25130295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.501346184 meters Centerline goodness [0,1] 0.9042704626334519 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.26, Z:-1.25 [[ 9.94296565e-01 -9.88418727e-02 -4.00577779e-02 4.94036312e+00] [ 9.90930371e-02 9.95068757e-01 4.32892071e-03 -2.56635421e-01] [ 3.94323646e-02 -8.27367786e-03 9.99187988e-01 -1.25155486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.531346184 meters Centerline goodness [0,1] 0.9058213062750783 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.26, Z:-1.25 [[ 9.93970673e-01 -1.02142441e-01 -3.98650597e-02 4.94135062e+00] [ 1.02303455e-01 9.94751197e-01 2.01477470e-03 -2.62318663e-01] [ 3.94500218e-02 -6.08096031e-03 9.99203041e-01 -1.25201699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.561346184 meters Centerline goodness [0,1] 0.9049102848299804 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.26, Z:-1.25 [[ 9.93846213e-01 -1.03221446e-01 -4.01875388e-02 4.94417164e+00] [ 1.03357771e-01 9.94643363e-01 1.32384829e-03 -2.64029635e-01] [ 3.98356192e-02 -5.46939602e-03 9.99191278e-01 -1.25400233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.591346184 meters Centerline goodness [0,1] 0.9048405991130449 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.27, Z:-1.25 [[ 9.93870806e-01 -1.02955096e-01 -4.02624922e-02 4.94444475e+00] [ 1.03119903e-01 9.94666856e-01 2.03267156e-03 -2.66043580e-01] [ 3.98384926e-02 -6.17207724e-03 9.99187070e-01 -1.25411203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.621346184 meters Centerline goodness [0,1] 0.9056166158218062 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.27, Z:-1.25 [[ 9.93888705e-01 -1.02730189e-01 -4.03949382e-02 4.94489364e+00] [ 1.02921958e-01 9.94685794e-01 2.69123773e-03 -2.67842737e-01] [ 3.99037998e-02 -6.83231691e-03 9.99180167e-01 -1.25427844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.651346184 meters Centerline goodness [0,1] 0.904392548765445 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.27, Z:-1.25 [[ 9.93916782e-01 -1.02482926e-01 -4.03321173e-02 4.94469872e+00] [ 1.02715714e-01 9.94703733e-01 3.73705529e-03 -2.71779268e-01] [ 3.97355233e-02 -7.85706420e-03 9.99179341e-01 -1.25400167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68134618399998 meters Centerline goodness [0,1] 0.904392548765445 Centerline is valid? [False, False] Translation: X:4.94, Y:-0.27, Z:-1.25 [[ 9.93916782e-01 -1.02482926e-01 -4.03321173e-02 4.94469872e+00] [ 1.02715714e-01 9.94703733e-01 3.73705529e-03 -2.71779268e-01] [ 3.97355233e-02 -7.85706420e-03 9.99179341e-01 -1.25400167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71134618399998 meters Centerline goodness [0,1] 0.9058410335744449 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-1.25 [[ 9.93948055e-01 -1.02120872e-01 -4.04795081e-02 4.94502362e+00] [ 1.02374218e-01 9.94736961e-01 4.23049366e-03 -2.72772431e-01] [ 3.98344412e-02 -8.34894893e-03 9.99171413e-01 -1.25399384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74134618399998 meters Centerline goodness [0,1] 0.9035927893261951 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.27, Z:-1.25 [[ 9.93980447e-01 -1.01734082e-01 -4.06576944e-02 4.94524811e+00] [ 1.02010016e-01 9.94771958e-01 4.76536717e-03 -2.74077666e-01] [ 3.99603340e-02 -8.88417383e-03 9.99161770e-01 -1.25372287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77134618399998 meters Centerline goodness [0,1] 0.9031334865260079 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-1.25 [[ 0.99402096 -0.10132801 -0.04068119 4.94507359] [ 0.10164228 0.99480453 0.00572732 -0.27870778] [ 0.03988949 -0.009828 0.99915576 -1.25309359] [ 0. 0. 0. 1. ]] SLAMing on 202.80134618399998 meters Centerline goodness [0,1] 0.9023869793518964 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-1.25 [[ 0.99405704 -0.10092862 -0.04079232 4.94561547] [ 0.10127573 0.99483697 0.00652895 -0.28119836] [ 0.03992275 -0.01062142 0.99914632 -1.25341144] [ 0. 0. 0. 1. ]] SLAMing on 202.83134618399998 meters Centerline goodness [0,1] 0.9034952186077588 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.28, Z:-1.25 [[ 0.99408593 -0.10058902 -0.0409269 4.94654209] [ 0.10096415 0.99486402 0.00719908 -0.28282838] [ 0.03999256 -0.01128866 0.99913621 -1.25423524] [ 0. 0. 0. 1. ]] SLAMing on 202.86134618399998 meters Centerline goodness [0,1] 0.9029629320071879 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.29, Z:-1.26 [[ 0.99410699 -0.10030984 -0.04110027 4.94787897] [ 0.10072168 0.99488191 0.00806984 -0.28524143] [ 0.04008043 -0.01216197 0.99912244 -1.25547453] [ 0. 0. 0. 1. ]] SLAMing on 202.89134618399999 meters Centerline goodness [0,1] 0.9016224622756505 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.29, Z:-1.26 [[ 0.9941172 -0.10012162 -0.04131159 4.94847669] [ 0.10055699 0.99489418 0.0085938 -0.2870481 ] [ 0.04024023 -0.01269741 0.99910935 -1.25560499] [ 0. 0. 0. 1. ]] SLAMing on 202.921346184 meters Centerline goodness [0,1] 0.9008527667777149 Centerline is valid? [False, False] Translation: X:4.95, Y:-0.29, Z:-1.26 [[ 0.99412387 -0.09994693 -0.04157331 4.94925256] [ 0.10041065 0.99490341 0.00921467 -0.28928065] [ 0.04044045 -0.01333492 0.99909296 -1.25578645] [ 0. 0. 0. 1. ]] SLAMing on 202.951346184 meters Centerline goodness [0,1] 0.9026978567258778 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.25 [[ 9.94391468e-01 -9.93117614e-02 -3.63700717e-02 4.95679716e+00] [ 9.93914601e-02 9.95048335e-01 3.85402785e-04 -2.89175383e-01] [ 3.61517042e-02 -3.99811577e-03 9.99338316e-01 -1.25493424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.981346184 meters Centerline goodness [0,1] 0.8996432222662689 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.25 [[ 9.94413178e-01 -9.90740902e-02 -3.64246608e-02 4.95667480e+00] [ 9.91680570e-02 9.95070395e-01 7.77731708e-04 -2.90253944e-01] [ 3.61680485e-02 -4.38554950e-03 9.99336099e-01 -1.25454353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.011346184 meters Centerline goodness [0,1] 0.8982681716331958 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.25 [[ 9.94435013e-01 -9.88256236e-02 -3.65034320e-02 4.95675831e+00] [ 9.89329264e-02 9.95093450e-01 1.14058340e-03 -2.91088469e-01] [ 3.62116073e-02 -4.74562743e-03 9.99332877e-01 -1.25441090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.041346184 meters Centerline goodness [0,1] 0.8978480035066481 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.25 [[ 9.94469777e-01 -9.83531633e-02 -3.68309491e-02 4.95776831e+00] [ 9.84819945e-02 9.95137388e-01 1.69577374e-03 -2.92046654e-01] [ 3.64850698e-02 -5.31358106e-03 9.99320072e-01 -1.25483021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.071346184 meters Centerline goodness [0,1] 0.8998556515554068 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.26 [[ 9.94485439e-01 -9.81059224e-02 -3.70666854e-02 4.95893884e+00] [ 9.82582876e-02 9.95158272e-01 2.30708703e-03 -2.93255529e-01] [ 3.66608797e-02 -5.93647350e-03 9.99310131e-01 -1.25578339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.101346184 meters Centerline goodness [0,1] 0.898450296081643 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.29, Z:-1.26 [[ 9.94477441e-01 -9.81176886e-02 -3.72496723e-02 4.95946208e+00] [ 9.82871023e-02 9.95154329e-01 2.73998382e-03 -2.94901976e-01] [ 3.68003318e-02 -6.38601445e-03 9.99302234e-01 -1.25589752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.131346184 meters Centerline goodness [0,1] 0.8958923067245392 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-1.26 [[ 9.94476592e-01 -9.80627407e-02 -3.74166682e-02 4.96023882e+00] [ 9.82608446e-02 9.95154580e-01 3.48840157e-03 -2.97825515e-01] [ 3.68932865e-02 -7.14572712e-03 9.99293663e-01 -1.25631108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.161346184 meters Centerline goodness [0,1] 0.8963600651928623 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-1.26 [[ 9.94154049e-01 -1.01191523e-01 -3.76563723e-02 4.96260730e+00] [ 1.01298455e-01 9.94855640e-01 9.37753943e-04 -3.01182357e-01] [ 3.73677616e-02 -4.74680422e-03 9.99290307e-01 -1.25747311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.191346184 meters Centerline goodness [0,1] 0.8946784225847662 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.30, Z:-1.26 [[ 9.94152213e-01 -1.01157427e-01 -3.77961965e-02 4.96290943e+00] [ 1.01285114e-01 9.94856348e-01 1.47399249e-03 -3.03114069e-01] [ 3.74526807e-02 -5.29356496e-03 9.99284381e-01 -1.25738766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.221346184 meters Centerline goodness [0,1] 0.8925671585714584 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.31, Z:-1.26 [[ 9.94158281e-01 -1.00977337e-01 -3.81167895e-02 4.96378026e+00] [ 1.01132373e-01 9.94870641e-01 2.15648069e-03 -3.05323657e-01] [ 3.77035191e-02 -5.99872450e-03 9.99270964e-01 -1.25751223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.251346184 meters Centerline goodness [0,1] 0.8929652121288006 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.31, Z:-1.26 [[ 9.94195430e-01 -1.00596042e-01 -3.81560309e-02 4.96386315e+00] [ 1.00786838e-01 9.94903196e-01 3.10542096e-03 -3.08204723e-01] [ 3.76491640e-02 -6.93302105e-03 9.99266968e-01 -1.25732437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.281346184 meters Centerline goodness [0,1] 0.8939901230434418 Centerline is valid? [False, False] Translation: X:4.96, Y:-0.31, Z:-1.26 [[ 9.94211053e-01 -1.00340371e-01 -3.84212480e-02 4.96447073e+00] [ 1.00538010e-01 9.94927936e-01 3.24201581e-03 -3.07853676e-01] [ 3.79010679e-02 -7.08604375e-03 9.99256372e-01 -1.25742037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.311346184 meters Centerline goodness [0,1] 0.8962086694812523 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.31, Z:-1.26 [[ 9.94237686e-01 -9.99195594e-02 -3.88265975e-02 4.96560519e+00] [ 1.00124926e-01 9.94969145e-01 3.37645872e-03 -3.07043123e-01] [ 3.82938922e-02 -7.24451272e-03 9.99240259e-01 -1.25785451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.341346184 meters Centerline goodness [0,1] 0.8954082701411873 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.31, Z:-1.26 [[ 9.94264857e-01 -9.95313715e-02 -3.91267137e-02 4.96645352e+00] [ 9.97483042e-02 9.95006091e-01 3.62700040e-03 -3.07057411e-01] [ 3.85703181e-02 -7.50902238e-03 9.99227674e-01 -1.25816043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.371346184 meters Centerline goodness [0,1] 0.8952955520053814 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.31, Z:-1.26 [[ 9.94320936e-01 -9.88920950e-02 -3.93221230e-02 4.96762413e+00] [ 9.91523962e-02 9.95061062e-01 4.72076104e-03 -3.11013511e-01] [ 3.86610675e-02 -8.59283425e-03 9.99215435e-01 -1.25893000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.401346184 meters Centerline goodness [0,1] 0.8950916148420218 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.31, Z:-1.26 [[ 9.94162641e-01 -1.00297335e-01 -3.97628931e-02 4.97108550e+00] [ 1.00515201e-01 9.94929320e-01 3.51329663e-03 -3.11996713e-01] [ 3.92088939e-02 -7.48956347e-03 9.99202967e-01 -1.26134846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43134618399998 meters Centerline goodness [0,1] 0.8969487983281087 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.31, Z:-1.26 [[ 9.94154945e-01 -1.00339852e-01 -3.98479486e-02 4.97138702e+00] [ 1.00574718e-01 9.94921751e-01 3.92873750e-03 -3.13451867e-01] [ 3.92513819e-02 -7.91347001e-03 9.99198031e-01 -1.26142595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46134618399998 meters Centerline goodness [0,1] 0.8931560601949448 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.32, Z:-1.26 [[ 9.94133279e-01 -1.00506333e-01 -3.99687387e-02 4.97166431e+00] [ 1.00760431e-01 9.94901034e-01 4.38949174e-03 -3.15014897e-01] [ 3.93237678e-02 -8.39100714e-03 9.99191289e-01 -1.26127432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49134618399998 meters Centerline goodness [0,1] 0.8940163762334663 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.32, Z:-1.26 [[ 9.94134052e-01 -1.00451994e-01 -4.00859394e-02 4.97184205e+00] [ 1.00717575e-01 9.94904159e-01 4.65661068e-03 -3.15786525e-01] [ 3.94139020e-02 -8.66665388e-03 9.99185385e-01 -1.26114171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52134618399998 meters Centerline goodness [0,1] 0.8921455898647377 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.32, Z:-1.26 [[ 0.99414264 -0.10025577 -0.04036336 4.97279774] [ 0.10054094 0.99491988 0.00509332 -0.31684668] [ 0.03964767 -0.00912165 0.99917209 -1.26155777] [ 0. 0. 0. 1. ]] SLAMing on 203.55134618399998 meters Centerline goodness [0,1] 0.8910065764671387 Centerline is valid? [False, False] Translation: X:4.97, Y:-0.32, Z:-1.26 [[ 0.99415397 -0.10007559 -0.04053099 4.97337357] [ 0.10038177 0.99493332 0.00558559 -0.31841289] [ 0.03976665 -0.00962151 0.99916267 -1.26176715] [ 0. 0. 0. 1. ]] SLAMing on 203.58134618399998 meters Centerline goodness [0,1] 0.89034062447821 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.26 [[ 0.99411378 -0.10036024 -0.04081206 4.97616556] [ 0.10069006 0.99489912 0.00610271 -0.32230635] [ 0.03999142 -0.01017616 0.9991482 -1.26397122] [ 0. 0. 0. 1. ]] SLAMing on 203.61134618399998 meters Centerline goodness [0,1] 0.8906858842753593 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.26 [[ 0.99411517 -0.10027107 -0.04099687 4.97707937] [ 0.10062584 0.99490192 0.00667834 -0.32437808] [ 0.04011822 -0.01076439 0.99913696 -1.26453495] [ 0. 0. 0. 1. ]] SLAMing on 203.64134618399999 meters Centerline goodness [0,1] 0.8850543478260869 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.27 [[ 0.99411526 -0.10021763 -0.0411251 4.97782709] [ 0.10059113 0.99490244 0.00711045 -0.3258422 ] [ 0.04020287 -0.01120542 0.9991287 -1.26503547] [ 0. 0. 0. 1. ]] SLAMing on 203.671346184 meters Centerline goodness [0,1] 0.8858753523332289 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.27 [[ 0.99412 -0.10013324 -0.04121604 4.97818298] [ 0.10051629 0.99490846 0.00732343 -0.32612108] [ 0.04027286 -0.01142325 0.99912342 -1.26519639] [ 0. 0. 0. 1. ]] SLAMing on 203.701346184 meters Centerline goodness [0,1] 0.8861467794132999 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.26 [[ 0.99410713 -0.10022956 -0.04129218 4.97802601] [ 0.10061175 0.99489914 0.00727888 -0.32583368] [ 0.04035199 -0.01139046 0.9991206 -1.26478361] [ 0. 0. 0. 1. ]] SLAMing on 203.731346184 meters Centerline goodness [0,1] 0.8842926910715031 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.26 [[ 0.99410313 -0.10027839 -0.04126989 4.97807222] [ 0.10067238 0.99489078 0.00757666 -0.32732247] [ 0.04029926 -0.01168672 0.99911931 -1.26471012] [ 0. 0. 0. 1. ]] SLAMing on 203.761346184 meters Centerline goodness [0,1] 0.8827591962776723 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.26 [[ 0.99408878 -0.10040846 -0.04129933 4.97816046] [ 0.10081188 0.99487494 0.00779907 -0.328845 ] [ 0.04030458 -0.01191643 0.99911638 -1.26457935] [ 0. 0. 0. 1. ]] SLAMing on 203.791346184 meters Centerline goodness [0,1] 0.8791473160118823 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.26 [[ 0.99403872 -0.10094023 -0.04120796 4.97816613] [ 0.10133616 0.99482298 0.00762981 -0.32976141] [ 0.04022447 -0.01176018 0.99912146 -1.26466083] [ 0. 0. 0. 1. ]] SLAMing on 203.821346184 meters Centerline goodness [0,1] 0.876546047133545 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.27 [[ 0.99400924 -0.10120651 -0.04126586 4.9787093 ] [ 0.1015973 0.99479748 0.00748013 -0.32945476] [ 0.04029414 -0.01162782 0.9991202 -1.26519757] [ 0. 0. 0. 1. ]] SLAMing on 203.851346184 meters Centerline goodness [0,1] 0.8678350601604278 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.27 [[ 0.99397315 -0.10155195 -0.04128665 4.97887481] [ 0.10193129 0.9947655 0.00718375 -0.32862725] [ 0.04034101 -0.01134886 0.99912152 -1.26534693] [ 0. 0. 0. 1. ]] SLAMing on 203.881346184 meters Centerline goodness [0,1] 0.8697421981004071 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.33, Z:-1.27 [[ 0.99393238 -0.10197272 -0.04123093 4.97877918] [ 0.10232941 0.99472847 0.00662973 -0.32699639] [ 0.04033753 -0.01080864 0.99912765 -1.26541018] [ 0. 0. 0. 1. ]] SLAMing on 203.911346184 meters Centerline goodness [0,1] 0.8737868130491954 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99390567 -0.10227435 -0.04112765 4.97860534] [ 0.10259703 0.99470605 0.00580776 -0.3241532 ] [ 0.04031594 -0.00999194 0.99913702 -1.26549516] [ 0. 0. 0. 1. ]] SLAMing on 203.941346184 meters Centerline goodness [0,1] 0.8518178402971992 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99389985 -0.10230016 -0.04120393 4.97899667] [ 0.10262019 0.99470415 0.00572268 -0.32414859] [ 0.04040029 -0.00991613 0.99913437 -1.26573878] [ 0. 0. 0. 1. ]] SLAMing on 203.971346184 meters Centerline goodness [0,1] 0.8786711603273953 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99389564 -0.10232955 -0.04123246 4.97927164] [ 0.10265079 0.99470086 0.00574495 -0.32459889] [ 0.04042608 -0.00994243 0.99913306 -1.26592657] [ 0. 0. 0. 1. ]] SLAMing on 204.001346184 meters Centerline goodness [0,1] 0.8703498694516971 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99386992 -0.10257344 -0.04124636 4.97965946] [ 0.10287986 0.99467929 0.00537082 -0.32340868] [ 0.040476 -0.00958131 0.99913457 -1.26641733] [ 0. 0. 0. 1. ]] SLAMing on 204.031346184 meters Centerline goodness [0,1] 0.8577543903610433 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.9940577 -0.10065234 -0.04145354 4.97942713] [ 0.10103426 0.99485676 0.00721845 -0.31949257] [ 0.04051378 -0.01136378 0.99911436 -1.26661527] [ 0. 0. 0. 1. ]] SLAMing on 204.061346184 meters Centerline goodness [0,1] 0.8482590180360722 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99402586 -0.10093275 -0.04153514 4.97964782] [ 0.10129676 0.99483336 0.00674933 -0.31803428] [ 0.04063932 -0.01091639 0.99911425 -1.26669207] [ 0. 0. 0. 1. ]] SLAMing on 204.091346184 meters Centerline goodness [0,1] 0.8449800372081356 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99401954 -0.10096782 -0.04160108 4.98012052] [ 0.10133587 0.99482883 0.0068299 -0.31854156] [ 0.04069636 -0.01100473 0.99911096 -1.26706832] [ 0. 0. 0. 1. ]] SLAMing on 204.121346184 meters Centerline goodness [0,1] 0.8311365487853278 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.32, Z:-1.27 [[ 0.99395231 -0.10165616 -0.04153097 4.97982375] [ 0.10198899 0.99476761 0.00597001 -0.31770433] [ 0.04070678 -0.01016961 0.99911938 -1.26668294] [ 0. 0. 0. 1. ]] SLAMing on 204.151346184 meters Centerline goodness [0,1] 0.8511126884054946 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.31, Z:-1.27 [[ 0.99391597 -0.10204991 -0.04143489 4.97930861] [ 0.10234581 0.99473592 0.00507836 -0.31477207] [ 0.04069853 -0.00928815 0.9991283 -1.26633116] [ 0. 0. 0. 1. ]] SLAMing on 204.18134618399998 meters Centerline goodness [0,1] 0.8422085787077642 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.31, Z:-1.27 [[ 9.93894785e-01 -1.02232285e-01 -4.14935737e-02 4.97898915e+00] [ 1.02493796e-01 9.94724696e-01 4.21922463e-03 -3.11193200e-01] [ 4.08433415e-02 -8.44629922e-03 9.99129862e-01 -1.26588847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21134618399998 meters Centerline goodness [0,1] 0.8390248984269195 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.31, Z:-1.27 [[ 9.93886080e-01 -1.02245281e-01 -4.16696919e-02 4.97948084e+00] [ 1.02484326e-01 9.94727975e-01 3.63580726e-03 -3.08565019e-01] [ 4.10782641e-02 -7.88406850e-03 9.99124826e-01 -1.26611993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24134618399998 meters Centerline goodness [0,1] 0.848678993280187 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.31, Z:-1.27 [[ 9.93911402e-01 -1.01933243e-01 -4.18298920e-02 4.98034634e+00] [ 1.02165276e-01 9.94761484e-01 3.44177917e-03 -3.07276656e-01] [ 4.12599338e-02 -7.69438604e-03 9.99118819e-01 -1.26685743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27134618399998 meters Centerline goodness [0,1] 0.8440728912267519 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.31, Z:-1.27 [[ 9.93900160e-01 -1.02012686e-01 -4.19032591e-02 4.98072478e+00] [ 1.02230315e-01 9.94755993e-01 3.07841696e-03 -3.05870016e-01] [ 4.13694805e-02 -7.34342250e-03 9.99116930e-01 -1.26719430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30134618399998 meters Centerline goodness [0,1] 0.840982101881597 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.93884441e-01 -1.02142475e-01 -4.19599022e-02 4.98079520e+00] [ 1.02338132e-01 9.94746438e-01 2.53607700e-03 -3.03361524e-01] [ 4.14804220e-02 -6.81466547e-03 9.99116077e-01 -1.26720900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33134618399998 meters Centerline goodness [0,1] 0.8393358769024359 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.94144040e-01 -9.96428469e-02 -4.18202193e-02 4.97821133e+00] [ 9.99190660e-02 9.94985108e-01 4.56227127e-03 -2.99337861e-01] [ 4.11558977e-02 -8.71419205e-03 9.99114736e-01 -1.26540052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36134618399998 meters Centerline goodness [0,1] 0.848491806700762 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.94149071e-01 -9.94578583e-02 -4.21397526e-02 4.97898238e+00] [ 9.97258670e-02 9.95005654e-01 4.30108658e-03 -2.98259740e-01] [ 4.15015153e-02 -8.47834459e-03 9.99102468e-01 -1.26547829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39134618399999 meters Centerline goodness [0,1] 0.8693031308011597 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.94166114e-01 -9.92487716e-02 -4.22305587e-02 4.97946712e+00] [ 9.95204351e-02 9.95025902e-01 4.37469148e-03 -2.98515550e-01] [ 4.15863169e-02 -8.55197359e-03 9.99098314e-01 -1.26580770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.421346184 meters Centerline goodness [0,1] 0.8795883792432704 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.94160970e-01 -9.92972667e-02 -4.22376463e-02 4.98004900e+00] [ 9.95550695e-02 9.95023855e-01 4.03941544e-03 -2.97249865e-01] [ 4.16263627e-02 -8.22080099e-03 9.99099427e-01 -1.26659694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.451346184 meters Centerline goodness [0,1] 0.8461747208015865 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.30, Z:-1.27 [[ 9.94143286e-01 -9.93800090e-02 -4.24586921e-02 4.98129223e+00] [ 9.96247620e-02 9.95018263e-01 3.68274078e-03 -2.95043152e-01] [ 4.18811833e-02 -7.89110912e-03 9.99091436e-01 -1.26772860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.481346184 meters Centerline goodness [0,1] 0.8344241661422278 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.94108546e-01 -9.96806547e-02 -4.25671813e-02 4.98175923e+00] [ 9.99054770e-02 9.94991844e-01 3.18203112e-03 -2.93167381e-01] [ 4.20368113e-02 -7.41597889e-03 9.99088539e-01 -1.26811073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.511346184 meters Centerline goodness [0,1] 0.8208484696647042 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.94091194e-01 -9.97163455e-02 -4.28876240e-02 4.98303181e+00] [ 9.99389394e-02 9.94988828e-01 3.07244598e-03 -2.92336279e-01] [ 4.23663337e-02 -7.34043516e-03 9.99075178e-01 -1.26890680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.541346184 meters Centerline goodness [0,1] 0.8406752780618101 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.94034408e-01 -1.00295030e-01 -4.28544297e-02 4.98268255e+00] [ 1.00488466e-01 9.94935381e-01 2.37825497e-03 -2.90678053e-01] [ 4.23988612e-02 -6.67044318e-03 9.99078496e-01 -1.26849909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.571346184 meters Centerline goodness [0,1] 0.8035367559554878 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.94003643e-01 -1.00613570e-01 -4.28213295e-02 4.98228082e+00] [ 1.00786485e-01 9.94906277e-01 1.89301195e-03 -2.89402587e-01] [ 4.24127468e-02 -6.19747208e-03 9.99080953e-01 -1.26805735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.601346184 meters Centerline goodness [0,1] 0.8035367559554878 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.94003643e-01 -1.00613570e-01 -4.28213295e-02 4.98228082e+00] [ 1.00786485e-01 9.94906277e-01 1.89301195e-03 -2.89402587e-01] [ 4.24127468e-02 -6.19747208e-03 9.99080953e-01 -1.26805735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.631346184 meters Centerline goodness [0,1] 0.8386942010846892 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.93965830e-01 -1.01016020e-01 -4.27515281e-02 4.98188410e+00] [ 1.01164502e-01 9.94868838e-01 1.31848723e-03 -2.88311182e-01] [ 4.23989748e-02 -5.63546831e-03 9.99084865e-01 -1.26763226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.661346184 meters Centerline goodness [0,1] 0.8343060824613332 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.29, Z:-1.27 [[ 9.93967423e-01 -1.01007361e-01 -4.27349294e-02 4.98229562e+00] [ 1.01127242e-01 9.94873289e-01 6.47209152e-04 -2.85294605e-01] [ 4.24504669e-02 -4.96497035e-03 9.99086236e-01 -1.26823213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.691346184 meters Centerline goodness [0,1] 0.852172096908939 Centerline is valid? [False, False] Translation: X:4.98, Y:-0.28, Z:-1.27 [[ 9.93960678e-01 -1.01006570e-01 -4.28934053e-02 4.98308403e+00] [ 1.01103735e-01 9.94875884e-01 9.64402053e-05 -2.82841533e-01] [ 4.26638735e-02 -4.43254125e-03 9.99079650e-01 -1.26890704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.721346184 meters Centerline goodness [0,1] 0.8508863399374348 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.28, Z:-1.27 [[ 9.94036868e-01 -1.00074155e-01 -4.33113016e-02 4.98540278e+00] [ 1.00195241e-01 9.94967597e-01 6.28518445e-04 -2.80595444e-01] [ 4.30304432e-02 -4.96435682e-03 9.99061428e-01 -1.27085820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.751346184 meters Centerline goodness [0,1] 0.8478075200499948 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.28, Z:-1.27 [[ 9.94025489e-01 -1.00120653e-01 -4.34647275e-02 4.98587969e+00] [ 1.00214950e-01 9.94965810e-01 -9.47922059e-06 -2.77721210e-01] [ 4.32468668e-02 -4.34639290e-03 9.99054962e-01 -1.27111881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.781346184 meters Centerline goodness [0,1] 0.8492428818395784 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.27, Z:-1.27 [[ 9.94053639e-01 -9.97503906e-02 -4.36717610e-02 4.98734711e+00] [ 9.98333065e-02 9.95004136e-01 -2.83699449e-04 -2.73753001e-01] [ 4.34818820e-02 -4.07788383e-03 9.99045893e-01 -1.27252051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.811346184 meters Centerline goodness [0,1] 0.8405579219911468 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.27, Z:-1.27 [[ 9.94034171e-01 -9.99021892e-02 -4.37677849e-02 4.98789961e+00] [ 9.99642266e-02 9.94990730e-01 -7.74428295e-04 -2.72071505e-01] [ 4.36259074e-02 -3.60540458e-03 9.99041431e-01 -1.27300493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.841346184 meters Centerline goodness [0,1] 0.8456360405560782 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.27, Z:-1.27 [[ 9.94002647e-01 -1.00212599e-01 -4.37741209e-02 4.98805247e+00] [ 1.00251215e-01 9.94961284e-01 -1.31773186e-03 -2.70511116e-01] [ 4.36856089e-02 -3.07857987e-03 9.99040585e-01 -1.27320052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.871346184 meters Centerline goodness [0,1] 0.8369699120957134 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.27, Z:-1.28 [[ 9.94355796e-01 -1.01373930e-01 -3.13029900e-02 4.99323277e+00] [ 1.01378531e-01 9.94846877e-01 -1.44422205e-03 -2.66359882e-01] [ 3.12880883e-02 -1.73738057e-03 9.99508898e-01 -1.27681514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.901346184 meters Centerline goodness [0,1] 0.8273805800546277 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.26, Z:-1.28 [[ 9.94334046e-01 -1.01556229e-01 -3.14028081e-02 4.99332648e+00] [ 1.01546917e-01 9.94828946e-01 -1.89533533e-03 -2.64792229e-01] [ 3.14329056e-02 -1.30426191e-03 9.99505013e-01 -1.27663876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93134618399998 meters Centerline goodness [0,1] 0.8285571267676135 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.26, Z:-1.28 [[ 9.94328295e-01 -1.01580386e-01 -3.15066077e-02 4.99372119e+00] [ 1.01563406e-01 9.94826760e-01 -2.14298742e-03 -2.63610566e-01] [ 3.15613019e-02 -1.06908535e-03 9.99501246e-01 -1.27691731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96134618399998 meters Centerline goodness [0,1] 0.8241581595373791 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.26, Z:-1.28 [[ 9.94319627e-01 -1.01614295e-01 -3.16704024e-02 4.99438869e+00] [ 1.01593106e-01 9.94823419e-01 -2.28163237e-03 -2.62891399e-01] [ 3.17383045e-02 -9.48822712e-04 9.99495763e-01 -1.27740294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99134618399998 meters Centerline goodness [0,1] 0.8179504297755154 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.26, Z:-1.28 [[ 9.94580249e-01 -9.89081173e-02 -3.20517285e-02 4.99540388e+00] [ 9.89827461e-02 9.95088870e-01 7.46218495e-04 -2.62485923e-01] [ 3.18205113e-02 -3.91474229e-03 9.99485933e-01 -1.27867879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02134618399998 meters Centerline goodness [0,1] 0.817743953294412 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.26, Z:-1.28 [[ 9.94866758e-01 -9.59198294e-02 -3.22415934e-02 4.99488099e+00] [ 9.60985476e-02 9.95363640e-01 4.03639834e-03 -2.62277345e-01] [ 3.17049392e-02 -7.11404883e-03 9.99471954e-01 -1.27851562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05134618399998 meters Centerline goodness [0,1] 0.8245247545435554 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.26, Z:-1.28 [[ 9.94863937e-01 -9.58960015e-02 -3.23991251e-02 4.99519480e+00] [ 9.60584729e-02 9.95369566e-01 3.49235128e-03 -2.59935347e-01] [ 3.19142006e-02 -6.58662483e-03 9.99468909e-01 -1.27857598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08134618399998 meters Centerline goodness [0,1] 0.8181228961508709 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.26, Z:-1.28 [[ 9.94871005e-01 -9.57937163e-02 -3.24845757e-02 4.99550152e+00] [ 9.59455088e-02 9.95381626e-01 3.14301962e-03 -2.58306592e-01] [ 3.20334682e-02 -6.24364823e-03 9.99467295e-01 -1.27873236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11134618399998 meters Centerline goodness [0,1] 0.8229103462705304 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.26, Z:-1.28 [[ 9.95006745e-01 -9.44668889e-02 -3.22115681e-02 4.99350539e+00] [ 9.46413494e-02 9.95503670e-01 3.93170489e-03 -2.55685253e-01] [ 3.16953183e-02 -6.96061915e-03 9.99473340e-01 -1.27747525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14134618399999 meters Centerline goodness [0,1] 0.8230001464710929 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.25, Z:-1.28 [[ 9.94988940e-01 -9.46386860e-02 -3.22572251e-02 4.99329095e+00] [ 9.47963294e-02 9.95490917e-01 3.38984603e-03 -2.53851236e-01] [ 3.17909640e-02 -6.43072584e-03 9.99473852e-01 -1.27705271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.171346184 meters Centerline goodness [0,1] 0.8494300887927958 Centerline is valid? [False, False] Translation: X:4.99, Y:-0.25, Z:-1.28 [[ 9.94972868e-01 -9.48038150e-02 -3.22680587e-02 4.99297966e+00] [ 9.49531824e-02 9.95476834e-01 3.12502738e-03 -2.53400532e-01] [ 3.18258404e-02 -6.17327231e-03 9.99474365e-01 -1.27657110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.201346184 meters Centerline goodness [0,1] 0.8449426485922836 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.25, Z:-1.28 [[ 9.95185623e-01 -9.46558346e-02 -2.54135464e-02 5.00341600e+00] [ 9.45557513e-02 9.95506432e-01 -5.11411789e-03 -2.50031430e-01] [ 2.57834300e-02 2.68649963e-03 9.99663942e-01 -1.27987828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.231346184 meters Centerline goodness [0,1] 0.8415744414282731 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.25, Z:-1.28 [[ 9.95474102e-01 -9.15247198e-02 -2.55839481e-02 5.00313670e+00] [ 9.15200077e-02 9.95802312e-01 -1.35749857e-03 -2.51140880e-01] [ 2.56007993e-02 -9.90088455e-04 9.99671756e-01 -1.28009155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.261346184 meters Centerline goodness [0,1] 0.8454136596590315 Centerline is valid? [False, False] Translation: X:5.00, Y:-0.25, Z:-1.28 [[ 9.95775434e-01 -8.81111349e-02 -2.58401233e-02 5.00317803e+00] [ 8.82050570e-02 9.96099162e-01 2.51551989e-03 -2.51604671e-01] [ 2.55176799e-02 -4.78412246e-03 9.99662923e-01 -1.28053675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.291346184 meters Centerline goodness [0,1] 0.8276834977428523 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.25, Z:-1.28 [[ 9.95847844e-01 -8.71314556e-02 -2.63662927e-02 5.00593221e+00] [ 8.72456395e-02 9.96181659e-01 3.20955209e-03 -2.50062352e-01] [ 2.59859643e-02 -5.49656960e-03 9.99647196e-01 -1.28279127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.321346184 meters Centerline goodness [0,1] 0.8464839742918752 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.25, Z:-1.28 [[ 9.95896914e-01 -8.64388318e-02 -2.67892588e-02 5.00795406e+00] [ 8.65625298e-02 9.96240305e-01 3.49051005e-03 -2.48823028e-01] [ 2.63868237e-02 -5.79513420e-03 9.99635009e-01 -1.28436665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.351346184 meters Centerline goodness [0,1] 0.835315759767544 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.25, Z:-1.28 [[ 9.95909712e-01 -8.62207370e-02 -2.70153703e-02 5.00888369e+00] [ 8.63475640e-02 9.96258708e-01 3.56158427e-03 -2.48671152e-01] [ 2.66072155e-02 -5.87972778e-03 9.99628674e-01 -1.28491530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.381346184 meters Centerline goodness [0,1] 0.8061519146264908 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.25, Z:-1.29 [[ 9.95921523e-01 -8.60341520e-02 -2.71743525e-02 5.00950960e+00] [ 8.61571183e-02 9.96275812e-01 3.38495225e-03 -2.47447512e-01] [ 2.67819286e-02 -5.71241071e-03 9.99624978e-01 -1.28529022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.411346184 meters Centerline goodness [0,1] 0.8304889781235621 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.25, Z:-1.29 [[ 9.95937926e-01 -8.57858128e-02 -2.73576833e-02 5.01009095e+00] [ 8.59055419e-02 9.96298052e-01 3.22940459e-03 -2.46043557e-01] [ 2.69793695e-02 -5.56646312e-03 9.99620492e-01 -1.28556640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.441346184 meters Centerline goodness [0,1] 0.8405273274277119 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.95980670e-01 -8.52582505e-02 -2.74506215e-02 5.01057807e+00] [ 8.53699416e-02 9.96345042e-01 2.92075169e-03 -2.43200434e-01] [ 2.71012724e-02 -5.25247017e-03 9.99618894e-01 -1.28593671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.471346184 meters Centerline goodness [0,1] 0.8669828270588726 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.95995612e-01 -8.50161488e-02 -2.76585511e-02 5.01144166e+00] [ 8.51295753e-02 9.96365529e-01 2.94749493e-03 -2.42559736e-01] [ 2.73074422e-02 -5.29025273e-03 9.99613084e-01 -1.28649685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.501346184 meters Centerline goodness [0,1] 0.8638330789655244 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.96044626e-01 -8.42957098e-02 -2.80951209e-02 5.01392776e+00] [ 8.44220754e-02 9.96424486e-01 3.34026806e-03 -2.40583989e-01] [ 2.77130962e-02 -5.69890447e-03 9.99599673e-01 -1.28866781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.531346184 meters Centerline goodness [0,1] 0.8648168283706925 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.96039997e-01 -8.43161588e-02 -2.81976861e-02 5.01431668e+00] [ 8.44358976e-02 9.96424150e-01 3.08090045e-03 -2.39354105e-01] [ 2.78370857e-02 -5.44959701e-03 9.99597618e-01 -1.28888566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.561346184 meters Centerline goodness [0,1] 0.8594054020126787 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.96030496e-01 -8.44098600e-02 -2.82528897e-02 5.01426008e+00] [ 8.45229442e-02 9.96417513e-01 2.83041155e-03 -2.38581038e-01] [ 2.79127595e-02 -5.20719364e-03 9.99596800e-01 -1.28863394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.591346184 meters Centerline goodness [0,1] 0.8537761563299366 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.96005487e-01 -8.46980398e-02 -2.82721026e-02 5.01405331e+00] [ 8.47988858e-02 9.96395233e-01 2.38512208e-03 -2.37539661e-01] [ 2.79681731e-02 -4.77303748e-03 9.99597419e-01 -1.28824243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.621346184 meters Centerline goodness [0,1] 0.8525483783047152 Centerline is valid? [False, False] Translation: X:5.01, Y:-0.24, Z:-1.29 [[ 9.96000251e-01 -8.47523863e-02 -2.82936785e-02 5.01416074e+00] [ 8.48474914e-02 9.96391574e-01 2.17572069e-03 -2.36763833e-01] [ 2.80071853e-02 -4.56766600e-03 9.99597286e-01 -1.28831615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.651346184 meters Centerline goodness [0,1] 0.8663196621932355 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 9.96018063e-01 -8.43861304e-02 -2.87576033e-02 5.01547313e+00] [ 8.44652749e-02 9.96425223e-01 1.54639633e-03 -2.33595546e-01] [ 2.85243069e-02 -3.96925754e-03 9.99585218e-01 -1.28872740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68134618399998 meters Centerline goodness [0,1] 0.863891848973025 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 9.96284622e-01 -8.10904735e-02 -2.90049351e-02 5.01510212e+00] [ 8.12674700e-02 9.96679915e-01 4.97447762e-03 -2.33554137e-01] [ 2.85052535e-02 -7.31315325e-03 9.99566890e-01 -1.28850004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71134618399998 meters Centerline goodness [0,1] 0.8713611493964833 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 9.96305995e-01 -8.07259293e-02 -2.92863258e-02 5.01621341e+00] [ 8.08972551e-02 9.96711312e-01 4.71118812e-03 -2.31034892e-01] [ 2.88096972e-02 -7.06296834e-03 9.99559961e-01 -1.28919864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74134618399998 meters Centerline goodness [0,1] 0.869927574262622 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 0.99653688 -0.0776996 -0.02961445 5.01628546] [ 0.07796022 0.99692636 0.00774781 -0.22944807] [ 0.02892142 -0.01002973 0.99953137 -1.28945469] [ 0. 0. 0. 1. ]] SLAMing on 205.77134618399998 meters Centerline goodness [0,1] 0.8662710518617577 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 0.99653016 -0.07765332 -0.02996006 5.01757645] [ 0.07791548 0.99693037 0.00768273 -0.22888057] [ 0.02927151 -0.00999042 0.99952157 -1.29018228] [ 0. 0. 0. 1. ]] SLAMing on 205.80134618399998 meters Centerline goodness [0,1] 0.8665648663347697 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 0.99653789 -0.07756285 -0.02993739 5.01794207] [ 0.07781675 0.99694014 0.00740969 -0.22755034] [ 0.02927107 -0.00971367 0.99952431 -1.29069486] [ 0. 0. 0. 1. ]] SLAMing on 205.83134618399998 meters Centerline goodness [0,1] 0.8748223986627663 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 0.9965424 -0.0773585 -0.03031347 5.01896688] [ 0.07760691 0.99695873 0.00710402 -0.22617997] [ 0.02967173 -0.00943199 0.9995152 -1.29094186] [ 0. 0. 0. 1. ]] SLAMing on 205.86134618399998 meters Centerline goodness [0,1] 0.882274303379705 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99655941 -0.07705644 -0.03052306 5.01966797] [ 0.07730032 0.99698404 0.0068904 -0.22480697] [ 0.02990005 -0.00922614 0.99951031 -1.29120635] [ 0. 0. 0. 1. ]] SLAMing on 205.89134618399999 meters Centerline goodness [0,1] 0.8854345011901282 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99660727 -0.07616352 -0.03119416 5.02149051] [ 0.07640951 0.99705354 0.00676933 -0.22270013] [ 0.03058667 -0.0091299 0.99949042 -1.29163668] [ 0. 0. 0. 1. ]] SLAMing on 205.921346184 meters Centerline goodness [0,1] 0.8876202801143835 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99662575 -0.07584277 -0.03138449 5.02217719] [ 0.07609012 0.99707802 0.00676155 -0.22192947] [ 0.03077997 -0.00912678 0.99948451 -1.29196516] [ 0. 0. 0. 1. ]] SLAMing on 205.951346184 meters Centerline goodness [0,1] 0.8877627784511222 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99662403 -0.07576584 -0.03162388 5.02285007] [ 0.07601075 0.99708506 0.00661369 -0.22087902] [ 0.03103061 -0.00899512 0.99947796 -1.29220531] [ 0. 0. 0. 1. ]] SLAMing on 205.981346184 meters Centerline goodness [0,1] 0.8853658536585366 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.9965824 -0.07623996 -0.03179595 5.02233262] [ 0.07646793 0.9970539 0.00601465 -0.22004751] [ 0.03124372 -0.00842547 0.99947628 -1.29090628] [ 0. 0. 0. 1. ]] SLAMing on 206.011346184 meters Centerline goodness [0,1] 0.8834296925549456 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99656717 -0.07640582 -0.03187529 5.02192464] [ 0.07663502 0.99704098 0.00603011 -0.22090162] [ 0.03132023 -0.00845217 0.99947366 -1.29006924] [ 0. 0. 0. 1. ]] SLAMing on 206.041346184 meters Centerline goodness [0,1] 0.8870823171367227 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99655265 -0.07658432 -0.03190078 5.02198587] [ 0.07681807 0.99702606 0.00616541 -0.22208879] [ 0.03133373 -0.00859471 0.99947202 -1.28997206] [ 0. 0. 0. 1. ]] SLAMing on 206.071346184 meters Centerline goodness [0,1] 0.8874090232187428 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99654949 -0.07661203 -0.03193295 5.02198399] [ 0.07685411 0.99702167 0.00642197 -0.22327408] [ 0.03134584 -0.00885399 0.99946938 -1.28984957] [ 0. 0. 0. 1. ]] SLAMing on 206.101346184 meters Centerline goodness [0,1] 0.8809782608695652 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.22, Z:-1.29 [[ 0.99652649 -0.07677149 -0.03226609 5.02326921] [ 0.07702754 0.997006 0.00676707 -0.22471763] [ 0.03164997 -0.00922894 0.99945641 -1.29064224] [ 0. 0. 0. 1. ]] SLAMing on 206.131346184 meters Centerline goodness [0,1] 0.8787992809063924 Centerline is valid? [False, False] Translation: X:5.02, Y:-0.23, Z:-1.29 [[ 0.99653242 -0.07661181 -0.03246172 5.0242388 ] [ 0.07687672 0.9970161 0.00699092 -0.22514952] [ 0.03182927 -0.00946223 0.99944853 -1.29133819] [ 0. 0. 0. 1. ]] SLAMing on 206.161346184 meters Centerline goodness [0,1] 0.8854494980066376 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99656762 -0.0759859 -0.03285011 5.02618446] [ 0.07627332 0.9970581 0.00758474 -0.22570133] [ 0.03217714 -0.01006429 0.99943151 -1.29274797] [ 0. 0. 0. 1. ]] SLAMing on 206.191346184 meters Centerline goodness [0,1] 0.8905710880157253 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99661934 -0.07503855 -0.03345302 5.02896311] [ 0.07535687 0.99712161 0.00835635 -0.22669394] [ 0.03272968 -0.01084902 0.99940536 -1.29466502] [ 0. 0. 0. 1. ]] SLAMing on 206.221346184 meters Centerline goodness [0,1] 0.8907059314954052 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.30 [[ 0.99664114 -0.07465437 -0.03366245 5.02980954] [ 0.07498507 0.99714697 0.00866917 -0.22726073] [ 0.03291922 -0.01116424 0.99939566 -1.29507853] [ 0. 0. 0. 1. ]] SLAMing on 206.251346184 meters Centerline goodness [0,1] 0.8956869775489358 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.29 [[ 0.996656 -0.0742977 -0.03400995 5.02971815] [ 0.07461403 0.99717937 0.00812661 -0.22429953] [ 0.03331023 -0.01063705 0.99938845 -1.29379768] [ 0. 0. 0. 1. ]] SLAMing on 206.281346184 meters Centerline goodness [0,1] 0.8971591976455363 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.29 [[ 0.99667144 -0.07407956 -0.03403318 5.02912179] [ 0.07437927 0.99720088 0.00762485 -0.2216163 ] [ 0.03337307 -0.01013084 0.99939162 -1.29284071] [ 0. 0. 0. 1. ]] SLAMing on 206.311346184 meters Centerline goodness [0,1] 0.8984704751556689 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.29 [[ 0.99667819 -0.07392479 -0.03417184 5.02894775] [ 0.07421356 0.99721595 0.00725915 -0.2200268 ] [ 0.03354008 -0.00977105 0.99938961 -1.2921312 ] [ 0. 0. 0. 1. ]] SLAMing on 206.341346184 meters Centerline goodness [0,1] 0.9019681506063073 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.29 [[ 0.99667709 -0.07375789 -0.03456225 5.02957672] [ 0.07405852 0.99722571 0.0074984 -0.22167794] [ 0.0339133 -0.01003312 0.99937442 -1.29174401] [ 0. 0. 0. 1. ]] SLAMing on 206.371346184 meters Centerline goodness [0,1] 0.8997172478793591 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.22, Z:-1.29 [[ 0.99667074 -0.07375765 -0.03474533 5.02999972] [ 0.07407084 0.99722238 0.00781295 -0.22341997] [ 0.03407255 -0.01036056 0.99936566 -1.29174967] [ 0. 0. 0. 1. ]] SLAMing on 206.401346184 meters Centerline goodness [0,1] 0.8978623816787513 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99665174 -0.0738736 -0.03504272 5.03123969] [ 0.07420255 0.99720965 0.00817945 -0.22518102] [ 0.03434069 -0.01075233 0.99935234 -1.2925059 ] [ 0. 0. 0. 1. ]] SLAMing on 206.43134618399998 meters Centerline goodness [0,1] 0.8977832512315271 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99663281 -0.07397273 -0.03537068 5.0328157 ] [ 0.07431825 0.99719789 0.00855359 -0.22668253] [ 0.03463883 -0.01115347 0.99933766 -1.29366265] [ 0. 0. 0. 1. ]] SLAMing on 206.46134618399998 meters Centerline goodness [0,1] 0.8961576231169428 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99659032 -0.07445346 -0.03555867 5.03378072] [ 0.07479833 0.99716274 0.00846694 -0.22659461] [ 0.03482739 -0.0110978 0.99933172 -1.29450293] [ 0. 0. 0. 1. ]] SLAMing on 206.49134618399998 meters Centerline goodness [0,1] 0.8961576231169428 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99659032 -0.07445346 -0.03555867 5.03378072] [ 0.07479833 0.99716274 0.00846694 -0.22659461] [ 0.03482739 -0.0110978 0.99933172 -1.29450293] [ 0. 0. 0. 1. ]] SLAMing on 206.52134618399998 meters Centerline goodness [0,1] 0.8929826028772164 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99657704 -0.07452046 -0.0357897 5.03399131] [ 0.07486353 0.9971589 0.00834147 -0.22626043] [ 0.03506641 -0.01099226 0.99932453 -1.29406793] [ 0. 0. 0. 1. ]] SLAMing on 206.55134618399998 meters Centerline goodness [0,1] 0.8917080499102783 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99657229 -0.07440815 -0.03615384 5.03488864] [ 0.07476048 0.99716537 0.00849125 -0.22676905] [ 0.03541954 -0.01116502 0.99931016 -1.29415046] [ 0. 0. 0. 1. ]] SLAMing on 206.58134618399998 meters Centerline goodness [0,1] 0.8968919173128775 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99657231 -0.07441363 -0.03614208 5.03475885] [ 0.07477476 0.99716212 0.00874335 -0.22832189] [ 0.03538888 -0.0114159 0.99930841 -1.29392061] [ 0. 0. 0. 1. ]] SLAMing on 206.61134618399998 meters Centerline goodness [0,1] 0.8979917318951588 Centerline is valid? [False, False] Translation: X:5.03, Y:-0.23, Z:-1.29 [[ 0.99657782 -0.07428322 -0.0362582 5.03484263] [ 0.07465064 0.99717016 0.00888512 -0.22895546] [ 0.03549558 -0.01156141 0.99930296 -1.29365662] [ 0. 0. 0. 1. ]] SLAMing on 206.64134618399999 meters Centerline goodness [0,1] 0.8972103860120484 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99658258 -0.07416078 -0.03637765 5.03504228] [ 0.07453475 0.99717751 0.00903225 -0.22945577] [ 0.03560513 -0.01171278 0.9992973 -1.29349121] [ 0. 0. 0. 1. ]] SLAMing on 206.671346184 meters Centerline goodness [0,1] 0.9014529110483955 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99656342 -0.0743117 -0.03659395 5.03505108] [ 0.07468477 0.99716718 0.00893364 -0.22981784] [ 0.03582641 -0.01163595 0.99929028 -1.29275755] [ 0. 0. 0. 1. ]] SLAMing on 206.701346184 meters Centerline goodness [0,1] 0.8995198329853862 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99657721 -0.07401625 -0.03681662 5.03572419] [ 0.07440141 0.99718592 0.00920186 -0.23003607] [ 0.03603192 -0.01190957 0.99927967 -1.29293704] [ 0. 0. 0. 1. ]] SLAMing on 206.731346184 meters Centerline goodness [0,1] 0.9007863476660531 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99661916 -0.07328758 -0.03713719 5.03711098] [ 0.07370126 0.99723129 0.00989348 -0.23118483] [ 0.03630929 -0.01259709 0.9992612 -1.29378239] [ 0. 0. 0. 1. ]] SLAMing on 206.761346184 meters Centerline goodness [0,1] 0.9046151265437923 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99662725 -0.07308902 -0.03731109 5.03772508] [ 0.07352111 0.99724004 0.01034131 -0.2326408 ] [ 0.03645228 -0.01304958 0.99925019 -1.29406591] [ 0. 0. 0. 1. ]] SLAMing on 206.791346184 meters Centerline goodness [0,1] 0.9058339940741977 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.23, Z:-1.29 [[ 0.99662344 -0.07289154 -0.03779597 5.0391214 ] [ 0.07334481 0.99724875 0.01074605 -0.23393437] [ 0.03690869 -0.0134819 0.9992277 -1.29447053] [ 0. 0. 0. 1. ]] SLAMing on 206.821346184 meters Centerline goodness [0,1] 0.904562928296841 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.29 [[ 0.99662144 -0.07279731 -0.03802959 5.0397458 ] [ 0.07326881 0.99724986 0.01115368 -0.23531471] [ 0.03711304 -0.01390238 0.99921436 -1.29458463] [ 0. 0. 0. 1. ]] SLAMing on 206.851346184 meters Centerline goodness [0,1] 0.8969020548659643 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.30 [[ 0.99642068 -0.07546194 -0.03809614 5.04108417] [ 0.07584173 0.99708259 0.00862241 -0.23818494] [ 0.03733434 -0.01148082 0.99923688 -1.29509332] [ 0. 0. 0. 1. ]] SLAMing on 206.881346184 meters Centerline goodness [0,1] 0.9082555395443059 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.30 [[ 0.99643605 -0.07515158 -0.03830721 5.0416933 ] [ 0.0755609 0.99709735 0.00934974 -0.24045148] [ 0.03749336 -0.01221095 0.99922227 -1.29521973] [ 0. 0. 0. 1. ]] SLAMing on 206.911346184 meters Centerline goodness [0,1] 0.9074878823332776 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.30 [[ 0.99644967 -0.07490688 -0.03843195 5.04211663] [ 0.07533363 0.99711046 0.00977663 -0.241446 ] [ 0.03758856 -0.01263714 0.99921339 -1.29536331] [ 0. 0. 0. 1. ]] SLAMing on 206.941346184 meters Centerline goodness [0,1] 0.9051803498200686 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.30 [[ 0.99645969 -0.07469451 -0.0385851 5.04225395] [ 0.07513401 0.99712263 0.01006664 -0.24196995] [ 0.03772216 -0.01293006 0.99920461 -1.29503768] [ 0. 0. 0. 1. ]] SLAMing on 206.971346184 meters Centerline goodness [0,1] 0.9069854703883596 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.24, Z:-1.29 [[ 0.9962601 -0.07724731 -0.03871263 5.04268688] [ 0.0775778 0.99696097 0.00710657 -0.24307982] [ 0.03804602 -0.01008323 0.99922511 -1.29406169] [ 0. 0. 0. 1. ]] SLAMing on 207.001346184 meters Centerline goodness [0,1] 0.9067909731781587 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.29 [[ 0.99627291 -0.07704579 -0.03878445 5.04268361] [ 0.0773997 0.99697036 0.00770565 -0.24532121] [ 0.03807326 -0.01067883 0.99921789 -1.29376732] [ 0. 0. 0. 1. ]] SLAMing on 207.031346184 meters Centerline goodness [0,1] 0.9048295751394955 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.29 [[ 0.99627566 -0.07695085 -0.03890211 5.0434285 ] [ 0.07732853 0.99697115 0.00829649 -0.24729991] [ 0.03814586 -0.01127383 0.99920858 -1.29438686] [ 0. 0. 0. 1. ]] SLAMing on 207.061346184 meters Centerline goodness [0,1] 0.9034211955386607 Centerline is valid? [False, False] Translation: X:5.04, Y:-0.25, Z:-1.30 [[ 0.99627549 -0.07682727 -0.03914993 5.04465934] [ 0.07722944 0.99697395 0.00886374 -0.24947661] [ 0.03835049 -0.01185425 0.99919403 -1.29518769] [ 0. 0. 0. 1. ]] SLAMing on 207.091346184 meters Centerline goodness [0,1] 0.9030506775803386 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.25, Z:-1.30 [[ 0.99627175 -0.07678923 -0.03931938 5.04551957] [ 0.07721399 0.99697025 0.00939836 -0.25208583] [ 0.03847856 -0.01239933 0.99918249 -1.29569673] [ 0. 0. 0. 1. ]] SLAMing on 207.121346184 meters Centerline goodness [0,1] 0.9094070086508452 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.25, Z:-1.30 [[ 0.99626079 -0.07686109 -0.03945637 5.04589972] [ 0.07730171 0.99695994 0.00976344 -0.25396358] [ 0.03858599 -0.01277698 0.99917359 -1.29575555] [ 0. 0. 0. 1. ]] SLAMing on 207.151346184 meters Centerline goodness [0,1] 0.899443793911007 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.25, Z:-1.30 [[ 0.99619924 -0.07758019 -0.03960286 5.04599861] [ 0.07801269 0.99690717 0.00949262 -0.25409674] [ 0.03874393 -0.01254607 0.99917041 -1.29550883] [ 0. 0. 0. 1. ]] SLAMing on 207.18134618399998 meters Centerline goodness [0,1] 0.8990248374729122 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.25, Z:-1.30 [[ 0.99616878 -0.07778314 -0.03996925 5.04692756] [ 0.07822277 0.99689013 0.00955317 -0.25473022] [ 0.03910188 -0.01264307 0.99915524 -1.29564716] [ 0. 0. 0. 1. ]] SLAMing on 207.21134618399998 meters Centerline goodness [0,1] 0.9003055927662424 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99614851 -0.07797293 -0.04010439 5.04714002] [ 0.07842005 0.99687325 0.00969675 -0.25607793] [ 0.03922291 -0.0128044 0.99914844 -1.29550097] [ 0. 0. 0. 1. ]] SLAMing on 207.24134618399998 meters Centerline goodness [0,1] 0.8898826276398357 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99595142 -0.08026178 -0.04048221 5.04984974] [ 0.08060723 0.99672156 0.00697199 -0.2550961 ] [ 0.03978991 -0.01020693 0.99915593 -1.29694981] [ 0. 0. 0. 1. ]] SLAMing on 207.27134618399998 meters Centerline goodness [0,1] 0.8991101641809751 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99594934 -0.08033002 -0.0403979 5.04936126] [ 0.08067116 0.996717 0.00688362 -0.2551248 ] [ 0.03971231 -0.01011468 0.99915996 -1.29644946] [ 0. 0. 0. 1. ]] SLAMing on 207.30134618399998 meters Centerline goodness [0,1] 0.8864576802507838 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99595345 -0.08020008 -0.04055456 5.04949335] [ 0.08054507 0.99672679 0.006943 -0.25512975] [ 0.03986499 -0.01018138 0.9991532 -1.29614241] [ 0. 0. 0. 1. ]] SLAMing on 207.33134618399998 meters Centerline goodness [0,1] 0.8964026974549554 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99593565 -0.08038409 -0.04062725 5.05010567] [ 0.08073756 0.99670987 0.00713327 -0.25637054] [ 0.03992018 -0.01038443 0.99914891 -1.2966846 ] [ 0. 0. 0. 1. ]] SLAMing on 207.36134618399998 meters Centerline goodness [0,1] 0.8908123061446894 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99592465 -0.08038922 -0.04088611 5.05128852] [ 0.08076583 0.99670381 0.00764151 -0.25818232] [ 0.04013704 -0.01091257 0.99913459 -1.29752972] [ 0. 0. 0. 1. ]] SLAMing on 207.39134618399999 meters Centerline goodness [0,1] 0.882459955668939 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99591948 -0.08026439 -0.04125545 5.05314019] [ 0.08067091 0.99670638 0.00828251 -0.26009492] [ 0.04045478 -0.01157683 0.9991143 -1.29884502] [ 0. 0. 0. 1. ]] SLAMing on 207.421346184 meters Centerline goodness [0,1] 0.8645242070116861 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99587907 -0.08067219 -0.04143531 5.05363391] [ 0.08108066 0.99667322 0.00827123 -0.26068781] [ 0.04063021 -0.01159674 0.99910695 -1.29891898] [ 0. 0. 0. 1. ]] SLAMing on 207.451346184 meters Centerline goodness [0,1] 0.8752166739761502 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99585977 -0.08088041 -0.04149301 5.05306048] [ 0.08127927 0.99665914 0.00801478 -0.26065798] [ 0.04070615 -0.01135412 0.99910665 -1.29787099] [ 0. 0. 0. 1. ]] SLAMing on 207.481346184 meters Centerline goodness [0,1] 0.8742406212813929 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99585817 -0.08088964 -0.04151361 5.05248009] [ 0.08128531 0.99665932 0.00793064 -0.2611287 ] [ 0.04073342 -0.01127224 0.99910646 -1.29685883] [ 0. 0. 0. 1. ]] SLAMing on 207.511346184 meters Centerline goodness [0,1] 0.8878704168759417 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99592734 -0.0800101 -0.04155858 5.05233205] [ 0.08043004 0.99672376 0.00853013 -0.26227607] [ 0.04073993 -0.01183795 0.99909966 -1.29636452] [ 0. 0. 0. 1. ]] SLAMing on 207.541346184 meters Centerline goodness [0,1] 0.8910628523700146 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99593438 -0.0798497 -0.0416981 5.05301144] [ 0.08026751 0.99673762 0.00844116 -0.26129614] [ 0.04088804 -0.01175384 0.9990946 -1.29685219] [ 0. 0. 0. 1. ]] SLAMing on 207.571346184 meters Centerline goodness [0,1] 0.8898390342052314 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99593592 -0.07975876 -0.0418351 5.05354567] [ 0.08017088 0.99674687 0.00826474 -0.25997349] [ 0.04103982 -0.0115851 0.99909035 -1.29717736] [ 0. 0. 0. 1. ]] SLAMing on 207.601346184 meters Centerline goodness [0,1] 0.8817329966400234 Centerline is valid? [False, False] Translation: X:5.05, Y:-0.26, Z:-1.30 [[ 0.99593311 -0.07952429 -0.04234532 5.05482749] [ 0.07994141 0.99676544 0.00824733 -0.25931716] [ 0.04155249 -0.01159893 0.99906899 -1.29736878] [ 0. 0. 0. 1. ]] SLAMing on 207.631346184 meters Centerline goodness [0,1] 0.8846507161050565 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.99595269 -0.07924133 -0.04241514 5.05503591] [ 0.07968456 0.99678075 0.00886054 -0.26207901] [ 0.04157647 -0.01220451 0.99906078 -1.29733162] [ 0. 0. 0. 1. ]] SLAMing on 207.661346184 meters Centerline goodness [0,1] 0.8896788942721114 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.9959643 -0.07899173 -0.04260772 5.05569816] [ 0.07946181 0.9967931 0.00945158 -0.2642804 ] [ 0.04172448 -0.01279912 0.99904717 -1.2975651 ] [ 0. 0. 0. 1. ]] SLAMing on 207.691346184 meters Centerline goodness [0,1] 0.9007196050539704 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.27, Z:-1.30 [[ 0.99596363 -0.07888694 -0.04281694 5.0564261 ] [ 0.07936908 0.99679832 0.00967728 -0.26518219] [ 0.04191645 -0.01303656 0.99903607 -1.29784732] [ 0. 0. 0. 1. ]] SLAMing on 207.721346184 meters Centerline goodness [0,1] 0.8883486027923284 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.27, Z:-1.30 [[ 0.99594928 -0.07892065 -0.04308796 5.05697624] [ 0.07940218 0.99679664 0.00957826 -0.26500224] [ 0.04219401 -0.01296074 0.99902537 -1.29770188] [ 0. 0. 0. 1. ]] SLAMing on 207.751346184 meters Centerline goodness [0,1] 0.9011982297929192 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.99599024 -0.07837368 -0.04313951 5.05703342] [ 0.07885595 0.99683988 0.00959102 -0.26288216] [ 0.04225151 -0.01295437 0.99902302 -1.29760935] [ 0. 0. 0. 1. ]] SLAMing on 207.781346184 meters Centerline goodness [0,1] 0.8993999958187862 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.99600396 -0.07801454 -0.04347223 5.05820661] [ 0.0785141 0.99686382 0.00990252 -0.26315908] [ 0.04256335 -0.01327613 0.99900556 -1.2981911 ] [ 0. 0. 0. 1. ]] SLAMing on 207.811346184 meters Centerline goodness [0,1] 0.8999160897839312 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.27, Z:-1.30 [[ 0.9960096 -0.07786693 -0.04360755 5.05910501] [ 0.0783878 0.99686909 0.01036222 -0.26516207] [ 0.04266414 -0.01373917 0.998995 -1.29898829] [ 0. 0. 0. 1. ]] SLAMing on 207.841346184 meters Centerline goodness [0,1] 0.8961410095953275 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.99580156 -0.08031458 -0.04391827 5.0614639 ] [ 0.0807136 0.99670997 0.00738612 -0.26387215] [ 0.04318056 -0.01089992 0.99900782 -1.30016142] [ 0. 0. 0. 1. ]] SLAMing on 207.871346184 meters Centerline goodness [0,1] 0.8957590170432026 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 0.99577764 -0.08059369 -0.04394932 5.06138467] [ 0.08099278 0.99668741 0.00737392 -0.26457327] [ 0.04320944 -0.01090237 0.99900655 -1.29989195] [ 0. 0. 0. 1. ]] SLAMing on 207.901346184 meters Centerline goodness [0,1] 0.8930385858840324 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95462959e-01 -8.44994889e-02 -4.37416801e-02 5.06158667e+00] [ 8.47256682e-02 9.96398719e-01 3.33964818e-03 -2.64004428e-01] [ 4.33019555e-02 -7.03053913e-03 9.99037293e-01 -1.29973740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93134618399998 meters Centerline goodness [0,1] 0.8891810668670173 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95445178e-01 -8.45396823e-02 -4.40674380e-02 5.06275812e+00] [ 8.47723457e-02 9.96394426e-01 3.43461362e-03 -2.64367171e-01] [ 4.36181885e-02 -7.15466966e-03 9.99022655e-01 -1.30032796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96134618399998 meters Centerline goodness [0,1] 0.8872007846901935 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95433726e-01 -8.45811709e-02 -4.42461636e-02 5.06334142e+00] [ 8.48075473e-02 9.96392014e-01 3.26106335e-03 -2.63511822e-01] [ 4.38106995e-02 -6.99858106e-03 9.99015336e-01 -1.30056626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99134618399998 meters Centerline goodness [0,1] 0.8833103793664705 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95429054e-01 -8.45854457e-02 -4.43429994e-02 5.06355439e+00] [ 8.48036832e-02 9.96392979e-01 3.06036731e-03 -2.62263253e-01] [ 4.39241907e-02 -6.80682821e-03 9.99011678e-01 -1.30051914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02134618399998 meters Centerline goodness [0,1] 0.8808326901816816 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95409850e-01 -8.48544909e-02 -4.42599915e-02 5.06272137e+00] [ 8.50490350e-02 9.96373561e-01 2.52769766e-03 -2.60856846e-01] [ 4.38849989e-02 -6.28036472e-03 9.99016849e-01 -1.29955914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05134618399998 meters Centerline goodness [0,1] 0.8839610539818729 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95416641e-01 -8.47667660e-02 -4.42753367e-02 5.06274928e+00] [ 8.49623300e-02 9.96380899e-01 2.55064605e-03 -2.60983407e-01] [ 4.38988898e-02 -6.30069129e-03 9.99016110e-01 -1.29950179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08134618399998 meters Centerline goodness [0,1] 0.8877861474223127 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95431460e-01 -8.45373139e-02 -4.43807568e-02 5.06347950e+00] [ 8.47337030e-02 9.96400346e-01 2.55932625e-03 -2.60574605e-01] [ 4.40046429e-02 -6.30817973e-03 9.99011410e-01 -1.30002712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11134618399998 meters Centerline goodness [0,1] 0.8743294859218134 Centerline is valid? [False, False] Translation: X:5.06, Y:-0.26, Z:-1.30 [[ 9.95437986e-01 -8.42432894e-02 -4.47915751e-02 5.06468255e+00] [ 8.44278498e-02 9.96427074e-01 2.24136476e-03 -2.58575303e-01] [ 4.44427182e-02 -6.01279600e-03 9.98993839e-01 -1.30048120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14134618399999 meters Centerline goodness [0,1] 0.8944248234106963 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95445864e-01 -8.40547602e-02 -4.49703113e-02 5.06531438e+00] [ 8.42284048e-02 9.96444513e-01 1.97714015e-03 -2.57145564e-01] [ 4.46442319e-02 -5.75591356e-03 9.98986367e-01 -1.30081873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.171346184 meters Centerline goodness [0,1] 0.9012797074954296 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95467361e-01 -8.36734398e-02 -4.52049619e-02 5.06626092e+00] [ 8.38483666e-02 9.96476550e-01 1.98410965e-03 -2.56046348e-01] [ 4.48796672e-02 -5.76547861e-03 9.98975763e-01 -1.30140714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.201346184 meters Centerline goodness [0,1] 0.9014172702414995 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.30 [[ 9.95466558e-01 -8.34787325e-02 -4.55810715e-02 5.06736662e+00] [ 8.36463369e-02 9.96493917e-01 1.77885155e-03 -2.54706072e-01] [ 4.52727642e-02 -5.58347689e-03 9.98959059e-01 -1.30179406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.231346184 meters Centerline goodness [0,1] 0.898603445392206 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.30 [[ 9.95472278e-01 -8.34607161e-02 -4.54890363e-02 5.06698902e+00] [ 8.36169170e-02 9.96496786e-01 1.53855711e-03 -2.53807702e-01] [ 4.52012694e-02 -5.33524392e-03 9.98963653e-01 -1.30152401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.261346184 meters Centerline goodness [0,1] 0.9038131872726513 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.30 [[ 9.95480018e-01 -8.33554141e-02 -4.55127228e-02 5.06677815e+00] [ 8.35118290e-02 9.96505592e-01 1.54288434e-03 -2.53371971e-01] [ 4.52250750e-02 -5.33676126e-03 9.98962568e-01 -1.30114114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.291346184 meters Centerline goodness [0,1] 0.8984968684759916 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.30 [[ 9.95490287e-01 -8.31785092e-02 -4.56116636e-02 5.06716758e+00] [ 8.33378570e-02 9.96520066e-01 1.59989287e-03 -2.52870205e-01] [ 4.53198613e-02 -5.39385611e-03 9.98957965e-01 -1.30129015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.321346184 meters Centerline goodness [0,1] 0.8951995155665992 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.25, Z:-1.30 [[ 9.95505354e-01 -8.28313600e-02 -4.59135633e-02 5.06860694e+00] [ 8.30146468e-02 9.96546122e-01 2.09643437e-03 -2.53900342e-01] [ 4.55813329e-02 -5.89850988e-03 9.98943216e-01 -1.30234471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.351346184 meters Centerline goodness [0,1] 0.9033322127909909 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95520750e-01 -8.25441316e-02 -4.60966588e-02 5.06993701e+00] [ 8.27520220e-02 9.96566734e-01 2.61666243e-03 -2.55327762e-01] [ 4.57224066e-02 -6.41953347e-03 9.98933557e-01 -1.30354195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.381346184 meters Centerline goodness [0,1] 0.8988608761202781 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95539566e-01 -8.20679417e-02 -4.65384396e-02 5.07190243e+00] [ 8.23154434e-02 9.96600445e-01 3.42369828e-03 -2.57172647e-01] [ 4.60992537e-02 -7.23925939e-03 9.98910633e-01 -1.30479541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.411346184 meters Centerline goodness [0,1] 0.8988608761202781 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95539566e-01 -8.20679417e-02 -4.65384396e-02 5.07190243e+00] [ 8.23154434e-02 9.96600445e-01 3.42369828e-03 -2.57172647e-01] [ 4.60992537e-02 -7.23925939e-03 9.98910633e-01 -1.30479541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.441346184 meters Centerline goodness [0,1] 0.8996072860962567 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.31 [[ 9.95527719e-01 -8.21368907e-02 -4.66700368e-02 5.07254016e+00] [ 8.24159033e-02 9.96589660e-01 4.08270924e-03 -2.60073423e-01] [ 4.61755351e-02 -7.91080346e-03 9.98902017e-01 -1.30516123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.471346184 meters Centerline goodness [0,1] 0.8988101461700926 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95535411e-01 -8.19940129e-02 -4.67571123e-02 5.07260402e+00] [ 8.22887011e-02 9.96598778e-01 4.40965557e-03 -2.60899854e-01] [ 4.62365156e-02 -8.23755031e-03 9.98896555e-01 -1.30493005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.501346184 meters Centerline goodness [0,1] 0.8993552708699657 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.30 [[ 9.95542335e-01 -8.18280649e-02 -4.69001870e-02 5.07295757e+00] [ 8.21289185e-02 9.96611460e-01 4.52083503e-03 -2.60493127e-01] [ 4.63713327e-02 -8.35254429e-03 9.98889350e-01 -1.30497420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.531346184 meters Centerline goodness [0,1] 0.8975453575240128 Centerline is valid? [False, False] Translation: X:5.07, Y:-0.26, Z:-1.31 [[ 0.99557258 -0.08122741 -0.04730053 5.07449088] [ 0.08156192 0.9966548 0.0051822 -0.2611279 ] [ 0.04672137 -0.00901718 0.99886726 -1.30581583] [ 0. 0. 0. 1. ]] SLAMing on 208.561346184 meters Centerline goodness [0,1] 0.8963947027614154 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.26, Z:-1.31 [[ 0.99557929 -0.08098631 -0.04757193 5.07538512] [ 0.08135183 0.9966686 0.00579501 -0.26342875] [ 0.04694413 -0.00963946 0.998851 -1.30603724] [ 0. 0. 0. 1. ]] SLAMing on 208.591346184 meters Centerline goodness [0,1] 0.8991819912550472 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99557702 -0.08106257 -0.04748945 5.07508917] [ 0.08144499 0.99665874 0.00617073 -0.26561968] [ 0.04683056 -0.01001121 0.99885268 -1.30574174] [ 0. 0. 0. 1. ]] SLAMing on 208.621346184 meters Centerline goodness [0,1] 0.8959615986643014 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99555307 -0.08124312 -0.04768269 5.07557856] [ 0.08163451 0.99664232 0.00631588 -0.26665889] [ 0.04700947 -0.01018035 0.99884257 -1.30570499] [ 0. 0. 0. 1. ]] SLAMing on 208.651346184 meters Centerline goodness [0,1] 0.8974980159558916 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99554115 -0.08137317 -0.04770977 5.07592538] [ 0.08176327 0.996632 0.00627957 -0.26647329] [ 0.0470381 -0.01015248 0.9988415 -1.30603633] [ 0. 0. 0. 1. ]] SLAMing on 208.68134618399998 meters Centerline goodness [0,1] 0.8878018187519598 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99552855 -0.08144938 -0.04784252 5.07705352] [ 0.08185025 0.99662359 0.00647725 -0.26781956] [ 0.04715342 -0.01036421 0.99883389 -1.30707098] [ 0. 0. 0. 1. ]] SLAMing on 208.71134618399998 meters Centerline goodness [0,1] 0.8701629221686797 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99553462 -0.08115993 -0.04820667 5.07880347] [ 0.0815904 0.99664117 0.00702683 -0.26980418] [ 0.04747446 -0.01092865 0.99881267 -1.30817224] [ 0. 0. 0. 1. ]] SLAMing on 208.74134618399998 meters Centerline goodness [0,1] 0.8939780716437897 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99554449 -0.08107482 -0.04814602 5.07940845] [ 0.08151178 0.99664652 0.00717959 -0.2702485 ] [ 0.04740248 -0.01107207 0.9988145 -1.30905493] [ 0. 0. 0. 1. ]] SLAMing on 208.77134618399998 meters Centerline goodness [0,1] 0.8874479700474807 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99553484 -0.08112935 -0.04825356 5.0800631 ] [ 0.08155599 0.99664462 0.00693638 -0.26906586] [ 0.0475289 -0.01084078 0.99881103 -1.30954254] [ 0. 0. 0. 1. ]] SLAMing on 208.80134618399998 meters Centerline goodness [0,1] 0.8887354590342288 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99552549 -0.0811882 -0.04834752 5.080416 ] [ 0.0816014 0.99664298 0.00663171 -0.26770554] [ 0.0476468 -0.01054726 0.99880856 -1.30972473] [ 0. 0. 0. 1. ]] SLAMing on 208.83134618399998 meters Centerline goodness [0,1] 0.8878876781223806 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99551058 -0.08128861 -0.04848562 5.08078322] [ 0.08168453 0.99663872 0.00623766 -0.26612889] [ 0.0478156 -0.01017019 0.9988044 -1.30980759] [ 0. 0. 0. 1. ]] SLAMing on 208.86134618399998 meters Centerline goodness [0,1] 0.8858601284491956 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.26, Z:-1.31 [[ 0.99548668 -0.08148489 -0.04864646 5.08156976] [ 0.08185085 0.996629 0.00557535 -0.26386894] [ 0.04802816 -0.00953194 0.9988005 -1.31029816] [ 0. 0. 0. 1. ]] SLAMing on 208.89134618399999 meters Centerline goodness [0,1] 0.8872427811072461 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.26, Z:-1.31 [[ 0.99549091 -0.08137504 -0.04874365 5.08183453] [ 0.08175221 0.99663586 0.00579151 -0.26484442] [ 0.04810838 -0.00975029 0.99879453 -1.31026097] [ 0. 0. 0. 1. ]] SLAMing on 208.921346184 meters Centerline goodness [0,1] 0.8868515017853392 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99549167 -0.08134373 -0.04878044 5.08200911] [ 0.08173437 0.9966357 0.00606422 -0.2663731 ] [ 0.04812304 -0.01002392 0.99879112 -1.31026682] [ 0. 0. 0. 1. ]] SLAMing on 208.951346184 meters Centerline goodness [0,1] 0.8870753743445022 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 0.99548859 -0.08137562 -0.0487902 5.08206301] [ 0.08177519 0.99663122 0.00624686 -0.26735154] [ 0.0481175 -0.01020851 0.99878951 -1.31026033] [ 0. 0. 0. 1. ]] SLAMing on 208.981346184 meters Centerline goodness [0,1] 0.8741551403042541 Centerline is valid? [False, False] Translation: X:5.08, Y:-0.27, Z:-1.31 [[ 9.95294267e-01 -8.35164188e-02 -4.91358367e-02 5.08479130e+00] [ 8.38243359e-02 9.96471543e-01 4.23613913e-03 -2.66137501e-01] [ 4.86086758e-02 -8.33498387e-03 9.98783122e-01 -1.31203990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.011346184 meters Centerline goodness [0,1] 0.867677637520741 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 9.95280446e-01 -8.35348683e-02 -4.93837903e-02 5.08559201e+00] [ 8.38495684e-02 9.96469008e-01 4.33195835e-03 -2.66152256e-01] [ 4.88475469e-02 -8.45232294e-03 9.98770482e-01 -1.31242298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.041346184 meters Centerline goodness [0,1] 0.8655435740360005 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 9.95291194e-01 -8.32488726e-02 -4.96494059e-02 5.08661661e+00] [ 8.35879733e-02 9.96488892e-01 4.78952469e-03 -2.67062956e-01] [ 4.90763589e-02 -8.91706497e-03 9.98755224e-01 -1.31295160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.071346184 meters Centerline goodness [0,1] 0.8703855275032004 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 0.99533529 -0.08260426 -0.04984177 5.08731122] [ 0.08297546 0.99653684 0.00542159 -0.26805352] [ 0.04922132 -0.00953195 0.99874241 -1.31319827] [ 0. 0. 0. 1. ]] SLAMing on 209.101346184 meters Centerline goodness [0,1] 0.8751255440241045 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 0.99534162 -0.08228316 -0.0502448 5.08814235] [ 0.08266439 0.99656197 0.00555352 -0.26816026] [ 0.04961509 -0.00968111 0.99872149 -1.31303489] [ 0. 0. 0. 1. ]] SLAMing on 209.131346184 meters Centerline goodness [0,1] 0.8927255214004524 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 0.9953545 -0.08207353 -0.05033246 5.08814149] [ 0.08246253 0.99657788 0.00569783 -0.26869674] [ 0.04969257 -0.0098219 0.99871627 -1.31267002] [ 0. 0. 0. 1. ]] SLAMing on 209.161346184 meters Centerline goodness [0,1] 0.8965401692217475 Centerline is valid? [False, False] Translation: X:5.09, Y:-0.27, Z:-1.31 [[ 0.99536444 -0.08174507 -0.05066919 5.08889612] [ 0.082147 0.99660277 0.00589787 -0.26921661] [ 0.05001494 -0.01003285 0.99869808 -1.31260578] [ 0. 0. 0. 1. ]] SLAMing on 209.191346184 meters Centerline goodness [0,1] 0.9009206488382289 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.95968980e-01 -7.80851420e-02 -4.41418390e-02 5.09678899e+00] [ 7.81862679e-02 9.96938607e-01 5.66462941e-04 -2.65792710e-01] [ 4.39624711e-02 -4.01546516e-03 9.99025113e-01 -1.31392180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.221346184 meters Centerline goodness [0,1] 0.8988964044143823 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.96170786e-01 -7.54107095e-02 -4.42378704e-02 5.09538241e+00] [ 7.56453023e-02 9.97128106e-01 3.65077054e-03 -2.66281763e-01] [ 4.38355168e-02 -6.98317804e-03 9.99014356e-01 -1.31274620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.251346184 meters Centerline goodness [0,1] 0.901335685483871 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.96170176e-01 -7.52578096e-02 -4.45111592e-02 5.09590585e+00] [ 7.54957393e-02 9.97139310e-01 3.68634494e-03 -2.65926774e-01] [ 4.41064003e-02 -7.03262976e-03 9.99002086e-01 -1.31263281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.281346184 meters Centerline goodness [0,1] 0.9009611366485583 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.95950795e-01 -7.76724090e-02 -4.52659955e-02 5.09887622e+00] [ 7.77819495e-02 9.96970176e-01 6.60965805e-04 -2.66036403e-01] [ 4.50775087e-02 -4.17916680e-03 9.98974751e-01 -1.31331598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.311346184 meters Centerline goodness [0,1] 0.9005755275669364 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.95950929e-01 -7.74504522e-02 -4.56417983e-02 5.10025088e+00] [ 7.75877801e-02 9.96984751e-01 1.24232478e-03 -2.67846910e-01] [ 4.54079583e-02 -4.77854033e-03 9.98957098e-01 -1.31400740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.341346184 meters Centerline goodness [0,1] 0.8983337509396141 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.31 [[ 9.95943528e-01 -7.74601285e-02 -4.57866491e-02 5.10110111e+00] [ 7.76328910e-02 9.96979998e-01 2.00443907e-03 -2.71162333e-01] [ 4.54931092e-02 -5.55085806e-03 9.98949230e-01 -1.31462051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.371346184 meters Centerline goodness [0,1] 0.9004516371847949 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.32 [[ 9.95944578e-01 -7.73101436e-02 -4.60167383e-02 5.10198245e+00] [ 7.74910067e-02 9.96990718e-01 2.15687501e-03 -2.70911623e-01] [ 4.57115127e-02 -5.71401135e-03 9.98938340e-01 -1.31514714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.401346184 meters Centerline goodness [0,1] 0.898913724670984 Centerline is valid? [False, False] Translation: X:5.10, Y:-0.27, Z:-1.32 [[ 9.95980630e-01 -7.65397845e-02 -4.65214510e-02 5.10429823e+00] [ 7.67513487e-02 9.97046400e-01 2.77592370e-03 -2.69500962e-01] [ 4.61715766e-02 -6.33535034e-03 9.98913434e-01 -1.31672462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43134618399998 meters Centerline goodness [0,1] 0.8983433734939759 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.95999144e-01 -7.59745910e-02 -4.70485559e-02 5.10638074e+00] [ 7.62008943e-02 9.97087873e-01 3.03265752e-03 -2.67981288e-01] [ 4.66811396e-02 -6.60566633e-03 9.98888000e-01 -1.31794353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46134618399998 meters Centerline goodness [0,1] 0.8972721753511839 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.96018468e-01 -7.55167554e-02 -4.73754185e-02 5.10766186e+00] [ 7.57704034e-02 9.97118869e-01 3.57863487e-03 -2.69161370e-01] [ 4.69686768e-02 -7.15404099e-03 9.98870744e-01 -1.31864107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49134618399998 meters Centerline goodness [0,1] 0.9023849835914801 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.96020465e-01 -7.52875852e-02 -4.76970977e-02 5.10881565e+00] [ 7.55626815e-02 9.97133077e-01 3.98841175e-03 -2.70652818e-01] [ 4.72600759e-02 -7.57666033e-03 9.98853883e-01 -1.31917045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52134618399998 meters Centerline goodness [0,1] 0.9023021010075619 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.96032351e-01 -7.50460047e-02 -4.78294243e-02 5.10902202e+00] [ 7.53418326e-02 9.97148013e-01 4.41000930e-03 -2.72056601e-01] [ 4.73620619e-02 -7.99606841e-03 9.98845783e-01 -1.31897042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55134618399998 meters Centerline goodness [0,1] 0.9029902569390375 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.96006628e-01 -7.54974458e-02 -4.76543063e-02 5.10818384e+00] [ 7.57803117e-02 9.97115882e-01 4.15472339e-03 -2.72007459e-01] [ 4.72031946e-02 -7.74939022e-03 9.98855247e-01 -1.31822692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58134618399998 meters Centerline goodness [0,1] 0.8993346166722465 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.95964957e-01 -7.57509412e-02 -4.81206763e-02 5.10946947e+00] [ 7.60328989e-02 9.97097070e-01 4.05358639e-03 -2.71738795e-01] [ 4.76739224e-02 -7.69598451e-03 9.98833304e-01 -1.31856664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61134618399998 meters Centerline goodness [0,1] 0.8943636934016522 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.95944382e-01 -7.58880164e-02 -4.83300902e-02 5.11009295e+00] [ 7.61759633e-02 9.97085789e-01 4.14151859e-03 -2.71902192e-01] [ 4.78749545e-02 -7.80631335e-03 9.98822832e-01 -1.31876435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64134618399999 meters Centerline goodness [0,1] 0.8854606225193231 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.95888227e-01 -7.64428439e-02 -4.86120426e-02 5.11098685e+00] [ 7.67365389e-02 9.97042552e-01 4.20158289e-03 -2.72688259e-01] [ 4.81470941e-02 -7.91462684e-03 9.98808899e-01 -1.31908646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.671346184 meters Centerline goodness [0,1] 0.8804325093068975 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.27, Z:-1.32 [[ 9.95876600e-01 -7.65311048e-02 -4.87112648e-02 5.11141582e+00] [ 7.68360921e-02 9.97033954e-01 4.41697041e-03 -2.73777724e-01] [ 4.82287493e-02 -8.14154071e-03 9.98803135e-01 -1.31928892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.701346184 meters Centerline goodness [0,1] 0.8790221216691805 Centerline is valid? [False, False] Translation: X:5.11, Y:-0.28, Z:-1.32 [[ 9.95880522e-01 -7.63998346e-02 -4.88369846e-02 5.11194689e+00] [ 7.67267987e-02 9.97040343e-01 4.85302466e-03 -2.75604517e-01] [ 4.83216736e-02 -8.58013823e-03 9.98794972e-01 -1.31954160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.731346184 meters Centerline goodness [0,1] 0.882935182091547 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.32 [[ 9.95709688e-01 -7.83380771e-02 -4.92479831e-02 5.11504063e+00] [ 7.85541491e-02 9.96906802e-01 2.46437189e-03 -2.75647063e-01] [ 4.89025952e-02 -6.32243238e-03 9.98783542e-01 -1.32135526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.761346184 meters Centerline goodness [0,1] 0.8923837949531422 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.32 [[ 9.95789062e-01 -7.72800999e-02 -4.93145963e-02 5.11593045e+00] [ 7.75168177e-02 9.96986818e-01 2.90296085e-03 -2.74802327e-01] [ 4.89416613e-02 -6.71344724e-03 9.98779076e-01 -1.32219153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.791346184 meters Centerline goodness [0,1] 0.8952400922625289 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.32 [[ 0.99605271 -0.0735569 -0.04968273 5.1159804 ] [ 0.07397934 0.99723716 0.00671549 -0.27455691] [ 0.04905149 -0.01036448 0.99874247 -1.32214758] [ 0. 0. 0. 1. ]] SLAMing on 209.821346184 meters Centerline goodness [0,1] 0.8957037284455764 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.32 [[ 0.99604856 -0.07332036 -0.05011383 5.11706815] [ 0.07374054 0.99725572 0.00658528 -0.27299467] [ 0.04949347 -0.01025468 0.9987218 -1.32235749] [ 0. 0. 0. 1. ]] SLAMing on 209.851346184 meters Centerline goodness [0,1] 0.8959736441543819 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.32 [[ 0.9960374 -0.0733603 -0.05027686 5.11739121] [ 0.0737744 0.99725424 0.00642818 -0.27267784] [ 0.04966724 -0.01011185 0.99871463 -1.32222631] [ 0. 0. 0. 1. ]] SLAMing on 209.881346184 meters Centerline goodness [0,1] 0.8936303471888766 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.27, Z:-1.32 [[ 0.9960185 -0.07360835 -0.05028869 5.11710609] [ 0.0740299 0.99723438 0.0065695 -0.27468608] [ 0.04966604 -0.01026621 0.99871312 -1.32166086] [ 0. 0. 0. 1. ]] SLAMing on 209.911346184 meters Centerline goodness [0,1] 0.8885323108341843 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.32 [[ 0.99599136 -0.07378145 -0.05057183 5.11807471] [ 0.07421979 0.99721843 0.00684268 -0.27641941] [ 0.0499263 -0.01056868 0.99869699 -1.32205271] [ 0. 0. 0. 1. ]] SLAMing on 209.941346184 meters Centerline goodness [0,1] 0.8820815764204901 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.32 [[ 0.99596277 -0.07409219 -0.05068051 5.11867085] [ 0.07454188 0.99719304 0.00703864 -0.27808713] [ 0.05001674 -0.01078805 0.99869011 -1.3224788 ] [ 0. 0. 0. 1. ]] SLAMing on 209.971346184 meters Centerline goodness [0,1] 0.8617830137444125 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.33 [[ 0.99577983 -0.07628032 -0.0510279 5.12201592] [ 0.07664925 0.99704398 0.00530982 -0.27862148] [ 0.05047202 -0.00919867 0.99868311 -1.32508532] [ 0. 0. 0. 1. ]] SLAMing on 210.001346184 meters Centerline goodness [0,1] 0.8470772442588727 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.33 [[ 0.99575627 -0.076431 -0.05126155 5.1231509 ] [ 0.07681208 0.9970304 0.00550267 -0.27938358] [ 0.05068875 -0.00941683 0.9986701 -1.3258968 ] [ 0. 0. 0. 1. ]] SLAMing on 210.031346184 meters Centerline goodness [0,1] 0.8326101468624834 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.33 [[ 0.99572203 -0.07673415 -0.0514733 5.12393378] [ 0.07711966 0.99700644 0.00554282 -0.28021377] [ 0.05089389 -0.00948871 0.99865899 -1.32625655] [ 0. 0. 0. 1. ]] SLAMing on 210.061346184 meters Centerline goodness [0,1] 0.8200848183508471 Centerline is valid? [False, False] Translation: X:5.12, Y:-0.28, Z:-1.33 [[ 9.95451820e-01 -8.03701076e-02 -5.11499720e-02 5.12358724e+00] [ 8.05669939e-02 9.96747578e-01 1.79571277e-03 -2.80039791e-01] [ 5.08392891e-02 -5.90854503e-03 9.98689369e-01 -1.32561273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.091346184 meters Centerline goodness [0,1] 0.8236411851913721 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-1.33 [[ 9.95794527e-01 -7.93253922e-02 -4.58338644e-02 5.13349892e+00] [ 7.91077974e-02 9.96844582e-01 -6.54484985e-03 -2.77893741e-01] [ 4.62084122e-02 2.89150960e-03 9.98927636e-01 -1.32728498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.121346184 meters Centerline goodness [0,1] 0.8294218540829986 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-1.33 [[ 9.96024646e-01 -7.62612743e-02 -4.60339240e-02 5.13284441e+00] [ 7.62056788e-02 9.97087714e-01 -2.96401768e-03 -2.80635167e-01] [ 4.61258998e-02 -5.55811761e-04 9.98935480e-01 -1.32663120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.151346184 meters Centerline goodness [0,1] 0.8439175603217158 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-1.33 [[ 9.96309551e-01 -7.22653733e-02 -4.63140858e-02 5.13271341e+00] [ 7.23944992e-02 9.97375453e-01 1.11459835e-03 -2.81223039e-01] [ 4.61119855e-02 -4.46337003e-03 9.98926305e-01 -1.32649102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18134618399998 meters Centerline goodness [0,1] 0.8492214442470478 Centerline is valid? [False, False] Translation: X:5.13, Y:-0.28, Z:-1.33 [[ 9.96323155e-01 -7.18370928e-02 -4.66862190e-02 5.13411410e+00] [ 7.19780764e-02 9.97405309e-01 1.34357333e-03 -2.80767894e-01] [ 4.64685643e-02 -4.69901746e-03 9.98908700e-01 -1.32729961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21134618399998 meters Centerline goodness [0,1] 0.8562603051363931 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96327124e-01 -7.15293271e-02 -4.70724645e-02 5.13538865e+00] [ 7.16755416e-02 9.97426985e-01 1.42344619e-03 -2.80345097e-01] [ 4.68495282e-02 -4.79216244e-03 9.98890463e-01 -1.32781206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24134618399998 meters Centerline goodness [0,1] 0.8898174069276731 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96348296e-01 -7.10837073e-02 -4.72988391e-02 5.13607009e+00] [ 7.12351362e-02 9.97458390e-01 1.52152366e-03 -2.79381021e-01] [ 4.70704684e-02 -4.88530675e-03 9.98879625e-01 -1.32794736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27134618399998 meters Centerline goodness [0,1] 0.8864476514692675 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96343363e-01 -7.09192988e-02 -4.76482620e-02 5.13735297e+00] [ 7.10854549e-02 9.97468606e-01 1.79958369e-03 -2.80064543e-01] [ 4.74000202e-02 -5.18010164e-03 9.98862555e-01 -1.32857308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30134618399998 meters Centerline goodness [0,1] 0.8864476514692675 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96343363e-01 -7.09192988e-02 -4.76482620e-02 5.13735297e+00] [ 7.10854549e-02 9.97468606e-01 1.79958369e-03 -2.80064543e-01] [ 4.74000202e-02 -5.18010164e-03 9.98862555e-01 -1.32857308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33134618399998 meters Centerline goodness [0,1] 0.8806432051523325 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96344340e-01 -7.07711663e-02 -4.78476624e-02 5.13839700e+00] [ 7.09604235e-02 9.97476557e-01 2.26629583e-03 -2.81674648e-01] [ 4.75665331e-02 -5.65330141e-03 9.98852074e-01 -1.32931731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36134618399998 meters Centerline goodness [0,1] 0.886354617039497 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96335119e-01 -7.06952836e-02 -4.81508877e-02 5.13989291e+00] [ 7.09024351e-02 9.97479852e-01 2.60566577e-03 -2.82706064e-01] [ 4.78453320e-02 -6.01013150e-03 9.98836675e-01 -1.33037781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39134618399999 meters Centerline goodness [0,1] 0.8653299322572552 Centerline is valid? [False, False] Translation: X:5.14, Y:-0.28, Z:-1.33 [[ 9.96292891e-01 -7.11730919e-02 -4.83204462e-02 5.14075144e+00] [ 7.13700408e-02 9.97447114e-01 2.36068248e-03 -2.82059781e-01] [ 4.80290725e-02 -5.80056339e-03 9.98829095e-01 -1.33097873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.421346184 meters Centerline goodness [0,1] 0.8528576796225942 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-1.34 [[ 9.96754015e-01 -7.07414667e-02 -3.84327797e-02 5.15107311e+00] [ 7.07534672e-02 9.97493281e-01 -1.04950101e-03 -2.79493555e-01] [ 3.84106828e-02 -1.67315807e-03 9.99260637e-01 -1.33506783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.451346184 meters Centerline goodness [0,1] 0.865471040362888 Centerline is valid? [False, False] Translation: X:5.15, Y:-0.28, Z:-1.33 [[ 9.96751137e-01 -7.07953483e-02 -3.84082012e-02 5.15069862e+00] [ 7.07907264e-02 9.97490089e-01 -1.48200558e-03 -2.77830332e-01] [ 3.84167192e-02 -1.24175372e-03 9.99261034e-01 -1.33458027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.481346184 meters Centerline goodness [0,1] 0.8646613387032492 Centerline is valid? [False, False] Translation: X:5.16, Y:-0.27, Z:-1.34 [[ 0.99711017 -0.06893984 -0.0319155 5.16140697] [ 0.06870043 0.99760079 -0.00853944 -0.27437615] [ 0.03242763 0.00632215 0.99945409 -1.33792422] [ 0. 0. 0. 1. ]] SLAMing on 210.511346184 meters Centerline goodness [0,1] 0.8700626304801671 Centerline is valid? [False, False] Translation: X:5.17, Y:-0.28, Z:-1.34 [[ 9.97268011e-01 -6.92222025e-02 -2.57837255e-02 5.17497615e+00] [ 6.92456012e-02 9.97599642e-01 1.46798466e-05 -2.76476965e-01] [ 2.57208192e-02 -1.80004932e-03 9.99667544e-01 -1.34274204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.541346184 meters Centerline goodness [0,1] 0.8632132570856117 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.28, Z:-1.34 [[ 9.97270319e-01 -6.90653695e-02 -2.61129496e-02 5.17613243e+00] [ 6.90886467e-02 9.97610525e-01 -1.08321848e-05 -2.75856175e-01] [ 2.60513015e-02 -1.79330574e-03 9.99658999e-01 -1.34334520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.571346184 meters Centerline goodness [0,1] 0.8539156626506024 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.34 [[ 9.97227801e-01 -6.96538272e-02 -2.61736175e-02 5.17653262e+00] [ 6.96606135e-02 9.97570535e-01 -6.53531782e-04 -2.74149024e-01] [ 2.61555506e-02 -1.17155019e-03 9.99657199e-01 -1.34371346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.601346184 meters Centerline goodness [0,1] 0.8606624177201965 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.34 [[ 9.97208520e-01 -6.98194796e-02 -2.64652035e-02 5.17757162e+00] [ 6.98260379e-02 9.97558953e-01 -6.77380956e-04 -2.74041914e-01] [ 2.64478951e-02 -1.17247024e-03 9.99649506e-01 -1.34425347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.631346184 meters Centerline goodness [0,1] 0.8586025324919554 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.34 [[ 9.97183907e-01 -7.00830186e-02 -2.66950720e-02 5.17862863e+00] [ 7.00873046e-02 9.97540559e-01 -7.76225290e-04 -2.73787262e-01] [ 2.66838172e-02 -1.09694627e-03 9.99643322e-01 -1.34499428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.661346184 meters Centerline goodness [0,1] 0.8323719958202717 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.35 [[ 9.97150250e-01 -7.04512475e-02 -2.69814817e-02 5.17962316e+00] [ 7.04490519e-02 9.97514844e-01 -1.03313187e-03 -2.72945143e-01] [ 2.69872139e-02 -8.70632105e-04 9.99635400e-01 -1.34553569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.691346184 meters Centerline goodness [0,1] 0.8044853724237299 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.35 [[ 9.97065843e-01 -7.16159816e-02 -2.70343588e-02 5.17984317e+00] [ 7.15880473e-02 9.97432277e-01 -2.00097063e-03 -2.70857147e-01] [ 2.71082436e-02 5.97625054e-05 9.99632502e-01 -1.34561994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.721346184 meters Centerline goodness [0,1] 0.8033686601059803 Centerline is valid? [False, False] Translation: X:5.18, Y:-0.27, Z:-1.35 [[ 9.97025358e-01 -7.21960224e-02 -2.69846374e-02 5.17950866e+00] [ 7.21587448e-02 9.97390382e-01 -2.35393134e-03 -2.71199012e-01] [ 2.70841623e-02 3.99751675e-04 9.99633077e-01 -1.34521369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.751346184 meters Centerline goodness [0,1] 0.7976091129099557 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.27, Z:-1.35 [[ 9.96966980e-01 -7.50663625e-02 -2.05397683e-02 5.19291478e+00] [ 7.51493828e-02 9.97166829e-01 3.29928688e-03 -2.73179820e-01] [ 2.02339101e-02 -4.83283098e-03 9.99783593e-01 -1.34944301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.781346184 meters Centerline goodness [0,1] 0.7865274545568903 Centerline is valid? [False, False] Translation: X:5.19, Y:-0.27, Z:-1.35 [[ 9.96908291e-01 -7.58625794e-02 -2.04628356e-02 5.19313843e+00] [ 7.59278691e-02 9.97110348e-01 2.43169138e-03 -2.71306747e-01] [ 2.02192308e-02 -3.97787280e-03 9.99787657e-01 -1.34993127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.811346184 meters Centerline goodness [0,1] 0.7823015157550472 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.27, Z:-1.35 [[ 9.96948329e-01 -7.52227770e-02 -2.08701334e-02 5.19543796e+00] [ 7.52965803e-02 9.97157330e-01 2.77221458e-03 -2.69228874e-01] [ 2.06022728e-02 -4.33520437e-03 9.99778352e-01 -1.35184781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.841346184 meters Centerline goodness [0,1] 0.7794551812223874 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.27, Z:-1.35 [[ 0.99717768 -0.07200227 -0.02126846 5.19594179] [ 0.07214796 0.9973749 0.00616344 -0.26828667] [ 0.02076885 -0.00768052 0.9997548 -1.35227036] [ 0. 0. 0. 1. ]] SLAMing on 210.871346184 meters Centerline goodness [0,1] 0.775150536055221 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.26, Z:-1.35 [[ 0.9971638 -0.07214248 -0.02144351 5.19650813] [ 0.0722723 0.99737064 0.0053409 -0.26495441] [ 0.02100182 -0.00687553 0.9997558 -1.35253935] [ 0. 0. 0. 1. ]] SLAMing on 210.901346184 meters Centerline goodness [0,1] 0.7659334225493476 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.26, Z:-1.35 [[ 9.97121470e-01 -7.26011921e-02 -2.18595944e-02 5.19783365e+00] [ 7.27085004e-02 9.97344584e-01 4.15382857e-03 -2.60975167e-01] [ 2.14999752e-02 -5.73124998e-03 9.99752421e-01 -1.35315437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93134618399998 meters Centerline goodness [0,1] 0.7631369926006438 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.26, Z:-1.35 [[ 9.97100664e-01 -7.28615605e-02 -2.19421694e-02 5.19820251e+00] [ 7.29612060e-02 9.97327637e-01 3.77441936e-03 -2.60152253e-01] [ 2.16085219e-02 -5.36440319e-03 9.99752117e-01 -1.35335188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96134618399998 meters Centerline goodness [0,1] 0.7510057832537088 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.26, Z:-1.35 [[ 9.97073619e-01 -7.32270935e-02 -2.19542844e-02 5.19831196e+00] [ 7.33186692e-02 9.97302787e-01 3.39461942e-03 -2.59559880e-01] [ 2.16464909e-02 -4.99434439e-03 9.99753213e-01 -1.35340658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99134618399998 meters Centerline goodness [0,1] 0.749785936553683 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.26, Z:-1.35 [[ 9.96947035e-01 -7.48703731e-02 -2.21593450e-02 5.19908588e+00] [ 7.49183535e-02 9.97188768e-01 1.34188261e-03 -2.55552193e-01] [ 2.19965827e-02 -2.99792753e-03 9.99753551e-01 -1.35359113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02134618399998 meters Centerline goodness [0,1] 0.7515833037225926 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.35 [[ 9.96921211e-01 -7.51791804e-02 -2.22753219e-02 5.19940349e+00] [ 7.52144260e-02 9.97167103e-01 7.47513213e-04 -2.53557478e-01] [ 2.21560208e-02 -2.42063733e-03 9.99751595e-01 -1.35364208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05134618399998 meters Centerline goodness [0,1] 0.7417062106737462 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.35 [[ 9.96906398e-01 -7.53416667e-02 -2.23889950e-02 5.19966964e+00] [ 7.53672398e-02 9.97155800e-01 2.99413331e-04 -2.51849371e-01] [ 2.23027579e-02 -1.98588382e-03 9.99749290e-01 -1.35361811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08134618399998 meters Centerline goodness [0,1] 0.7369180273033262 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.35 [[ 9.96881951e-01 -7.56547382e-02 -2.24218009e-02 5.19971660e+00] [ 7.56578078e-02 9.97133586e-01 -7.12578427e-04 -2.47912849e-01] [ 2.24114407e-02 -9.86027733e-04 9.99748346e-01 -1.35346675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11134618399998 meters Centerline goodness [0,1] 0.734478010514896 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.35 [[ 9.96886364e-01 -7.55197532e-02 -2.26791571e-02 5.20093274e+00] [ 7.55182787e-02 9.97143991e-01 -9.22688573e-04 -2.46196865e-01] [ 2.26840665e-02 -7.92875252e-04 9.99742369e-01 -1.35434679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14134618399999 meters Centerline goodness [0,1] 0.7338519615408681 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.35 [[ 9.96888912e-01 -7.54145022e-02 -2.29161480e-02 5.20196329e+00] [ 7.54110734e-02 9.97152014e-01 -1.01499977e-03 -2.45411949e-01] [ 2.29274288e-02 -7.16289297e-04 9.99736875e-01 -1.35497523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.171346184 meters Centerline goodness [0,1] 0.7342848783749896 Centerline is valid? [False, False] Translation: X:5.20, Y:-0.25, Z:-1.36 [[ 9.97105243e-01 -7.24519291e-02 -2.30619091e-02 5.20236981e+00] [ 7.25191073e-02 9.97364836e-01 2.08897628e-03 -2.45045972e-01] [ 2.28497869e-02 -3.75535827e-03 9.99731856e-01 -1.35585431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.201346184 meters Centerline goodness [0,1] 0.7321630094043887 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.24, Z:-1.36 [[ 9.97160168e-01 -7.15318540e-02 -2.35540314e-02 5.20500431e+00] [ 7.16131949e-02 9.97429019e-01 2.62708752e-03 -2.43124371e-01] [ 2.33055540e-02 -4.30640647e-03 9.99719114e-01 -1.35795732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.231346184 meters Centerline goodness [0,1] 0.7398696098777855 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.24, Z:-1.36 [[ 9.97170107e-01 -7.12810980e-02 -2.38910711e-02 5.20653955e+00] [ 7.13603523e-02 9.97447517e-01 2.48025313e-03 -2.41198861e-01] [ 2.36532944e-02 -4.17810953e-03 9.99711491e-01 -1.35908554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.261346184 meters Centerline goodness [0,1] 0.7384356955380578 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.24, Z:-1.36 [[ 9.97194604e-01 -7.08167107e-02 -2.42469648e-02 5.20859501e+00] [ 7.08971031e-02 9.97480574e-01 2.47104662e-03 -2.39076473e-01] [ 2.40108850e-02 -4.18315392e-03 9.99702945e-01 -1.36075666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.291346184 meters Centerline goodness [0,1] 0.7330737344554704 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.24, Z:-1.36 [[ 9.97199007e-01 -7.06358156e-02 -2.45910980e-02 5.20980251e+00] [ 7.07153101e-02 9.97493706e-01 2.37709940e-03 -2.38010800e-01] [ 2.43615571e-02 -4.10940828e-03 9.99694767e-01 -1.36130679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.321346184 meters Centerline goodness [0,1] 0.7324585231309291 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.24, Z:-1.36 [[ 9.97199152e-01 -7.05566038e-02 -2.48116271e-02 5.21066284e+00] [ 7.06344600e-02 9.97499674e-01 2.27451235e-03 -2.36989552e-01] [ 2.45891081e-02 -4.02069767e-03 9.99689557e-01 -1.36171273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.351346184 meters Centerline goodness [0,1] 0.7276989382949648 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.23, Z:-1.36 [[ 9.97169331e-01 -7.09238880e-02 -2.49625094e-02 5.21135802e+00] [ 7.09835632e-02 9.97476340e-01 1.51154801e-03 -2.34382696e-01] [ 2.47923076e-02 -3.27919718e-03 9.99687245e-01 -1.36220782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.381346184 meters Centerline goodness [0,1] 0.7158860110136309 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.23, Z:-1.36 [[ 9.97168986e-01 -7.07957350e-02 -2.53372541e-02 5.21284748e+00] [ 7.08516026e-02 9.97486003e-01 1.31292714e-03 -2.32939659e-01] [ 2.51806067e-02 -3.10439528e-03 9.99678098e-01 -1.36304651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.411346184 meters Centerline goodness [0,1] 0.73653660785382 Centerline is valid? [False, False] Translation: X:5.21, Y:-0.23, Z:-1.36 [[ 9.97163706e-01 -7.07837066e-02 -2.55775178e-02 5.21369552e+00] [ 7.08302741e-02 9.97487959e-01 9.18133562e-04 -2.30848623e-01] [ 2.54482772e-02 -2.72719207e-03 9.99672420e-01 -1.36342821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.441346184 meters Centerline goodness [0,1] 0.725202672979031 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.23, Z:-1.37 [[ 9.97184808e-01 -7.03859055e-02 -2.58511784e-02 5.21553098e+00] [ 7.04279834e-02 9.97516607e-01 7.19711701e-04 -2.26559931e-01] [ 2.57363222e-02 -2.53833194e-03 9.99665543e-01 -1.36501692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.471346184 meters Centerline goodness [0,1] 0.7340794979079498 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.22, Z:-1.37 [[ 9.97181991e-01 -7.03323234e-02 -2.61044409e-02 5.21672459e+00] [ 7.03669382e-02 9.97521091e-01 4.08650309e-04 -2.24682470e-01] [ 2.60109890e-02 -2.24438831e-03 9.99659137e-01 -1.36582884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.501346184 meters Centerline goodness [0,1] 0.730419668286145 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.22, Z:-1.37 [[ 9.97170465e-01 -7.04254270e-02 -2.62930155e-02 5.21753449e+00] [ 7.04469305e-02 9.97515523e-01 -1.08707430e-04 -2.22642598e-01] [ 2.62353469e-02 -1.74386240e-03 9.99654273e-01 -1.36632454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.531346184 meters Centerline goodness [0,1] 0.7290951703356492 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.22, Z:-1.37 [[ 9.97185322e-01 -7.00926409e-02 -2.66168326e-02 5.21934558e+00] [ 7.01125049e-02 9.97539073e-01 -1.87372567e-04 -2.20412144e-01] [ 2.65644640e-02 -1.67932763e-03 9.99645692e-01 -1.36770723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.561346184 meters Centerline goodness [0,1] 0.7243968617882759 Centerline is valid? [False, False] Translation: X:5.22, Y:-0.22, Z:-1.37 [[ 9.97361524e-01 -6.75421973e-02 -2.66090599e-02 5.21811851e+00] [ 6.76280065e-02 9.97707868e-01 2.33716964e-03 -2.18653566e-01] [ 2.63902109e-02 -4.13052075e-03 9.99643184e-01 -1.36691522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.591346184 meters Centerline goodness [0,1] 0.6993409352442724 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.21, Z:-1.37 [[ 9.97695052e-01 -6.51954302e-02 -1.88185925e-02 5.22734641e+00] [ 6.51542302e-02 9.97871292e-01 -2.79484609e-03 -2.07958061e-01] [ 1.89607444e-02 1.56229321e-03 9.99819008e-01 -1.37015362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.621346184 meters Centerline goodness [0,1] 0.7205547072726892 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.21, Z:-1.37 [[ 9.97905614e-01 -6.18228764e-02 -1.90346169e-02 5.22761472e+00] [ 6.18448820e-02 9.98085611e-01 5.69045819e-04 -2.06433073e-01] [ 1.89629972e-02 -1.74504765e-03 9.99818663e-01 -1.37066312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.651346184 meters Centerline goodness [0,1] 0.7236187209837299 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.20, Z:-1.37 [[ 9.97937981e-01 -6.10998226e-02 -1.96620710e-02 5.23047766e+00] [ 6.11246500e-02 9.98129920e-01 6.63654454e-04 -2.03582072e-01] [ 1.95847522e-02 -1.86412320e-03 9.99806463e-01 -1.37265325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68134618399998 meters Centerline goodness [0,1] 0.7291372738950073 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.20, Z:-1.37 [[ 9.98122284e-01 -5.79570644e-02 -1.98213316e-02 5.23112771e+00] [ 5.80215349e-02 9.98311700e-01 2.69262149e-03 -1.97910585e-01] [ 1.96318108e-02 -3.83762959e-03 9.99799912e-01 -1.37365201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71134618399998 meters Centerline goodness [0,1] 0.7312754951848269 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.19, Z:-1.37 [[ 9.98112791e-01 -5.79389057e-02 -2.03454926e-02 5.23229894e+00] [ 5.79792791e-02 9.98316805e-01 1.39966725e-03 -1.92521844e-01] [ 2.02301520e-02 -2.57664278e-03 9.99792029e-01 -1.37348751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74134618399998 meters Centerline goodness [0,1] 0.7357105401153645 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.19, Z:-1.37 [[ 9.98108905e-01 -5.78837928e-02 -2.06901025e-02 5.23321086e+00] [ 5.79002639e-02 9.98322353e-01 1.97428290e-04 -1.86942848e-01] [ 2.06439639e-02 -1.39501733e-03 9.99785917e-01 -1.37340104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77134618399998 meters Centerline goodness [0,1] 0.7449789524387945 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.18, Z:-1.37 [[ 9.98279088e-01 -5.48306419e-02 -2.07957308e-02 5.23276059e+00] [ 5.48813243e-02 9.98491126e-01 1.87389468e-03 -1.79874769e-01] [ 2.06616059e-02 -3.01196712e-03 9.99781989e-01 -1.37281934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80134618399998 meters Centerline goodness [0,1] 0.7480194811981355 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.18, Z:-1.37 [[ 9.98295523e-01 -5.43019717e-02 -2.13856208e-02 5.23493356e+00] [ 5.43453073e-02 9.98521149e-01 1.45002955e-03 -1.75993741e-01] [ 2.12752552e-02 -2.60976615e-03 9.99770250e-01 -1.37382884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83134618399998 meters Centerline goodness [0,1] 0.7656801520499592 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.17, Z:-1.38 [[ 9.98408075e-01 -5.21001306e-02 -2.16076705e-02 5.23630346e+00] [ 5.21813113e-02 9.98632468e-01 3.21000040e-03 -1.73232464e-01] [ 2.14108799e-02 -4.33240690e-03 9.99761374e-01 -1.37505651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86134618399998 meters Centerline goodness [0,1] 0.7557026455248109 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.17, Z:-1.37 [[ 0.99858234 -0.0485818 -0.02175117 5.2361092 ] [ 0.04873393 0.99879052 0.00651949 -0.17160821] [ 0.02140814 -0.00757027 0.99974216 -1.3749787 ] [ 0. 0. 0. 1. ]] SLAMing on 211.89134618399999 meters Centerline goodness [0,1] 0.7575375564660154 Centerline is valid? [False, False] Translation: X:5.23, Y:-0.17, Z:-1.37 [[ 0.99871941 -0.04572273 -0.02165578 5.23465553] [ 0.04591233 0.99891066 0.00834011 -0.1658422 ] [ 0.02125086 -0.0093237 0.9997307 -1.37371531] [ 0. 0. 0. 1. ]] SLAMing on 211.921346184 meters Centerline goodness [0,1] 0.7973537895572927 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.16, Z:-1.37 [[ 0.9987101 -0.04575485 -0.02201414 5.23572913] [ 0.0459327 0.99891531 0.00764196 -0.16283463] [ 0.0216406 -0.00864327 0.99972845 -1.37392647] [ 0. 0. 0. 1. ]] SLAMing on 211.951346184 meters Centerline goodness [0,1] 0.7613954459995822 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.16, Z:-1.37 [[ 0.99869189 -0.04598534 -0.02235764 5.23647357] [ 0.04614641 0.99891193 0.00674224 -0.15963528] [ 0.02202327 -0.00776514 0.9997273 -1.37376987] [ 0. 0. 0. 1. ]] SLAMing on 211.981346184 meters Centerline goodness [0,1] 0.8034323984930933 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.15, Z:-1.37 [[ 0.99868553 -0.04615839 -0.02228503 5.23601351] [ 0.04629012 0.99891327 0.00543144 -0.15369936] [ 0.02201011 -0.00645588 0.9997369 -1.37295684] [ 0. 0. 0. 1. ]] SLAMing on 212.011346184 meters Centerline goodness [0,1] 0.8111271344075909 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.15, Z:-1.37 [[ 9.98679872e-01 -4.60768937e-02 -2.27031447e-02 5.23720071e+00] [ 4.62035249e-02 9.98919105e-01 5.08479942e-03 -1.52209826e-01] [ 2.24443132e-02 -6.12705215e-03 9.99729319e-01 -1.37320883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.041346184 meters Centerline goodness [0,1] 0.8209928129700819 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.15, Z:-1.37 [[ 9.98688110e-01 -4.57524972e-02 -2.29949655e-02 5.23867023e+00] [ 4.58793815e-02 9.98934370e-01 5.02070050e-03 -1.50809381e-01] [ 2.27407518e-02 -6.06910869e-03 9.99722974e-01 -1.37423957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.071346184 meters Centerline goodness [0,1] 0.8248239252648958 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.15, Z:-1.38 [[ 0.99883544 -0.04226147 -0.02327497 5.23961867] [ 0.04245465 0.9990674 0.00786934 -0.14690196] [ 0.0229207 -0.00884831 0.99969813 -1.37512287] [ 0. 0. 0. 1. ]] SLAMing on 212.101346184 meters Centerline goodness [0,1] 0.8275479440582866 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.38 [[ 0.99883063 -0.04230079 -0.02340958 5.24008447] [ 0.04247709 0.99907231 0.0070857 -0.14356941] [ 0.02308813 -0.00807178 0.99970085 -1.37516942] [ 0. 0. 0. 1. ]] SLAMing on 212.131346184 meters Centerline goodness [0,1] 0.8240481464454382 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.38 [[ 0.99882602 -0.04215575 -0.02386363 5.24259512] [ 0.04232585 0.99908161 0.00666839 -0.14004799] [ 0.0235606 -0.00767061 0.99969298 -1.37703495] [ 0. 0. 0. 1. ]] SLAMing on 212.161346184 meters Centerline goodness [0,1] 0.8184428978701995 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.38 [[ 0.9988169 -0.04231622 -0.02396112 5.24345259] [ 0.04247776 0.99907772 0.00627325 -0.13856028] [ 0.02367356 -0.00728364 0.99969321 -1.37792962] [ 0. 0. 0. 1. ]] SLAMing on 212.191346184 meters Centerline goodness [0,1] 0.8165106811600286 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.38 [[ 0.99880461 -0.0424575 -0.02422206 5.24436115] [ 0.04260606 0.99907597 0.00565019 -0.13604395] [ 0.02395978 -0.00667544 0.99969064 -1.37834077] [ 0. 0. 0. 1. ]] SLAMing on 212.221346184 meters Centerline goodness [0,1] 0.8165106811600286 Centerline is valid? [False, False] Translation: X:5.24, Y:-0.14, Z:-1.38 [[ 0.99880461 -0.0424575 -0.02422206 5.24436115] [ 0.04260606 0.99907597 0.00565019 -0.13604395] [ 0.02395978 -0.00667544 0.99969064 -1.37834077] [ 0. 0. 0. 1. ]] SLAMing on 212.251346184 meters Centerline goodness [0,1] 0.8091454617684571 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.13, Z:-1.38 [[ 0.99879999 -0.04229447 -0.0246932 5.24632742] [ 0.04243821 0.9990849 0.00532594 -0.13316674] [ 0.02444535 -0.00636749 0.99968089 -1.3794646 ] [ 0. 0. 0. 1. ]] SLAMing on 212.281346184 meters Centerline goodness [0,1] 0.8080399270241365 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.13, Z:-1.38 [[ 0.99889969 -0.03992081 -0.02461177 5.24500207] [ 0.04010868 0.99916947 0.00718731 -0.12921953] [ 0.0243044 -0.00816655 0.99967125 -1.37839958] [ 0. 0. 0. 1. ]] SLAMing on 212.311346184 meters Centerline goodness [0,1] 0.8104703716103113 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.13, Z:-1.38 [[ 0.99888716 -0.03998671 -0.02501001 5.24614833] [ 0.0401612 0.99917198 0.00651382 -0.12654296] [ 0.02472884 -0.007511 0.99966598 -1.37858651] [ 0. 0. 0. 1. ]] SLAMing on 212.341346184 meters Centerline goodness [0,1] 0.8115160258420624 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.12, Z:-1.38 [[ 0.99887829 -0.0401207 -0.02514956 5.24696455] [ 0.04027566 0.99917243 0.0056854 -0.12312172] [ 0.02490065 -0.00669194 0.99966753 -1.3790059 ] [ 0. 0. 0. 1. ]] SLAMing on 212.371346184 meters Centerline goodness [0,1] 0.8147047746579068 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.12, Z:-1.38 [[ 0.99895177 -0.03822291 -0.02518678 5.24817406] [ 0.03839963 0.99924086 0.00657043 -0.11771471] [ 0.02491652 -0.0075307 0.99966117 -1.38020344] [ 0. 0. 0. 1. ]] SLAMing on 212.401346184 meters Centerline goodness [0,1] 0.825381898731532 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.11, Z:-1.38 [[ 0.9989487 -0.03792082 -0.02575847 5.24992978] [ 0.03808798 0.99925619 0.00603017 -0.11485094] [ 0.02551065 -0.00700492 0.99965001 -1.38059588] [ 0. 0. 0. 1. ]] SLAMing on 212.43134618399998 meters Centerline goodness [0,1] 0.8353460725423303 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.11, Z:-1.38 [[ 9.98939481e-01 -3.80762613e-02 -2.58865106e-02 5.25011165e+00] [ 3.82202153e-02 9.99256382e-01 5.08893929e-03 -1.11712009e-01] [ 2.56734931e-02 -6.07293038e-03 9.99651935e-01 -1.38009214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46134618399998 meters Centerline goodness [0,1] 0.8337027433924389 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.11, Z:-1.38 [[ 9.98948479e-01 -3.78371065e-02 -2.58899552e-02 5.25035082e+00] [ 3.79469831e-02 9.99272658e-01 3.76574599e-03 -1.05067503e-01] [ 2.57286394e-02 -4.74423192e-03 9.99657706e-01 -1.37952438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49134618399998 meters Centerline goodness [0,1] 0.8377319760378702 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.10, Z:-1.38 [[ 9.98962979e-01 -3.71691531e-02 -2.62948886e-02 5.25236230e+00] [ 3.72797200e-02 9.99297919e-01 3.72706342e-03 -1.01993307e-01] [ 2.61378957e-02 -4.70346446e-03 9.99647282e-01 -1.38074078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52134618399998 meters Centerline goodness [0,1] 0.846010510227582 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.10, Z:-1.38 [[ 9.98982146e-01 -3.62842215e-02 -2.67979005e-02 5.25480193e+00] [ 3.64035603e-02 9.99329250e-01 3.97877998e-03 -9.93945312e-02] [ 2.66355588e-02 -4.95026914e-03 9.99632954e-01 -1.38223261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55134618399998 meters Centerline goodness [0,1] 0.8637506284565108 Centerline is valid? [False, False] Translation: X:5.25, Y:-0.10, Z:-1.38 [[ 0.99910245 -0.03266033 -0.0269742 5.25488874] [ 0.03285911 0.99943577 0.00695904 -0.09635796] [ 0.02673169 -0.00783914 0.99961191 -1.38213661] [ 0. 0. 0. 1. ]] SLAMing on 212.58134618399998 meters Centerline goodness [0,1] 0.884464738286241 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.38 [[ 0.99910115 -0.03210818 -0.02767586 5.25726629] [ 0.03231181 0.99945373 0.00694218 -0.09491614] [ 0.02743784 -0.00783019 0.99959284 -1.38304969] [ 0. 0. 0. 1. ]] SLAMing on 212.61134618399998 meters Centerline goodness [0,1] 0.8881516786696622 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.38 [[ 0.99910281 -0.03188114 -0.02787773 5.25834725] [ 0.03208183 0.99946224 0.00678137 -0.09401178] [ 0.02764654 -0.00766965 0.99958834 -1.38370564] [ 0. 0. 0. 1. ]] SLAMing on 212.64134618399999 meters Centerline goodness [0,1] 0.8936642115835286 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.38 [[ 0.99909951 -0.03179224 -0.02809669 5.25937418] [ 0.03198373 0.99946795 0.00639227 -0.09248051] [ 0.02787852 -0.00728515 0.99958477 -1.38418929] [ 0. 0. 0. 1. ]] SLAMing on 212.671346184 meters Centerline goodness [0,1] 0.8805515572522269 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.39 [[ 0.99909929 -0.03135086 -0.0285961 5.26128573] [ 0.03154814 0.99948127 0.00647393 -0.09127924] [ 0.0283783 -0.00737025 0.99957008 -1.385032 ] [ 0. 0. 0. 1. ]] SLAMing on 212.701346184 meters Centerline goodness [0,1] 0.9028468709502111 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.39 [[ 0.99909502 -0.03141905 -0.02867038 5.26160507] [ 0.03160595 0.99948186 0.00608918 -0.08967226] [ 0.02846421 -0.00698982 0.99957037 -1.38505892] [ 0. 0. 0. 1. ]] SLAMing on 212.731346184 meters Centerline goodness [0,1] 0.9016256425258055 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.39 [[ 0.99910193 -0.03095294 -0.02893509 5.26325727] [ 0.03115084 0.99949412 0.00641357 -0.08935809] [ 0.02872194 -0.00730917 0.99956072 -1.38627836] [ 0. 0. 0. 1. ]] SLAMing on 212.761346184 meters Centerline goodness [0,1] 0.9038891559215063 Centerline is valid? [False, False] Translation: X:5.26, Y:-0.09, Z:-1.39 [[ 0.99910511 -0.03065601 -0.02914091 5.26433643] [ 0.03086622 0.99950045 0.00679114 -0.09016742] [ 0.02891816 -0.00768454 0.99955224 -1.387019 ] [ 0. 0. 0. 1. ]] SLAMing on 212.791346184 meters Centerline goodness [0,1] 0.9055945516837971 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-1.39 [[ 0.9991052 -0.03030443 -0.02950324 5.26571361] [ 0.03053221 0.99950712 0.00730051 -0.09127068] [ 0.02926746 -0.00819478 0.99953802 -1.38779315] [ 0. 0. 0. 1. ]] SLAMing on 212.821346184 meters Centerline goodness [0,1] 0.9010959190063668 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-1.39 [[ 0.99911027 -0.02976748 -0.02987586 5.26762522] [ 0.03002408 0.99951573 0.00817708 -0.09310887] [ 0.02961798 -0.0090668 0.99952017 -1.38919725] [ 0. 0. 0. 1. ]] SLAMing on 212.851346184 meters Centerline goodness [0,1] 0.8990881205266782 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-1.39 [[ 0.99910979 -0.02937713 -0.03027575 5.26919421] [ 0.02965175 0.99952276 0.0086619 -0.0938736 ] [ 0.03000684 -0.00955192 0.99950405 -1.3900787 ] [ 0. 0. 0. 1. ]] SLAMing on 212.881346184 meters Centerline goodness [0,1] 0.8998848770277341 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-1.39 [[ 0.99910688 -0.02924449 -0.03049938 5.270195 ] [ 0.02952671 0.99952486 0.00884449 -0.09404401] [ 0.03022623 -0.00973714 0.99949565 -1.39073529] [ 0. 0. 0. 1. ]] SLAMing on 212.911346184 meters Centerline goodness [0,1] 0.8989787180718866 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.09, Z:-1.39 [[ 0.99910773 -0.02870608 -0.03097895 5.27227946] [ 0.02901227 0.9995341 0.00947988 -0.09483357] [ 0.03069238 -0.01037019 0.99947508 -1.39206085] [ 0. 0. 0. 1. ]] SLAMing on 212.941346184 meters Centerline goodness [0,1] 0.899671568729996 Centerline is valid? [False, False] Translation: X:5.27, Y:-0.10, Z:-1.39 [[ 0.99910787 -0.02833707 -0.03131244 5.27377347] [ 0.02866674 0.9995377 0.01012985 -0.09743413] [ 0.03101092 -0.01101844 0.99945831 -1.39304348] [ 0. 0. 0. 1. ]] SLAMing on 212.971346184 meters Centerline goodness [0,1] 0.9031617247292041 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.10, Z:-1.39 [[ 0.99901404 -0.03091991 -0.03185757 5.27666192] [ 0.03115356 0.99949104 0.00686385 -0.09660827] [ 0.03162912 -0.00784956 0.99946885 -1.39429439] [ 0. 0. 0. 1. ]] SLAMing on 213.001346184 meters Centerline goodness [0,1] 0.8989740696629683 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.40 [[ 9.98923282e-01 -3.33622594e-02 -3.22371772e-02 5.27926988e+00] [ 3.34984534e-02 9.99431943e-01 3.69378961e-03 -9.47960110e-02] [ 3.20956315e-02 -4.76970802e-03 9.99473422e-01 -1.39548789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.031346184 meters Centerline goodness [0,1] 0.9033014915367856 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.40 [[ 9.98925115e-01 -3.33501975e-02 -3.21928442e-02 5.27908759e+00] [ 3.34833053e-02 9.99432778e-01 3.60434561e-03 -9.43651161e-02] [ 3.20543781e-02 -4.67839418e-03 9.99475177e-01 -1.39513422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.061346184 meters Centerline goodness [0,1] 0.9031573640316787 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.39 [[ 9.98933138e-01 -3.31366257e-02 -3.21644264e-02 5.27909035e+00] [ 3.32572968e-02 9.99441624e-01 3.22383618e-03 -9.16514367e-02] [ 3.20396395e-02 -4.29009867e-03 9.99477392e-01 -1.39469911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.091346184 meters Centerline goodness [0,1] 0.9045098941555454 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.40 [[ 9.98940552e-01 -3.22682940e-02 -3.28105372e-02 5.28167911e+00] [ 3.24096127e-02 9.99467506e-01 3.78430301e-03 -9.11954464e-02] [ 3.26709527e-02 -4.84367054e-03 9.99454425e-01 -1.39606093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.121346184 meters Centerline goodness [0,1] 0.9060845176549386 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.40 [[ 9.98945528e-01 -3.17796324e-02 -3.31343650e-02 5.28320785e+00] [ 3.19293165e-02 9.99482133e-01 3.99806143e-03 -9.08001200e-02] [ 3.29901488e-02 -5.05180321e-03 9.99442910e-01 -1.39695089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.151346184 meters Centerline goodness [0,1] 0.9062283954496889 Centerline is valid? [False, False] Translation: X:5.28, Y:-0.09, Z:-1.40 [[ 9.98947073e-01 -3.13004574e-02 -3.35414090e-02 5.28480792e+00] [ 3.14533800e-02 9.99497050e-01 4.04118490e-03 -9.03045662e-02] [ 3.33980484e-02 -5.09192051e-03 9.99429158e-01 -1.39760150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18134618399998 meters Centerline goodness [0,1] 0.9058875348700631 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98948918e-01 -3.11087299e-02 -3.36646170e-02 5.28570910e+00] [ 3.12679742e-02 9.99502154e-01 4.21411232e-03 -9.07849458e-02] [ 3.35167615e-02 -5.26230732e-03 9.99424302e-01 -1.39832421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21134618399998 meters Centerline goodness [0,1] 0.9045481245279853 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98945429e-01 -3.09407004e-02 -3.39220060e-02 5.28697343e+00] [ 3.11077470e-02 9.99506319e-01 4.40764485e-03 -9.10873490e-02] [ 3.37688837e-02 -5.45823386e-03 9.99414764e-01 -1.39921249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24134618399998 meters Centerline goodness [0,1] 0.9072801910107653 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98938144e-01 -3.06070296e-02 -3.44353647e-02 5.28879015e+00] [ 3.07862548e-02 9.99515004e-01 4.68642926e-03 -9.07920750e-02] [ 3.42752260e-02 -5.74158885e-03 9.99395939e-01 -1.40009577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27134618399998 meters Centerline goodness [0,1] 0.9067469475097554 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98924116e-01 -3.08758634e-02 -3.46019053e-02 5.28889052e+00] [ 3.10360550e-02 9.99509849e-01 4.10191946e-03 -8.80678206e-02] [ 3.44582948e-02 -5.17141291e-03 9.99392757e-01 -1.39940557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30134618399998 meters Centerline goodness [0,1] 0.9057020310331777 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98921968e-01 -3.07857588e-02 -3.47439007e-02 5.28957523e+00] [ 3.09542277e-02 9.99511462e-01 4.32131417e-03 -8.87942674e-02] [ 3.45938920e-02 -5.39212627e-03 9.99386906e-01 -1.39984318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33134618399998 meters Centerline goodness [0,1] 0.9075709580649898 Centerline is valid? [False, False] Translation: X:5.29, Y:-0.09, Z:-1.40 [[ 9.98819077e-01 -3.32381970e-02 -3.54354911e-02 5.29301927e+00] [ 3.33095467e-02 9.99444067e-01 1.42489785e-03 -8.89726498e-02] [ 3.53684303e-02 -2.60355531e-03 9.99370950e-01 -1.40153141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36134618399998 meters Centerline goodness [0,1] 0.9083830073041727 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-1.40 [[ 9.98754040e-01 -3.48553291e-02 -3.57137609e-02 5.29644367e+00] [ 3.48727896e-02 9.99391750e-01 -1.34090792e-04 -9.08834538e-02] [ 3.56967118e-02 -1.11151475e-03 9.99362051e-01 -1.40431449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39134618399999 meters Centerline goodness [0,1] 0.9077791061054132 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-1.41 [[ 9.98760832e-01 -3.41301029e-02 -3.62206517e-02 5.29857308e+00] [ 3.41779943e-02 9.99415514e-01 7.03679749e-04 -9.15760670e-02] [ 3.61754646e-02 -1.94075700e-03 9.99343569e-01 -1.40563737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.421346184 meters Centerline goodness [0,1] 0.9068263172217454 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.09, Z:-1.41 [[ 9.98764516e-01 -3.33757460e-02 -3.68171255e-02 5.30085852e+00] [ 3.34565385e-02 9.99438924e-01 1.58034616e-03 -9.26419811e-02] [ 3.67437230e-02 -2.81016724e-03 9.99320770e-01 -1.40692754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.451346184 meters Centerline goodness [0,1] 0.9089861026683715 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.10, Z:-1.41 [[ 9.98769440e-01 -3.27883755e-02 -3.72092365e-02 5.30230816e+00] [ 3.29115206e-02 9.99454618e-01 2.70168700e-03 -9.63678755e-02] [ 3.71003594e-02 -3.92297497e-03 9.99303844e-01 -1.40770103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.481346184 meters Centerline goodness [0,1] 0.9087289946779533 Centerline is valid? [False, False] Translation: X:5.30, Y:-0.10, Z:-1.41 [[ 9.98660017e-01 -3.54508968e-02 -3.77015289e-02 5.30482975e+00] [ 3.54559864e-02 9.99371096e-01 -5.33813612e-04 -9.56104563e-02] [ 3.76967425e-02 -8.03646587e-04 9.99288902e-01 -1.40852088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.511346184 meters Centerline goodness [0,1] 0.9112751058744601 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.10, Z:-1.41 [[ 0.99882293 -0.03612484 -0.03236895 5.32043207] [ 0.03634 0.99932097 0.00608331 -0.09951997] [ 0.03212721 -0.00725244 0.99945748 -1.40982963] [ 0. 0. 0. 1. ]] SLAMing on 213.541346184 meters Centerline goodness [0,1] 0.9127073906485671 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.10, Z:-1.41 [[ 9.98700601e-01 -3.89354359e-02 -3.28807073e-02 5.32280670e+00] [ 3.90452032e-02 9.99233790e-01 2.70264000e-03 -9.82155689e-02] [ 3.27502853e-02 -3.98296209e-03 9.99455629e-01 -1.41051002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.571346184 meters Centerline goodness [0,1] 0.9135554158809973 Centerline is valid? [False, False] Translation: X:5.32, Y:-0.10, Z:-1.41 [[ 9.98709462e-01 -3.84190000e-02 -3.32173203e-02 5.32417636e+00] [ 3.85566676e-02 9.99250238e-01 3.51364425e-03 -9.99925226e-02] [ 3.30574245e-02 -4.78985894e-03 9.99441976e-01 -1.41133461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.601346184 meters Centerline goodness [0,1] 0.9114545111441931 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.10, Z:-1.41 [[ 9.98715480e-01 -3.79527435e-02 -3.35705154e-02 5.32572799e+00] [ 3.81197974e-02 9.99263708e-01 4.35002440e-03 -1.02001446e-01] [ 3.33807023e-02 -5.62413795e-03 9.99426885e-01 -1.41243656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.631346184 meters Centerline goodness [0,1] 0.9085316090150041 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.11, Z:-1.42 [[ 9.98626274e-01 -3.94849217e-02 -3.44456869e-02 5.33034399e+00] [ 3.96224866e-02 9.99209205e-01 3.31997984e-03 -1.07672162e-01] [ 3.42873582e-02 -4.68024287e-03 9.99401057e-01 -1.41527059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.661346184 meters Centerline goodness [0,1] 0.9104518350550097 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.11, Z:-1.42 [[ 9.98630437e-01 -3.93338750e-02 -3.44977903e-02 5.33055220e+00] [ 3.94971601e-02 9.99211417e-01 4.06429713e-03 -1.11125280e-01] [ 3.43107214e-02 -5.42129557e-03 9.99396510e-01 -1.41546839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.691346184 meters Centerline goodness [0,1] 0.9104624398409709 Centerline is valid? [False, False] Translation: X:5.33, Y:-0.11, Z:-1.42 [[ 9.98502345e-01 -4.19681053e-02 -3.50962211e-02 5.33340044e+00] [ 4.20374081e-02 9.99115270e-01 1.23875931e-03 -1.11173587e-01] [ 3.50131820e-02 -2.71225824e-03 9.99383170e-01 -1.41664776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.721346184 meters Centerline goodness [0,1] 0.9072795010255766 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.12, Z:-1.42 [[ 0.99860267 -0.04397457 -0.02930782 5.34801733] [ 0.04423305 0.99898734 0.00822992 -0.11634376] [ 0.02891623 -0.00951479 0.99953655 -1.41989198] [ 0. 0. 0. 1. ]] SLAMing on 213.751346184 meters Centerline goodness [0,1] 0.9089388744878334 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.12, Z:-1.42 [[ 9.98461140e-01 -4.67595456e-02 -2.98143591e-02 5.35039350e+00] [ 4.69327731e-02 9.98884843e-01 5.13674656e-03 -1.16662371e-01] [ 2.95409195e-02 -6.52811238e-03 9.99542254e-01 -1.42067963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.781346184 meters Centerline goodness [0,1] 0.9092409585692497 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.12, Z:-1.42 [[ 0.99847285 -0.04633182 -0.03008885 5.35137657] [ 0.04653357 0.99889847 0.00603939 -0.11934548] [ 0.02977589 -0.00743031 0.99952898 -1.4212237 ] [ 0. 0. 0. 1. ]] SLAMing on 213.811346184 meters Centerline goodness [0,1] 0.9107337070191583 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.12, Z:-1.42 [[ 0.99848316 -0.04601606 -0.03023073 5.35200586] [ 0.04623863 0.99890792 0.00670472 -0.1213474 ] [ 0.0298892 -0.00809237 0.99952046 -1.42168161] [ 0. 0. 0. 1. ]] SLAMing on 213.841346184 meters Centerline goodness [0,1] 0.9083340306250522 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.12, Z:-1.42 [[ 0.99849988 -0.04530433 -0.03074921 5.35394642] [ 0.04557212 0.9989285 0.00806439 -0.12483853] [ 0.03035091 -0.0094536 0.9994946 -1.42283388] [ 0. 0. 0. 1. ]] SLAMing on 213.871346184 meters Centerline goodness [0,1] 0.9064250480729036 Centerline is valid? [False, False] Translation: X:5.35, Y:-0.13, Z:-1.42 [[ 0.99849974 -0.0451305 -0.03100805 5.35494965] [ 0.04541749 0.99893096 0.00861375 -0.12656348] [ 0.03058616 -0.01000913 0.99948202 -1.4234697 ] [ 0. 0. 0. 1. ]] SLAMing on 213.901346184 meters Centerline goodness [0,1] 0.9043345466716873 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.42 [[ 0.99850092 -0.04492985 -0.03126046 5.35585412] [ 0.04524188 0.99893234 0.00934657 -0.12907715] [ 0.03080714 -0.01074684 0.99946757 -1.42403227] [ 0. 0. 0. 1. ]] SLAMing on 213.93134618399998 meters Centerline goodness [0,1] 0.9035291167805428 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 0.99836384 -0.04756847 -0.03173132 5.35861745] [ 0.04780038 0.99883517 0.00659 -0.12979955] [ 0.03138089 -0.00809599 0.99947471 -1.42552329] [ 0. 0. 0. 1. ]] SLAMing on 213.96134618399998 meters Centerline goodness [0,1] 0.9027827215812726 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.42 [[ 0.99831874 -0.04855767 -0.03165185 5.35791307] [ 0.048783 0.99878899 0.00638547 -0.13303286] [ 0.03130346 -0.00791881 0.99947856 -1.4249098 ] [ 0. 0. 0. 1. ]] SLAMing on 213.99134618399998 meters Centerline goodness [0,1] 0.9028094471058302 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 0.99831325 -0.048494 -0.03192159 5.35866991] [ 0.04873182 0.99878933 0.00671433 -0.13407797] [ 0.03155734 -0.0082586 0.99946782 -1.42515054] [ 0. 0. 0. 1. ]] SLAMing on 214.02134618399998 meters Centerline goodness [0,1] 0.9017493259765502 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 9.98175187e-01 -5.11512190e-02 -3.20912583e-02 5.36026900e+00] [ 5.12878618e-02 9.98677957e-01 3.44879440e-03 -1.33196618e-01] [ 3.18724222e-02 -5.08839302e-03 9.99478993e-01 -1.42555039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05134618399998 meters Centerline goodness [0,1] 0.9011377420839085 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 9.98185004e-01 -5.08926254e-02 -3.21968699e-02 5.36090988e+00] [ 5.10422642e-02 9.98689103e-01 3.84237007e-03 -1.34069675e-01] [ 3.19591148e-02 -5.47879733e-03 9.99474161e-01 -1.42602069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08134618399998 meters Centerline goodness [0,1] 0.9011367910728466 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 9.98196026e-01 -5.04181355e-02 -3.25991658e-02 5.36241253e+00] [ 5.05902842e-02 9.98709456e-01 4.47716748e-03 -1.34987732e-01] [ 3.23313647e-02 -6.11829184e-03 9.99458478e-01 -1.42687724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11134618399998 meters Centerline goodness [0,1] 0.9011367910728466 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.13, Z:-1.43 [[ 9.98196026e-01 -5.04181355e-02 -3.25991658e-02 5.36241253e+00] [ 5.05902842e-02 9.98709456e-01 4.47716748e-03 -1.34987732e-01] [ 3.23313647e-02 -6.11829184e-03 9.99458478e-01 -1.42687724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14134618399999 meters Centerline goodness [0,1] 0.8987664645619904 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.14, Z:-1.43 [[ 9.98198662e-01 -5.02345256e-02 -3.28012829e-02 5.36328091e+00] [ 5.04180701e-02 9.98716703e-01 4.79220074e-03 -1.35372887e-01] [ 3.25184552e-02 -6.43734575e-03 9.99450404e-01 -1.42744382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.171346184 meters Centerline goodness [0,1] 0.8956856348160696 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.14, Z:-1.43 [[ 0.99820332 -0.0499305 -0.03312207 5.36440834] [ 0.05013834 0.99872728 0.00547406 -0.13737748] [ 0.03280659 -0.00712491 0.99943632 -1.42803899] [ 0. 0. 0. 1. ]] SLAMing on 214.201346184 meters Centerline goodness [0,1] 0.8954861401892639 Centerline is valid? [False, False] Translation: X:5.36, Y:-0.14, Z:-1.43 [[ 0.99820416 -0.04990863 -0.0331297 5.3645314 ] [ 0.05012524 0.99872645 0.00573968 -0.13877609] [ 0.03280105 -0.00739 0.99943458 -1.42814285] [ 0. 0. 0. 1. ]] SLAMing on 214.231346184 meters Centerline goodness [0,1] 0.8964276750606542 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.9981985 -0.04986933 -0.03335877 5.36518164] [ 0.05009438 0.9987268 0.00594466 -0.13963161] [ 0.03301984 -0.00760504 0.99942576 -1.42835896] [ 0. 0. 0. 1. ]] SLAMing on 214.261346184 meters Centerline goodness [0,1] 0.9036812382346789 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.99819708 -0.04983078 -0.03345868 5.36570294] [ 0.05005847 0.99872826 0.00600169 -0.13976349] [ 0.03311706 -0.00766576 0.99942208 -1.42870944] [ 0. 0. 0. 1. ]] SLAMing on 214.291346184 meters Centerline goodness [0,1] 0.9082006319445898 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.9982035 -0.0496079 -0.03359807 5.36647979] [ 0.04984307 0.99873783 0.00619812 -0.14015493] [ 0.03324819 -0.00786161 0.99941621 -1.42925245] [ 0. 0. 0. 1. ]] SLAMing on 214.321346184 meters Centerline goodness [0,1] 0.8954190972004432 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.99819673 -0.04968108 -0.03369099 5.36672671] [ 0.04991362 0.99873493 0.00609625 -0.14020229] [ 0.0333455 -0.0077669 0.9994137 -1.42920184] [ 0. 0. 0. 1. ]] SLAMing on 214.351346184 meters Centerline goodness [0,1] 0.906754496026767 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.99818803 -0.04980821 -0.0337609 5.36695219] [ 0.05003802 0.99872931 0.00599602 -0.14019414] [ 0.03341935 -0.00767448 0.99941195 -1.42927878] [ 0. 0. 0. 1. ]] SLAMing on 214.381346184 meters Centerline goodness [0,1] 0.9036929912810194 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 0.9981721 -0.05012678 -0.0337603 5.36650662] [ 0.05035291 0.99871417 0.00588098 -0.14067129] [ 0.0334221 -0.00757016 0.99941266 -1.42861416] [ 0. 0. 0. 1. ]] SLAMing on 214.411346184 meters Centerline goodness [0,1] 0.9035549979088248 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 9.98012043e-01 -5.29384930e-02 -3.41976215e-02 5.36899449e+00] [ 5.30558399e-02 9.98588336e-01 2.53250250e-03 -1.39592364e-01] [ 3.40152791e-02 -4.34185153e-03 9.99411882e-01 -1.42970369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.441346184 meters Centerline goodness [0,1] 0.9036776114395941 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 9.98015133e-01 -5.28972011e-02 -3.41713375e-02 5.36892977e+00] [ 5.30252318e-02 9.98589104e-01 2.85078495e-03 -1.41045587e-01] [ 3.39723267e-02 -4.65706961e-03 9.99411923e-01 -1.42965472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.471346184 meters Centerline goodness [0,1] 0.9035646417608119 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 9.97873989e-01 -5.51781876e-02 -3.46824180e-02 5.37176217e+00] [ 5.52162667e-02 9.98474408e-01 1.40362580e-04 -1.39778132e-01] [ 3.46217618e-02 -2.05509781e-03 9.99398374e-01 -1.43102844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.501346184 meters Centerline goodness [0,1] 0.9005392074903862 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.14, Z:-1.43 [[ 9.97885971e-01 -5.48550620e-02 -3.48498313e-02 5.37259910e+00] [ 5.49242659e-02 9.98489991e-01 1.03082278e-03 -1.42273536e-01] [ 3.47406619e-02 -2.94274499e-03 9.99392029e-01 -1.43169811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.531346184 meters Centerline goodness [0,1] 0.9016687900749807 Centerline is valid? [False, False] Translation: X:5.37, Y:-0.15, Z:-1.43 [[ 9.97906771e-01 -5.42496926e-02 -3.52000959e-02 5.37417266e+00] [ 5.43611612e-02 9.98518878e-01 2.21671551e-03 -1.45518261e-01] [ 3.50277041e-02 -4.12559351e-03 9.99377826e-01 -1.43282715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.561346184 meters Centerline goodness [0,1] 0.8975098186680037 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.15, Z:-1.43 [[ 9.97924423e-01 -5.37781091e-02 -3.54225926e-02 5.37533699e+00] [ 5.39289910e-02 9.98539263e-01 3.31720061e-03 -1.49190846e-01] [ 3.51924567e-02 -5.22062019e-03 9.99366918e-01 -1.43370847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.591346184 meters Centerline goodness [0,1] 0.9006669593761107 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.15, Z:-1.43 [[ 9.97946272e-01 -5.32973764e-02 -3.55334647e-02 5.37615324e+00] [ 5.35012300e-02 9.98556197e-01 4.81032546e-03 -1.54552395e-01] [ 3.52257836e-02 -6.70153043e-03 9.99356910e-01 -1.43452340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.621346184 meters Centerline goodness [0,1] 0.9011347250956053 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 0.99796171 -0.05289731 -0.03569721 5.37707512] [ 0.05312516 0.99857291 0.00546413 -0.15587338] [ 0.03535723 -0.00734941 0.99934771 -1.43518079] [ 0. 0. 0. 1. ]] SLAMing on 214.651346184 meters Centerline goodness [0,1] 0.9013739883305101 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 0.99797491 -0.05252913 -0.03587166 5.37755369] [ 0.05277105 0.99858962 0.0058303 -0.15612523] [ 0.0355148 -0.00771147 0.9993394 -1.43521907] [ 0. 0. 0. 1. ]] SLAMing on 214.68134618399998 meters Centerline goodness [0,1] 0.9057605854678515 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 0.99801143 -0.05146112 -0.03639963 5.37886329] [ 0.05174154 0.99863733 0.00680362 -0.15725589] [ 0.0359999 -0.00867347 0.99931415 -1.43527343] [ 0. 0. 0. 1. ]] SLAMing on 214.71134618399998 meters Centerline goodness [0,1] 0.9059125749253357 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 0.99802697 -0.05096937 -0.03666456 5.37980976] [ 0.05127355 0.9986572 0.00740365 -0.15885682] [ 0.03623796 -0.00926896 0.9993002 -1.435646 ] [ 0. 0. 0. 1. ]] SLAMing on 214.74134618399998 meters Centerline goodness [0,1] 0.9062258515904011 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 9.97887870e-01 -5.33588869e-02 -3.70489954e-02 5.38221122e+00] [ 5.35582247e-02 9.98554998e-01 4.40820503e-03 -1.58746926e-01] [ 3.67602427e-02 -6.38317275e-03 9.99303727e-01 -1.43666246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77134618399998 meters Centerline goodness [0,1] 0.907199100112486 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.16, Z:-1.44 [[ 9.97747132e-01 -5.56203544e-02 -3.75104788e-02 5.38502524e+00] [ 5.57212298e-02 9.98445005e-01 1.64839855e-03 -1.59028391e-01] [ 3.73604657e-02 -3.73481493e-03 9.99294875e-01 -1.43802674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80134618399998 meters Centerline goodness [0,1] 0.9089331995652538 Centerline is valid? [False, False] Translation: X:5.38, Y:-0.16, Z:-1.44 [[ 9.97755183e-01 -5.55146229e-02 -3.74529121e-02 5.38472285e+00] [ 5.56384807e-02 9.98448395e-01 2.27208750e-03 -1.62838313e-01] [ 3.72686659e-02 -4.35081021e-03 9.99295811e-01 -1.43768122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83134618399998 meters Centerline goodness [0,1] 0.9083845093370096 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.16, Z:-1.44 [[ 9.97769534e-01 -5.51253541e-02 -3.76450942e-02 5.38567268e+00] [ 5.52752321e-02 9.98466794e-01 2.95143319e-03 -1.64678371e-01] [ 3.74246777e-02 -5.02569143e-03 9.99286814e-01 -1.43831093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86134618399998 meters Centerline goodness [0,1] 0.9066558102634765 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.17, Z:-1.44 [[ 9.97775052e-01 -5.49516688e-02 -3.77526097e-02 5.38631590e+00] [ 5.51252840e-02 9.98473054e-01 3.57253617e-03 -1.66658416e-01] [ 3.74986467e-02 -5.64571080e-03 9.99280730e-01 -1.43878595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89134618399999 meters Centerline goodness [0,1] 0.9057951341756291 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.17, Z:-1.44 [[ 9.97752381e-01 -5.53702604e-02 -3.77401707e-02 5.38650840e+00] [ 5.55712460e-02 9.98445479e-01 4.29666199e-03 -1.69827821e-01] [ 3.74435955e-02 -6.38427304e-03 9.99278349e-01 -1.43922983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.921346184 meters Centerline goodness [0,1] 0.9038546002133311 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.17, Z:-1.44 [[ 9.97749616e-01 -5.53105207e-02 -3.79005271e-02 5.38712595e+00] [ 5.55321482e-02 9.98445269e-01 4.81924337e-03 -1.71577690e-01] [ 3.75750472e-02 -6.91309592e-03 9.99269896e-01 -1.43955246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.951346184 meters Centerline goodness [0,1] 0.9035272962970707 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.17, Z:-1.44 [[ 9.97742217e-01 -5.53563594e-02 -3.80281593e-02 5.38757838e+00] [ 5.55940273e-02 9.98439810e-01 5.22021390e-03 -1.73498475e-01] [ 3.76798561e-02 -7.32256631e-03 9.99263033e-01 -1.43973760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.981346184 meters Centerline goodness [0,1] 0.901457335814498 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97557154e-01 -5.85513181e-02 -3.80981302e-02 5.38865950e+00] [ 5.86849675e-02 9.98273671e-01 2.39827694e-03 -1.76448336e-01] [ 3.78919380e-02 -4.62820585e-03 9.99271125e-01 -1.44010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.011346184 meters Centerline goodness [0,1] 0.9018041937574478 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97567212e-01 -5.81597144e-02 -3.84331237e-02 5.39034523e+00] [ 5.83336547e-02 9.98291288e-01 3.41906050e-03 -1.79480481e-01] [ 3.81686009e-02 -5.65268722e-03 9.99255325e-01 -1.44138968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.041346184 meters Centerline goodness [0,1] 0.9047190729197172 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97572056e-01 -5.78819640e-02 -3.87255891e-02 5.39171856e+00] [ 5.80832730e-02 9.98303352e-01 4.09267909e-03 -1.81328157e-01] [ 3.84229931e-02 -6.33205126e-03 9.99241502e-01 -1.44234666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.071346184 meters Centerline goodness [0,1] 0.9022386182610883 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97564514e-01 -5.78301352e-02 -3.89963688e-02 5.39277650e+00] [ 5.80428568e-02 9.98304641e-01 4.34404246e-03 -1.81805922e-01] [ 3.86790394e-02 -6.59692325e-03 9.99229910e-01 -1.44299661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.101346184 meters Centerline goodness [0,1] 0.8998594297463441 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97541002e-01 -5.82431092e-02 -3.89831972e-02 5.39240761e+00] [ 5.84633081e-02 9.98279272e-01 4.53165286e-03 -1.83109532e-01] [ 3.86521801e-02 -6.79959620e-03 9.99229590e-01 -1.44251935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.131346184 meters Centerline goodness [0,1] 0.8964578227445066 Centerline is valid? [False, False] Translation: X:5.39, Y:-0.18, Z:-1.44 [[ 9.97311010e-01 -6.19103105e-02 -3.92156001e-02 5.39338338e+00] [ 6.19790648e-02 9.98077304e-01 5.38761362e-04 -1.82253055e-01] [ 3.91068455e-02 -2.96785886e-03 9.99230627e-01 -1.44222547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.161346184 meters Centerline goodness [0,1] 0.8946102524418045 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.18, Z:-1.44 [[ 0.99754593 -0.06176023 -0.03298165 5.40367266] [ 0.06153958 0.99807521 -0.00766488 -0.18119455] [ 0.03339155 0.00561639 0.99942657 -1.4448117 ] [ 0. 0. 0. 1. ]] SLAMing on 215.191346184 meters Centerline goodness [0,1] 0.8928354901427884 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.18, Z:-1.45 [[ 9.97549933e-01 -6.15662434e-02 -3.32224019e-02 5.40452799e+00] [ 6.13762883e-02 9.98092154e-01 -6.70848913e-03 -1.84605895e-01] [ 3.35720351e-02 4.65298517e-03 9.99425469e-01 -1.44527135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.221346184 meters Centerline goodness [0,1] 0.8930713416935788 Centerline is valid? [False, False] Translation: X:5.40, Y:-0.19, Z:-1.45 [[ 9.97565493e-01 -6.12366343e-02 -3.33640663e-02 5.40495666e+00] [ 6.10612224e-02 9.98114441e-01 -6.25225106e-03 -1.85452474e-01] [ 3.36840232e-02 4.19977924e-03 9.99423708e-01 -1.44541928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.251346184 meters Centerline goodness [0,1] 0.8928265278387589 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97587096e-01 -6.06980313e-02 -3.37006611e-02 5.40611234e+00] [ 6.05398278e-02 9.98149530e-01 -5.69604335e-03 -1.86175948e-01] [ 3.39840377e-02 3.64206713e-03 9.99415740e-01 -1.44594118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.281346184 meters Centerline goodness [0,1] 0.8993137892682518 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97768676e-01 -5.75969505e-02 -3.37677330e-02 5.40507859e+00] [ 5.75599715e-02 9.98339911e-01 -2.06699697e-03 -1.89039029e-01] [ 3.38307283e-02 1.18715081e-04 9.99427570e-01 -1.44512783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.311346184 meters Centerline goodness [0,1] 0.9056426332288401 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97833430e-01 -5.60814010e-02 -3.43994585e-02 5.40735345e+00] [ 5.60908817e-02 9.98425429e-01 -6.90125723e-04 -1.90326543e-01] [ 3.43839973e-02 -1.24086544e-03 9.99407925e-01 -1.44621247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.341346184 meters Centerline goodness [0,1] 0.904406538734897 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97856361e-01 -5.54887115e-02 -3.46941671e-02 5.40853745e+00] [ 5.55199575e-02 9.98457576e-01 -6.28798132e-05 -1.90999788e-01] [ 3.46441431e-02 -1.86347366e-03 9.99397974e-01 -1.44691012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.371346184 meters Centerline goodness [0,1] 0.9106351706036745 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97863868e-01 -5.51801442e-02 -3.49693105e-02 5.40937248e+00] [ 5.52254960e-02 9.98473853e-01 3.31599442e-04 -1.91603028e-01] [ 3.48976445e-02 -2.26208862e-03 9.99388332e-01 -1.44723188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.401346184 meters Centerline goodness [0,1] 0.9093997022623865 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.19, Z:-1.45 [[ 9.97879608e-01 -5.46243651e-02 -3.53902109e-02 5.41116910e+00] [ 5.47084439e-02 9.98501375e-01 1.41103549e-03 -1.94041230e-01] [ 3.52600973e-02 -3.34418690e-03 9.99372574e-01 -1.44844868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43134618399998 meters Centerline goodness [0,1] 0.9088109602815485 Centerline is valid? [False, False] Translation: X:5.41, Y:-0.20, Z:-1.45 [[ 9.97890528e-01 -5.42687348e-02 -3.56286203e-02 5.41228237e+00] [ 5.43817933e-02 9.98517767e-01 2.21115932e-03 -1.96293766e-01] [ 3.54558136e-02 -4.14404321e-03 9.99362653e-01 -1.44922113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46134618399998 meters Centerline goodness [0,1] 0.9052268450763119 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-1.45 [[ 9.97731346e-01 -5.68384833e-02 -3.60769772e-02 5.41512404e+00] [ 5.68555037e-02 9.98382263e-01 -5.54795603e-04 -1.96725529e-01] [ 3.60501479e-02 -1.49763775e-03 9.99348860e-01 -1.45086628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49134618399998 meters Centerline goodness [0,1] 0.9065563149204757 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-1.45 [[ 9.97742447e-01 -5.65478765e-02 -3.62263351e-02 5.41596352e+00] [ 5.65978791e-02 9.98396992e-01 3.55448987e-04 -1.99426550e-01] [ 3.61481641e-02 -2.40498028e-03 9.99343548e-01 -1.45155608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52134618399998 meters Centerline goodness [0,1] 0.8964413481453587 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-1.45 [[ 9.97730450e-01 -5.65907744e-02 -3.64888013e-02 5.41709287e+00] [ 5.66749002e-02 9.98391873e-01 1.27448527e-03 -2.02279843e-01] [ 3.63579986e-02 -3.33959193e-03 9.99333249e-01 -1.45249615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55134618399998 meters Centerline goodness [0,1] 0.8922818791946309 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.20, Z:-1.45 [[ 9.97727161e-01 -5.64871988e-02 -3.67383861e-02 5.41807011e+00] [ 5.65933653e-02 9.98395587e-01 1.85548729e-03 -2.04131905e-01] [ 3.65746313e-02 -3.93041897e-03 9.99323195e-01 -1.45313290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58134618399998 meters Centerline goodness [0,1] 0.8843805727472989 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.45 [[ 9.97751761e-01 -5.58656321e-02 -3.70196433e-02 5.41971836e+00] [ 5.60172307e-02 9.98425083e-01 3.06978070e-03 -2.07104720e-01] [ 3.67898451e-02 -5.13661700e-03 9.99309823e-01 -1.45452532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61134618399998 meters Centerline goodness [0,1] 0.8758601879825445 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 9.97771800e-01 -5.53716017e-02 -3.72212512e-02 5.42102895e+00] [ 5.55717528e-02 9.98445161e-01 4.36363547e-03 -2.10689268e-01] [ 3.69217567e-02 -6.42236258e-03 9.99297522e-01 -1.45576776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64134618399999 meters Centerline goodness [0,1] 0.8731757365103959 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 9.97777546e-01 -5.50709476e-02 -3.75121336e-02 5.42194625e+00] [ 5.52967555e-02 9.98457404e-01 5.00812946e-03 -2.12219503e-01] [ 3.71784651e-02 -7.07129840e-03 9.99283623e-01 -1.45613962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.671346184 meters Centerline goodness [0,1] 0.8647779703125327 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 9.97771705e-01 -5.49948038e-02 -3.77782633e-02 5.42252836e+00] [ 5.52360346e-02 9.98458880e-01 5.37087130e-03 -2.13450003e-01] [ 3.74246724e-02 -7.44562487e-03 9.99271713e-01 -1.45610142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.701346184 meters Centerline goodness [0,1] 0.8641605793582686 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 0.99777143 -0.05492131 -0.03789231 5.42242808] [ 0.05517398 0.99846075 0.00565418 -0.21455367] [ 0.03752345 -0.00773225 0.99926583 -1.45561546] [ 0. 0. 0. 1. ]] SLAMing on 215.731346184 meters Centerline goodness [0,1] 0.8987904324675597 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 0.99778822 -0.05456488 -0.03796513 5.42231248] [ 0.0548271 0.99847843 0.00589961 -0.21498675] [ 0.03758545 -0.00796808 0.99926165 -1.45515788] [ 0. 0. 0. 1. ]] SLAMing on 215.761346184 meters Centerline goodness [0,1] 0.8776037834997372 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 0.99779762 -0.05427267 -0.03813635 5.42302688] [ 0.05453989 0.99849356 0.00600119 -0.2147912 ] [ 0.03775319 -0.00806793 0.99925452 -1.45555079] [ 0. 0. 0. 1. ]] SLAMing on 215.791346184 meters Centerline goodness [0,1] 0.8841109709962169 Centerline is valid? [False, False] Translation: X:5.42, Y:-0.21, Z:-1.46 [[ 0.99780269 -0.05402209 -0.03835898 5.42395066] [ 0.05429149 0.99850701 0.00601555 -0.2145671 ] [ 0.03797674 -0.0080849 0.99924592 -1.45607767] [ 0. 0. 0. 1. ]] SLAMing on 215.821346184 meters Centerline goodness [0,1] 0.888219109029426 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99779934 -0.05385655 -0.03867747 5.42508133] [ 0.05412535 0.99851651 0.0059359 -0.214078 ] [ 0.03830041 -0.00801627 0.99923412 -1.45661598] [ 0. 0. 0. 1. ]] SLAMing on 215.851346184 meters Centerline goodness [0,1] 0.9090832826492733 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99780261 -0.05351159 -0.03906988 5.4261535 ] [ 0.05377749 0.99853618 0.005786 -0.2129445 ] [ 0.03870308 -0.00787437 0.99921973 -1.45684136] [ 0. 0. 0. 1. ]] SLAMing on 215.881346184 meters Centerline goodness [0,1] 0.9115014568092733 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97785655e-01 -5.37052596e-02 -3.92368613e-02 5.42638064e+00] [ 5.39574132e-02 9.98528662e-01 5.39522873e-03 -2.12029086e-01] [ 3.88893784e-02 -7.50040137e-03 9.99215372e-01 -1.45660647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.911346184 meters Centerline goodness [0,1] 0.9128398950131233 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97770246e-01 -5.39728673e-02 -3.92615002e-02 5.42596713e+00] [ 5.42099896e-02 9.98517042e-01 4.99947639e-03 -2.10857500e-01] [ 3.89334409e-02 -7.11669430e-03 9.99216463e-01 -1.45597172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.941346184 meters Centerline goodness [0,1] 0.9116539780808165 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97774680e-01 -5.35188813e-02 -3.97670319e-02 5.42797854e+00] [ 5.37711599e-02 9.98539215e-01 5.30087784e-03 -2.10447044e-01] [ 3.94252438e-02 -7.42740112e-03 9.99194918e-01 -1.45713105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.971346184 meters Centerline goodness [0,1] 0.9102033132530121 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97775567e-01 -5.33334874e-02 -3.99932000e-02 5.42878998e+00] [ 5.35866272e-02 9.98549225e-01 5.28376792e-03 -2.09669370e-01] [ 3.96533771e-02 -7.41511523e-03 9.99185982e-01 -1.45753573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.001346184 meters Centerline goodness [0,1] 0.9097913728132039 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97771601e-01 -5.33073039e-02 -4.01268350e-02 5.42917388e+00] [ 5.35579838e-02 9.98551214e-01 5.19757577e-03 -2.09261451e-01] [ 3.97916311e-02 -7.33510588e-03 9.99181076e-01 -1.45764343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.031346184 meters Centerline goodness [0,1] 0.9097913728132039 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97771601e-01 -5.33073039e-02 -4.01268350e-02 5.42917388e+00] [ 5.35579838e-02 9.98551214e-01 5.19757577e-03 -2.09261451e-01] [ 3.97916311e-02 -7.33510588e-03 9.99181076e-01 -1.45764343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.061346184 meters Centerline goodness [0,1] 0.906903875675562 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97761930e-01 -5.32476194e-02 -4.04453092e-02 5.42993012e+00] [ 5.35057878e-02 9.98553331e-01 5.32695625e-03 -2.09763886e-01] [ 4.01031505e-02 -7.47909228e-03 9.99167554e-01 -1.45773174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.091346184 meters Centerline goodness [0,1] 0.9085917448563133 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99776106 -0.05317916 -0.04055676 5.43021981] [ 0.05344356 0.99855593 0.00546233 -0.21040698] [ 0.04020771 -0.0076176 0.99916231 -1.45774445] [ 0. 0. 0. 1. ]] SLAMing on 216.121346184 meters Centerline goodness [0,1] 0.9075761082241064 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97752032e-01 -5.32540969e-02 -4.06802514e-02 5.43043631e+00] [ 5.35168752e-02 9.98552358e-01 5.39738359e-03 -2.10596446e-01] [ 4.03339282e-02 -7.56233038e-03 9.99157638e-01 -1.45761301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.151346184 meters Centerline goodness [0,1] 0.9050533419966046 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97740248e-01 -5.32176794e-02 -4.10155709e-02 5.43127314e+00] [ 5.34805138e-02 9.98554631e-01 5.33701951e-03 -2.10426943e-01] [ 4.06722645e-02 -7.51849298e-03 9.99144253e-01 -1.45770014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18134618399998 meters Centerline goodness [0,1] 0.903480880261066 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97718147e-01 -5.34443150e-02 -4.12577754e-02 5.43166812e+00] [ 5.37012001e-02 9.98543807e-01 5.14259744e-03 -2.10323751e-01] [ 4.09228535e-02 -7.34645484e-03 9.99135301e-01 -1.45746626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21134618399998 meters Centerline goodness [0,1] 0.9031466331025803 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97709661e-01 -5.35624539e-02 -4.13097481e-02 5.43158267e+00] [ 5.38174249e-02 9.98537849e-01 5.08420562e-03 -2.10624676e-01] [ 4.09770245e-02 -7.29574533e-03 9.99133452e-01 -1.45717037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24134618399998 meters Centerline goodness [0,1] 0.9014821637916597 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97696560e-01 -5.36355832e-02 -4.15306920e-02 5.43207370e+00] [ 5.38942920e-02 9.98533447e-01 5.13417660e-03 -2.11035366e-01] [ 4.11944105e-02 -7.36061757e-03 9.99124037e-01 -1.45711456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27134618399998 meters Centerline goodness [0,1] 0.8989992431250525 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 9.97689065e-01 -5.36678105e-02 -4.16688713e-02 5.43197006e+00] [ 5.39323097e-02 9.98530798e-01 5.24885775e-03 -2.11794664e-01] [ 4.13259566e-02 -7.48402646e-03 9.99117688e-01 -1.45657489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30134618399998 meters Centerline goodness [0,1] 0.8998530646515533 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99768761 -0.05352223 -0.04189041 5.43280193] [ 0.05379897 0.99853661 0.00550622 -0.21277649] [ 0.0415344 -0.00774715 0.99910704 -1.45697724] [ 0. 0. 0. 1. ]] SLAMing on 216.33134618399998 meters Centerline goodness [0,1] 0.8975751982212526 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99768962 -0.05332398 -0.04209485 5.43356082] [ 0.053614 0.99854495 0.00579042 -0.21354195] [ 0.04172483 -0.00803391 0.99909684 -1.45735801] [ 0. 0. 0. 1. ]] SLAMing on 216.36134618399998 meters Centerline goodness [0,1] 0.9008901455649806 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.9976904 -0.05311404 -0.04234105 5.43398531] [ 0.05340222 0.99855679 0.00570359 -0.21263628] [ 0.041977 -0.00795153 0.99908694 -1.45715377] [ 0. 0. 0. 1. ]] SLAMing on 216.39134618399999 meters Centerline goodness [0,1] 0.9124374553252323 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99769036 -0.05313345 -0.0423177 5.43364352] [ 0.05341805 0.99855641 0.00562244 -0.21237805] [ 0.04195787 -0.00786998 0.99908838 -1.45673273] [ 0. 0. 0. 1. ]] SLAMing on 216.421346184 meters Centerline goodness [0,1] 0.9114631288189503 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99768095 -0.05311662 -0.04255982 5.43427061] [ 0.0534069 0.9985565 0.00571212 -0.21268457] [ 0.04219498 -0.00797186 0.99907759 -1.45683007] [ 0. 0. 0. 1. ]] SLAMing on 216.451346184 meters Centerline goodness [0,1] 0.9092283147199597 Centerline is valid? [False, False] Translation: X:5.43, Y:-0.21, Z:-1.46 [[ 0.99767781 -0.05309436 -0.04266107 5.43454434] [ 0.05340039 0.99855476 0.00606531 -0.21415892] [ 0.04227738 -0.00832934 0.99907119 -1.45689183] [ 0. 0. 0. 1. ]] SLAMing on 216.481346184 meters Centerline goodness [0,1] 0.9020727447658489 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.22, Z:-1.46 [[ 9.97477628e-01 -5.65132902e-02 -4.29491590e-02 5.43666938e+00] [ 5.66923317e-02 9.98387305e-01 2.96119871e-03 -2.15456554e-01] [ 4.27125480e-02 -5.38861743e-03 9.99072871e-01 -1.45817672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.511346184 meters Centerline goodness [0,1] 0.8975695534761038 Centerline is valid? [False, False] Translation: X:5.44, Y:-0.22, Z:-1.46 [[ 9.97467352e-01 -5.67762193e-02 -4.28409025e-02 5.43645169e+00] [ 5.69671825e-02 9.98370765e-01 3.24893034e-03 -2.16874161e-01] [ 4.25866426e-02 -5.68122745e-03 9.99076624e-01 -1.45818119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.541346184 meters Centerline goodness [0,1] 0.8852167732764747 Centerline is valid? [False, False] Translation: X:5.45, Y:-0.22, Z:-1.46 [[ 9.97518621e-01 -5.93060831e-02 -3.79392867e-02 5.45407856e+00] [ 5.95402558e-02 9.98213022e-01 5.07150784e-03 -2.17540402e-01] [ 3.75707188e-02 -7.31783835e-03 9.99267177e-01 -1.45831710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.571346184 meters Centerline goodness [0,1] 0.8772248683880672 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 0.99739911 -0.06515331 -0.03082321 5.4666134 ] [ 0.06542377 0.99782671 0.00784791 -0.22032192] [ 0.03024491 -0.00984407 0.99949404 -1.46121802] [ 0. 0. 0. 1. ]] SLAMing on 216.601346184 meters Centerline goodness [0,1] 0.8478722286434801 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 0.99733658 -0.06623423 -0.03054131 5.46502433] [ 0.06648529 0.99776086 0.00727829 -0.2217727 ] [ 0.02999086 -0.00928945 0.99950701 -1.45990816] [ 0. 0. 0. 1. ]] SLAMing on 216.631346184 meters Centerline goodness [0,1] 0.8465697941458934 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 9.97133211e-01 -6.90295586e-02 -3.09883891e-02 5.46770901e+00] [ 6.91891475e-02 9.97595108e-01 4.10627172e-03 -2.21051506e-01] [ 3.06304113e-02 -6.23856013e-03 9.99511310e-01 -1.46124150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.661346184 meters Centerline goodness [0,1] 0.8593462631666946 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 9.97139984e-01 -6.88976402e-02 -3.10639179e-02 5.46819075e+00] [ 6.90510723e-02 9.97605532e-01 3.89255963e-03 -2.19634045e-01] [ 3.07213481e-02 -6.02642368e-03 9.99509820e-01 -1.46162578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.691346184 meters Centerline goodness [0,1] 0.8420175072947061 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 9.97164951e-01 -6.83894272e-02 -3.13838580e-02 5.46928988e+00] [ 6.85414789e-02 9.97641055e-01 3.79367628e-03 -2.17316875e-01] [ 3.10503778e-02 -5.93401706e-03 9.99500206e-01 -1.46210156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.721346184 meters Centerline goodness [0,1] 0.8744989143143478 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 0.997374 -0.06522942 -0.03146784 5.46793022] [ 0.06547802 0.99782992 0.0069342 -0.21704732] [ 0.03094724 -0.00897644 0.99948071 -1.46086228] [ 0. 0. 0. 1. ]] SLAMing on 216.751346184 meters Centerline goodness [0,1] 0.8920596313924475 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.22, Z:-1.46 [[ 0.99762649 -0.06119032 -0.03157727 5.46737932] [ 0.06154643 0.99804972 0.01043049 -0.21601498] [ 0.03087745 -0.0123492 0.99944689 -1.46047915] [ 0. 0. 0. 1. ]] SLAMing on 216.781346184 meters Centerline goodness [0,1] 0.9010809793631213 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99762862 -0.06090859 -0.03205123 5.46867058] [ 0.06126155 0.99807017 0.01014703 -0.21434057] [ 0.03137134 -0.01208648 0.99943472 -1.4608279 ] [ 0. 0. 0. 1. ]] SLAMing on 216.811346184 meters Centerline goodness [0,1] 0.8988191033545825 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99761916 -0.06102336 -0.03212725 5.46895091] [ 0.0613591 0.99806988 0.0095693 -0.21229734] [ 0.03148129 -0.01151781 0.99943798 -1.46094955] [ 0. 0. 0. 1. ]] SLAMing on 216.841346184 meters Centerline goodness [0,1] 0.897361999326826 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99760599 -0.06123211 -0.03213913 5.46909542] [ 0.06154919 0.99806374 0.00897025 -0.21026005] [ 0.03152764 -0.01092691 0.99944315 -1.46111487] [ 0. 0. 0. 1. ]] SLAMing on 216.871346184 meters Centerline goodness [0,1] 0.8880223074826509 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99754279 -0.0622215 -0.03220039 5.46926861] [ 0.06250265 0.99801433 0.00779834 -0.20723986] [ 0.03165122 -0.00979179 0.99945101 -1.46127685] [ 0. 0. 0. 1. ]] SLAMing on 216.901346184 meters Centerline goodness [0,1] 0.8750759814710013 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99750175 -0.06291322 -0.03212773 5.46899825] [ 0.06318168 0.99797454 0.00740918 -0.20710907] [ 0.03159652 -0.00942055 0.99945631 -1.46114699] [ 0. 0. 0. 1. ]] SLAMing on 216.93134618399998 meters Centerline goodness [0,1] 0.8677461194092297 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99745702 -0.0635948 -0.03217442 5.46918382] [ 0.06385385 0.99793409 0.00708788 -0.20751165] [ 0.0316572 -0.00912432 0.99945714 -1.46126022] [ 0. 0. 0. 1. ]] SLAMing on 216.96134618399998 meters Centerline goodness [0,1] 0.8526201329931831 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.21, Z:-1.46 [[ 0.99738869 -0.06472431 -0.03204001 5.46916448] [ 0.06495782 0.99786812 0.0063003 -0.20638346] [ 0.03156393 -0.0083651 0.99946673 -1.46173657] [ 0. 0. 0. 1. ]] SLAMing on 216.99134618399998 meters Centerline goodness [0,1] 0.8323343218289272 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.20, Z:-1.46 [[ 0.99736551 -0.06501334 -0.03217629 5.46978677] [ 0.06523088 0.99785359 0.00575663 -0.20478274] [ 0.03173297 -0.00784035 0.99946563 -1.46215223] [ 0. 0. 0. 1. ]] SLAMing on 217.02134618399998 meters Centerline goodness [0,1] 0.8418471511860411 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.20, Z:-1.46 [[ 9.97357239e-01 -6.50296895e-02 -3.23987229e-02 5.47070006e+00] [ 6.52366172e-02 9.97855373e-01 5.37019278e-03 -2.03228809e-01] [ 3.19800177e-02 -7.46958372e-03 9.99460596e-01 -1.46273275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05134618399998 meters Centerline goodness [0,1] 0.8472117241958512 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.20, Z:-1.46 [[ 9.97359067e-01 -6.47932409e-02 -3.28135344e-02 5.47212719e+00] [ 6.49854142e-02 9.97874558e-01 4.82317627e-03 -2.00491105e-01] [ 3.24312819e-02 -6.94283970e-03 9.99449853e-01 -1.46339815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08134618399998 meters Centerline goodness [0,1] 0.8705724639199012 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.19, Z:-1.46 [[ 0.99759091 -0.06090335 -0.0332139 5.47261782] [ 0.06116884 0.99810263 0.00703585 -0.19328488] [ 0.03272238 -0.00905056 0.9994235 -1.46349869] [ 0. 0. 0. 1. ]] SLAMing on 217.11134618399998 meters Centerline goodness [0,1] 0.888818791664038 Centerline is valid? [False, False] Translation: X:5.47, Y:-0.19, Z:-1.46 [[ 0.99779827 -0.05725843 -0.03346768 5.47269574] [ 0.05763014 0.9982854 0.01024861 -0.19113059] [ 0.03282348 -0.0121548 0.99938725 -1.46363362] [ 0. 0. 0. 1. ]] SLAMing on 217.14134618399999 meters Centerline goodness [0,1] 0.8873578623332565 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.19, Z:-1.46 [[ 0.99781938 -0.05644426 -0.03421306 5.47539602] [ 0.0568178 0.99833403 0.01004533 -0.18761642] [ 0.03358906 -0.01196733 0.99936408 -1.46499696] [ 0. 0. 0. 1. ]] SLAMing on 217.171346184 meters Centerline goodness [0,1] 0.8919541674521879 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.18, Z:-1.47 [[ 0.99781679 -0.05649427 -0.03420608 5.47565133] [ 0.05683214 0.9983433 0.00898638 -0.18358886] [ 0.03364173 -0.01091077 0.9993744 -1.46523885] [ 0. 0. 0. 1. ]] SLAMing on 217.201346184 meters Centerline goodness [0,1] 0.8945897090970237 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.18, Z:-1.47 [[ 0.99780873 -0.05658646 -0.03428877 5.47612036] [ 0.05689241 0.99834816 0.00801294 -0.17969161] [ 0.03377871 -0.00994615 0.99937984 -1.46555258] [ 0. 0. 0. 1. ]] SLAMing on 217.231346184 meters Centerline goodness [0,1] 0.8916108936313507 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.17, Z:-1.47 [[ 0.99778625 -0.05696007 -0.03432406 5.47686262] [ 0.05721967 0.99833961 0.00662832 -0.17391743] [ 0.03388952 -0.00857766 0.99938878 -1.46645827] [ 0. 0. 0. 1. ]] SLAMing on 217.261346184 meters Centerline goodness [0,1] 0.8893417652373049 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.17, Z:-1.47 [[ 0.99776399 -0.05728647 -0.03442776 5.47734462] [ 0.05752331 0.99832656 0.00592778 -0.1716688 ] [ 0.03403056 -0.00789492 0.99938961 -1.46675176] [ 0. 0. 0. 1. ]] SLAMing on 217.291346184 meters Centerline goodness [0,1] 0.8840388007054674 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.17, Z:-1.47 [[ 9.97732546e-01 -5.78953342e-02 -3.43204929e-02 5.47687239e+00] [ 5.80948182e-02 9.98299322e-01 4.84311416e-03 -1.68821665e-01] [ 3.39817311e-02 -6.82597542e-03 9.99399143e-01 -1.46631509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.321346184 meters Centerline goodness [0,1] 0.8820533243900394 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.16, Z:-1.46 [[ 9.97670473e-01 -5.89837435e-02 -3.42716323e-02 5.47587436e+00] [ 5.91034889e-02 9.98248754e-01 2.49061293e-03 -1.62018360e-01] [ 3.40647085e-02 -4.51038402e-03 9.99409452e-01 -1.46484739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.351346184 meters Centerline goodness [0,1] 0.8827750695650355 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.16, Z:-1.47 [[ 9.97655010e-01 -5.90587118e-02 -3.45911911e-02 5.47685374e+00] [ 5.91562510e-02 9.98247109e-01 1.80224723e-03 -1.58412517e-01] [ 3.44241181e-02 -3.84430617e-03 9.99399921e-01 -1.46516832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.381346184 meters Centerline goodness [0,1] 0.8843636971838348 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.16, Z:-1.47 [[ 9.97817244e-01 -5.59940421e-02 -3.50059161e-02 5.47708783e+00] [ 5.62014024e-02 9.98407096e-01 4.96714438e-03 -1.56930307e-01] [ 3.46720245e-02 -6.92368389e-03 9.99374761e-01 -1.46522177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.411346184 meters Centerline goodness [0,1] 0.8749343694214008 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.15, Z:-1.47 [[ 9.97799267e-01 -5.61701528e-02 -3.52354330e-02 5.47778029e+00] [ 5.63478437e-02 9.98402904e-01 4.06958185e-03 -1.53544187e-01] [ 3.49505696e-02 -6.04606646e-03 9.99370753e-01 -1.46541341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.441346184 meters Centerline goodness [0,1] 0.8857833350845855 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.15, Z:-1.47 [[ 9.97806959e-01 -5.59930904e-02 -3.52993715e-02 5.47888155e+00] [ 5.61398568e-02 9.98417852e-01 3.17962742e-03 -1.49655393e-01] [ 3.50654855e-02 -5.15435603e-03 9.99371725e-01 -1.46652785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.471346184 meters Centerline goodness [0,1] 0.8806959229183321 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.15, Z:-1.47 [[ 9.97803880e-01 -5.58960089e-02 -3.55394676e-02 5.48003001e+00] [ 5.60270332e-02 9.98425599e-01 2.70079804e-03 -1.47477898e-01] [ 3.53325504e-02 -4.68603769e-03 9.99364624e-01 -1.46730522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.501346184 meters Centerline goodness [0,1] 0.8860754178214496 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.14, Z:-1.47 [[ 9.97825385e-01 -5.51457946e-02 -3.61032275e-02 5.48255757e+00] [ 5.52829263e-02 9.98466775e-01 2.81037384e-03 -1.44791764e-01] [ 3.58928928e-02 -4.80015442e-03 9.99344114e-01 -1.46897012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.531346184 meters Centerline goodness [0,1] 0.8864910255064553 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.14, Z:-1.47 [[ 9.97934258e-01 -5.29453132e-02 -3.63869505e-02 5.48357370e+00] [ 5.31532258e-02 9.98574976e-01 4.76984370e-03 -1.41718799e-01] [ 3.60825574e-02 -6.69407424e-03 9.99326392e-01 -1.46995315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.561346184 meters Centerline goodness [0,1] 0.8923357282000796 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.14, Z:-1.47 [[ 0.9980669 -0.05026654 -0.03654771 5.48312772] [ 0.05054208 0.99869977 0.00665415 -0.13553354] [ 0.03616571 -0.00848848 0.99930976 -1.46959308] [ 0. 0. 0. 1. ]] SLAMing on 217.591346184 meters Centerline goodness [0,1] 0.8833654813820866 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.13, Z:-1.47 [[ 0.99804329 -0.05076776 -0.03649977 5.4827788 ] [ 0.05100635 0.99868243 0.00563503 -0.13260591] [ 0.0361656 -0.00748572 0.99931777 -1.4691567 ] [ 0. 0. 0. 1. ]] SLAMing on 217.621346184 meters Centerline goodness [0,1] 0.8889191282684699 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.13, Z:-1.47 [[ 9.98013971e-01 -5.12473008e-02 -3.66309690e-02 5.48283423e+00] [ 5.14534330e-02 9.98664306e-01 4.70626070e-03 -1.30411335e-01] [ 3.63408581e-02 -6.58170304e-03 9.99317779e-01 -1.46875254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.651346184 meters Centerline goodness [0,1] 0.8843255463451394 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.12, Z:-1.47 [[ 9.97964523e-01 -5.22743300e-02 -3.65267879e-02 5.48268595e+00] [ 5.24112008e-02 9.98621666e-01 2.79905446e-03 -1.23974242e-01] [ 3.63301231e-02 -4.70776986e-03 9.99328754e-01 -1.46880149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68134618399998 meters Centerline goodness [0,1] 0.8772570756697741 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.12, Z:-1.47 [[ 9.97934139e-01 -5.28786483e-02 -3.64870256e-02 5.48254382e+00] [ 5.29670603e-02 9.98595193e-01 1.46007388e-03 -1.19484682e-01] [ 3.63585617e-02 -3.38966806e-03 9.99333060e-01 -1.46862183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71134618399998 meters Centerline goodness [0,1] 0.8596384658888586 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.12, Z:-1.47 [[ 9.97916951e-01 -5.29738297e-02 -3.68175438e-02 5.48367334e+00] [ 5.30416501e-02 9.98591924e-01 8.67065653e-04 -1.16751570e-01] [ 3.67197701e-02 -2.81812279e-03 9.99321628e-01 -1.46907395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74134618399998 meters Centerline goodness [0,1] 0.8625679631953158 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.11, Z:-1.47 [[ 9.97887265e-01 -5.34032339e-02 -3.70013564e-02 5.48461062e+00] [ 5.34366608e-02 9.98571237e-01 -8.56743240e-05 -1.13994876e-01] [ 3.69530655e-02 -1.89173561e-03 9.99315212e-01 -1.46979869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77134618399998 meters Centerline goodness [0,1] 0.8715216477511559 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.11, Z:-1.47 [[ 9.97872316e-01 -5.37466729e-02 -3.69071374e-02 5.48434520e+00] [ 5.37447239e-02 9.98554160e-01 -1.04564598e-03 -1.11008433e-01] [ 3.69099756e-02 -9.40142735e-04 9.99318152e-01 -1.46956512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80134618399998 meters Centerline goodness [0,1] 0.8632188247137285 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.11, Z:-1.47 [[ 9.98350176e-01 -5.21798706e-02 -2.39621932e-02 5.48821772e+00] [ 5.21713471e-02 9.98637666e-01 -9.81156736e-04 -1.06490509e-01] [ 2.39807454e-02 -2.70601899e-04 9.99712384e-01 -1.47488920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83134618399998 meters Centerline goodness [0,1] 0.8591123701605288 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.10, Z:-1.47 [[ 9.98510993e-01 -4.90814179e-02 -2.38078057e-02 5.48668263e+00] [ 4.91379226e-02 9.98790392e-01 1.79383844e-03 -1.03290634e-01] [ 2.36909634e-02 -2.96103351e-03 9.99714945e-01 -1.47384957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86134618399998 meters Centerline goodness [0,1] 0.8793820059616273 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.10, Z:-1.47 [[ 9.98642888e-01 -4.64854952e-02 -2.34836362e-02 5.48415020e+00] [ 4.65745593e-02 9.98909498e-01 3.25970423e-03 -9.69392767e-02] [ 2.33064983e-02 -4.34902046e-03 9.99718907e-01 -1.47171823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89134618399999 meters Centerline goodness [0,1] 0.8759453781512605 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.09, Z:-1.47 [[ 9.98635539e-01 -4.66004442e-02 -2.35681698e-02 5.48435542e+00] [ 4.66682305e-02 9.98907718e-01 2.33408988e-03 -9.38029470e-02] [ 2.34336571e-02 -3.43078989e-03 9.99719507e-01 -1.47153921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.921346184 meters Centerline goodness [0,1] 0.8759453781512605 Centerline is valid? [False, False] Translation: X:5.48, Y:-0.09, Z:-1.47 [[ 9.98635539e-01 -4.66004442e-02 -2.35681698e-02 5.48435542e+00] [ 4.66682305e-02 9.98907718e-01 2.33408988e-03 -9.38029470e-02] [ 2.34336571e-02 -3.43078989e-03 9.99719507e-01 -1.47153921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.951346184 meters Centerline goodness [0,1] 0.8780431497649429 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-1.47 [[ 9.98646499e-01 -4.62660145e-02 -2.37618798e-02 5.48547543e+00] [ 4.63232307e-02 9.98924766e-01 1.86283489e-03 -9.05548896e-02] [ 2.36501443e-02 -2.96104058e-03 9.99715911e-01 -1.47228473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.981346184 meters Centerline goodness [0,1] 0.8917876825716142 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.09, Z:-1.47 [[ 9.98741474e-01 -4.41796855e-02 -2.37407563e-02 5.48605286e+00] [ 4.42638249e-02 9.99015281e-01 3.03009631e-03 -8.53464341e-02] [ 2.35835096e-02 -4.07713953e-03 9.99713556e-01 -1.47319464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.011346184 meters Centerline goodness [0,1] 0.8850543421355727 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.08, Z:-1.47 [[ 9.98739754e-01 -4.41463420e-02 -2.38747774e-02 5.48683175e+00] [ 4.42192103e-02 9.99018642e-01 2.53257173e-03 -8.30510448e-02] [ 2.37395440e-02 -3.58510387e-03 9.99711749e-01 -1.47378104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.041346184 meters Centerline goodness [0,1] 0.8878547675318428 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.08, Z:-1.47 [[ 9.98738278e-01 -4.39825963e-02 -2.42359918e-02 5.48838751e+00] [ 4.40489250e-02 9.99026932e-01 2.20949353e-03 -8.00788833e-02] [ 2.41152292e-02 -3.27427515e-03 9.99703824e-01 -1.47475831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.071346184 meters Centerline goodness [0,1] 0.8824415975885456 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.08, Z:-1.47 [[ 9.98859311e-01 -4.11634823e-02 -2.42001093e-02 5.48754532e+00] [ 4.13042701e-02 9.99132309e-01 5.34665593e-03 -7.85163557e-02] [ 2.39590241e-02 -6.34012491e-03 9.99692837e-01 -1.47463669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.101346184 meters Centerline goodness [0,1] 0.8629302975334125 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.07, Z:-1.48 [[ 9.98821071e-01 -4.19453378e-02 -2.44347648e-02 5.48827193e+00] [ 4.20551428e-02 9.99107295e-01 3.99716326e-03 -7.18971604e-02] [ 2.42452894e-02 -5.02005841e-03 9.99693435e-01 -1.47502496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.131346184 meters Centerline goodness [0,1] 0.8516490406721565 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.07, Z:-1.48 [[ 9.98807012e-01 -4.23192005e-02 -2.43646951e-02 5.48847310e+00] [ 4.24199934e-02 9.99093255e-01 3.63472949e-03 -7.11616241e-02] [ 2.41887837e-02 -4.66394350e-03 9.99696529e-01 -1.47561078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.161346184 meters Centerline goodness [0,1] 0.8467049608355092 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.07, Z:-1.48 [[ 9.98800644e-01 -4.24470855e-02 -2.44032571e-02 5.48919080e+00] [ 4.25460807e-02 9.99088193e-01 3.55161017e-03 -7.08944708e-02] [ 2.42302505e-02 -4.58561348e-03 9.99695887e-01 -1.47656595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.191346184 meters Centerline goodness [0,1] 0.8594488353615188 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.07, Z:-1.48 [[ 9.98789469e-01 -4.27049871e-02 -2.44106677e-02 5.48949709e+00] [ 4.27897565e-02 9.99079712e-01 2.96067372e-03 -6.89143232e-02] [ 2.42617674e-02 -4.00161626e-03 9.99697631e-01 -1.47691687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.221346184 meters Centerline goodness [0,1] 0.8526762388446507 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.06, Z:-1.48 [[ 9.98855437e-01 -4.11687757e-02 -2.43505019e-02 5.48913662e+00] [ 4.12795363e-02 9.99139374e-01 4.06334455e-03 -6.37489400e-02] [ 2.41622623e-02 -5.06387123e-03 9.99695225e-01 -1.47708283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.251346184 meters Centerline goodness [0,1] 0.8554792225201072 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.06, Z:-1.48 [[ 9.98841943e-01 -4.14216226e-02 -2.44749338e-02 5.48930326e+00] [ 4.15087823e-02 9.99133442e-01 3.06372255e-03 -6.01857810e-02] [ 2.43268205e-02 -4.07609929e-03 9.99695749e-01 -1.47673963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.281346184 meters Centerline goodness [0,1] 0.8542869092429946 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.06, Z:-1.48 [[ 9.98834916e-01 -4.15170093e-02 -2.45997859e-02 5.48977394e+00] [ 4.15859520e-02 9.99132289e-01 2.29743230e-03 -5.65980866e-02] [ 2.44830579e-02 -3.31776112e-03 9.99694740e-01 -1.47683146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.311346184 meters Centerline goodness [0,1] 0.8560145808019441 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-1.48 [[ 9.98930930e-01 -3.93274733e-02 -2.42970659e-02 5.48789002e+00] [ 3.94401628e-02 9.99213207e-01 4.17613538e-03 -5.18056204e-02] [ 2.41137123e-02 -5.12995103e-03 9.99696060e-01 -1.47597308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.341346184 meters Centerline goodness [0,1] 0.8494846656611362 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-1.48 [[ 9.98919822e-01 -3.94501736e-02 -2.45534650e-02 5.48899108e+00] [ 3.95547052e-02 9.99210233e-01 3.78610212e-03 -4.99000122e-02] [ 2.43847111e-02 -4.75321752e-03 9.99691349e-01 -1.47677861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.371346184 meters Centerline goodness [0,1] 0.8426704700379638 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.05, Z:-1.48 [[ 9.98912475e-01 -3.95404426e-02 -2.47066754e-02 5.48986367e+00] [ 3.96373717e-02 9.99208190e-01 3.44566538e-03 -4.84788793e-02] [ 2.45508693e-02 -4.42122581e-03 9.99688805e-01 -1.47754561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.401346184 meters Centerline goodness [0,1] 0.8537318452193287 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.04, Z:-1.48 [[ 9.98970481e-01 -3.81262486e-02 -2.45838693e-02 5.49029095e+00] [ 3.82416403e-02 9.99259523e-01 4.24070072e-03 -4.32523720e-02] [ 2.44039835e-02 -5.17646233e-03 9.99688776e-01 -1.47859637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43134618399998 meters Centerline goodness [0,1] 0.8579989906636387 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.04, Z:-1.48 [[ 9.98967965e-01 -3.79143273e-02 -2.50101680e-02 5.49176198e+00] [ 3.80114812e-02 9.99271448e-01 3.42050049e-03 -3.81472781e-02] [ 2.48622608e-02 -4.36764395e-03 9.99681345e-01 -1.47899454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46134618399998 meters Centerline goodness [0,1] 0.8355950116254491 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.03, Z:-1.48 [[ 9.99034355e-01 -3.58844645e-02 -2.53508033e-02 5.49307558e+00] [ 3.60240006e-02 9.99338069e-01 5.06897960e-03 -3.41150415e-02] [ 2.51521252e-02 -5.97732212e-03 9.99665765e-01 -1.47994821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49134618399998 meters Centerline goodness [0,1] 0.8559543820081279 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.03, Z:-1.48 [[ 0.99914246 -0.03290778 -0.02512813 5.49170952] [ 0.03311208 0.99942154 0.00775789 -0.03104643] [ 0.0248583 -0.00858328 0.99965414 -1.47933364] [ 0. 0. 0. 1. ]] SLAMing on 218.52134618399998 meters Centerline goodness [0,1] 0.8551447909527073 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.02, Z:-1.48 [[ 0.99912109 -0.03334738 -0.0253969 5.49297826] [ 0.03350755 0.99942101 0.00590729 -0.02299084] [ 0.0251852 -0.00675308 0.99965999 -1.47990272] [ 0. 0. 0. 1. ]] SLAMing on 218.55134618399998 meters Centerline goodness [0,1] 0.850423674136522 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.02, Z:-1.48 [[ 9.99108440e-01 -3.37600545e-02 -2.53492328e-02 5.49331647e+00] [ 3.39037961e-02 9.99411248e-01 5.26211706e-03 -2.10066428e-02] [ 2.51566590e-02 -6.11686079e-03 9.99664807e-01 -1.48053824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58134618399998 meters Centerline goodness [0,1] 0.8392268407783309 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.02, Z:-1.48 [[ 9.99094490e-01 -3.40919685e-02 -2.54546093e-02 5.49399137e+00] [ 3.42243268e-02 9.99402735e-01 4.78223002e-03 -1.93490898e-02] [ 2.52763705e-02 -5.64906653e-03 9.99664540e-01 -1.48122910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61134618399998 meters Centerline goodness [0,1] 0.829186788547775 Centerline is valid? [False, False] Translation: X:5.49, Y:-0.02, Z:-1.48 [[ 9.99074123e-01 -3.46687456e-02 -2.54749748e-02 5.49419714e+00] [ 3.47790919e-02 9.99387410e-01 3.90119840e-03 -1.64856730e-02] [ 2.53241194e-02 -4.78358286e-03 9.99667848e-01 -1.48148958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64134618399999 meters Centerline goodness [0,1] 0.8202130198052018 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.01, Z:-1.48 [[ 0.99907205 -0.03857721 -0.01915327 5.508254 ] [ 0.03869193 0.99923518 0.00565529 -0.00831267] [ 0.01892046 -0.00639112 0.99980057 -1.48244037] [ 0. 0. 0. 1. ]] SLAMing on 218.671346184 meters Centerline goodness [0,1] 0.8035024971103308 Centerline is valid? [False, False] Translation: X:5.51, Y:-0.00, Z:-1.48 [[ 9.99056378e-01 -3.89352902e-02 -1.92456696e-02 5.50876826e+00] [ 3.90318500e-02 9.99227067e-01 4.66717497e-03 -4.11452198e-03] [ 1.90490762e-02 -5.41396501e-03 9.99803892e-01 -1.48274935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.701346184 meters Centerline goodness [0,1] 0.8067050353414885 Centerline is valid? [False, False] Translation: X:5.51, Y:0.00, Z:-1.48 [[ 9.99053644e-01 -3.88144619e-02 -1.96278754e-02 5.51042870e+00] [ 3.89005668e-02 9.99234984e-01 4.02411736e-03 4.63077112e-04] [ 1.94566658e-02 -4.78384459e-03 9.99799256e-01 -1.48370879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.731346184 meters Centerline goodness [0,1] 0.8032103855094075 Centerline is valid? [False, False] Translation: X:5.51, Y:0.01, Z:-1.48 [[ 9.99045864e-01 -3.87680214e-02 -2.01097376e-02 5.51208400e+00] [ 3.88355103e-02 9.99241185e-01 2.97628494e-03 6.28588672e-03] [ 1.99790934e-02 -3.75441709e-03 9.99793349e-01 -1.48417729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.761346184 meters Centerline goodness [0,1] 0.7977256069120228 Centerline is valid? [False, False] Translation: X:5.51, Y:0.02, Z:-1.49 [[ 9.99157983e-01 -3.56475654e-02 -2.03119732e-02 5.51334447e+00] [ 3.57545589e-02 9.99348447e-01 4.92880780e-03 1.57371585e-02] [ 2.01230388e-02 -5.65090330e-03 9.99781541e-01 -1.48562104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.791346184 meters Centerline goodness [0,1] 0.7855930689531976 Centerline is valid? [False, False] Translation: X:5.52, Y:0.02, Z:-1.49 [[ 9.99163700e-01 -3.51360819e-02 -2.09130866e-02 5.51615503e+00] [ 3.52384391e-02 9.99368593e-01 4.54607303e-03 2.02638689e-02] [ 2.07401507e-02 -5.27921568e-03 9.99770962e-01 -1.48745360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.821346184 meters Centerline goodness [0,1] 0.7976032853840802 Centerline is valid? [False, False] Translation: X:5.52, Y:0.02, Z:-1.49 [[ 9.99166741e-01 -3.48386453e-02 -2.12624650e-02 5.51818017e+00] [ 3.49317120e-02 9.99381611e-01 4.02132793e-03 2.46412536e-02] [ 2.11092189e-02 -4.76071142e-03 9.99765841e-01 -1.48897522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.851346184 meters Centerline goodness [0,1] 0.7924890908679826 Centerline is valid? [False, False] Translation: X:5.52, Y:0.03, Z:-1.49 [[ 9.99243218e-01 -3.26251886e-02 -2.11799216e-02 5.51936969e+00] [ 3.27424329e-02 9.99450230e-01 5.21256384e-03 3.40564279e-02] [ 2.09982167e-02 -5.90210122e-03 9.99762092e-01 -1.49110683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.881346184 meters Centerline goodness [0,1] 0.7982844305262441 Centerline is valid? [False, False] Translation: X:5.52, Y:0.04, Z:-1.49 [[ 0.99930114 -0.03062117 -0.02143768 5.52141812] [ 0.03077047 0.99950423 0.00666939 0.03936676] [ 0.02122282 -0.00732438 0.99974794 -1.49311105] [ 0. 0. 0. 1. ]] SLAMing on 218.911346184 meters Centerline goodness [0,1] 0.7895299874815067 Centerline is valid? [False, False] Translation: X:5.52, Y:0.05, Z:-1.49 [[ 0.99929414 -0.03033251 -0.02216229 5.52395622] [ 0.03046266 0.99952045 0.00555873 0.0459263 ] [ 0.02198305 -0.00622993 0.99973893 -1.49379014] [ 0. 0. 0. 1. ]] SLAMing on 218.941346184 meters Centerline goodness [0,1] 0.7982532550889418 Centerline is valid? [False, False] Translation: X:5.52, Y:0.05, Z:-1.49 [[ 0.99938903 -0.02698393 -0.02221351 5.52390231] [ 0.02717484 0.99959593 0.00833737 0.0499944 ] [ 0.02197956 -0.00893592 0.99971848 -1.49396092] [ 0. 0. 0. 1. ]] SLAMing on 218.971346184 meters Centerline goodness [0,1] 0.8159701284846236 Centerline is valid? [False, False] Translation: X:5.52, Y:0.06, Z:-1.49 [[ 0.99944894 -0.02431151 -0.02260007 5.52420813] [ 0.0244917 0.99967014 0.00773072 0.06340187] [ 0.02240467 -0.00827997 0.9997147 -1.49133073] [ 0. 0. 0. 1. ]] SLAMing on 219.001346184 meters Centerline goodness [0,1] 0.7931371863861905 Centerline is valid? [False, False] Translation: X:5.53, Y:0.07, Z:-1.49 [[ 0.99943011 -0.02443389 -0.02329015 5.52581131] [ 0.02457206 0.99968201 0.00566494 0.07112899] [ 0.02314433 -0.006234 0.9997127 -1.49026018] [ 0. 0. 0. 1. ]] SLAMing on 219.031346184 meters Centerline goodness [0,1] 0.8263043019080476 Centerline is valid? [False, False] Translation: X:5.53, Y:0.08, Z:-1.49 [[ 9.99424461e-01 -2.41675274e-02 -2.38049700e-02 5.52751541e+00] [ 2.42789714e-02 9.99695523e-01 4.40365916e-03 7.77161200e-02] [ 2.36912964e-02 -4.97908487e-03 9.99706923e-01 -1.49013162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.061346184 meters Centerline goodness [0,1] 0.8269518361146059 Centerline is valid? [False, False] Translation: X:5.53, Y:0.09, Z:-1.49 [[ 9.99486884e-01 -2.12887312e-02 -2.39323840e-02 5.52839345e+00] [ 2.14257050e-02 9.99755416e-01 5.48155824e-03 8.74806753e-02] [ 2.38098351e-02 -5.99151376e-03 9.99698551e-01 -1.49040960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.091346184 meters Centerline goodness [0,1] 0.828570068771863 Centerline is valid? [False, False] Translation: X:5.53, Y:0.09, Z:-1.49 [[ 9.99475760e-01 -2.12912378e-02 -2.43903232e-02 5.53025629e+00] [ 2.14071133e-02 9.99760716e-01 4.49964197e-03 9.23924360e-02] [ 2.42886840e-02 -5.01940949e-03 9.99692385e-01 -1.49112585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.121346184 meters Centerline goodness [0,1] 0.823993685872139 Centerline is valid? [False, False] Translation: X:5.53, Y:0.10, Z:-1.49 [[ 9.99465481e-01 -2.13474923e-02 -2.47595628e-02 5.53178777e+00] [ 2.14427979e-02 9.99763631e-01 3.59012570e-03 9.71499650e-02] [ 2.46770702e-02 -4.11912102e-03 9.99686989e-01 -1.49171130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.151346184 meters Centerline goodness [0,1] 0.8218439238159447 Centerline is valid? [False, False] Translation: X:5.53, Y:0.10, Z:-1.49 [[ 9.99446510e-01 -2.20210122e-02 -2.49349070e-02 5.53202509e+00] [ 2.20696593e-02 9.99755028e-01 1.67742161e-03 1.03765223e-01] [ 2.48918601e-02 -2.22679808e-03 9.99687670e-01 -1.49083068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18134618399998 meters Centerline goodness [0,1] 0.8037062457103638 Centerline is valid? [False, False] Translation: X:5.54, Y:0.11, Z:-1.49 [[ 0.99958063 -0.02210976 -0.01870101 5.54498759] [ 0.02228628 0.99970852 0.00928412 0.11486529] [ 0.01849029 -0.009697 0.99978201 -1.4934603 ] [ 0. 0. 0. 1. ]] SLAMing on 219.21134618399998 meters Centerline goodness [0,1] 0.8078248031496063 Centerline is valid? [False, False] Translation: X:5.55, Y:0.12, Z:-1.49 [[ 0.99956165 -0.02242678 -0.01932747 5.54642589] [ 0.02257385 0.9997176 0.00742538 0.12175607] [ 0.01915548 -0.00785842 0.99978563 -1.49261629] [ 0. 0. 0. 1. ]] SLAMing on 219.24134618399998 meters Centerline goodness [0,1] 0.7992944625245324 Centerline is valid? [False, False] Translation: X:5.55, Y:0.13, Z:-1.49 [[ 0.99955397 -0.02260551 -0.01951538 5.54756382] [ 0.02273709 0.99972004 0.00654679 0.12621635] [ 0.01936192 -0.00698759 0.99978812 -1.49339827] [ 0. 0. 0. 1. ]] SLAMing on 219.27134618399998 meters Centerline goodness [0,1] 0.7878377700907404 Centerline is valid? [False, False] Translation: X:5.55, Y:0.13, Z:-1.50 [[ 0.99954901 -0.02266001 -0.01970552 5.5500748 ] [ 0.02277684 0.99972418 0.00572469 0.13363644] [ 0.01957036 -0.00617094 0.99978944 -1.49634242] [ 0. 0. 0. 1. ]] SLAMing on 219.30134618399998 meters Centerline goodness [0,1] 0.759236887143864 Centerline is valid? [False, False] Translation: X:5.55, Y:0.14, Z:-1.50 [[ 9.99540281e-01 -2.29242710e-02 -1.98419746e-02 5.55105258e+00] [ 2.30229604e-02 9.99723606e-01 4.75967991e-03 1.38378657e-01] [ 1.97273782e-02 -5.21431280e-03 9.99791799e-01 -1.49704851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33134618399998 meters Centerline goodness [0,1] 0.7896813353566009 Centerline is valid? [False, False] Translation: X:5.55, Y:0.14, Z:-1.50 [[ 9.99532743e-01 -2.26765625e-02 -2.04955710e-02 5.55346263e+00] [ 2.27633834e-02 9.99732828e-01 4.01272845e-03 1.43757050e-01] [ 2.03991002e-02 -4.47740202e-03 9.99781891e-01 -1.49781411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36134618399998 meters Centerline goodness [0,1] 0.7635474288055726 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:-1.50 [[ 9.99509276e-01 -2.38972337e-02 -2.02516322e-02 5.55225636e+00] [ 2.39441009e-02 9.99711146e-01 2.07489687e-03 1.50682616e-01] [ 2.01961981e-02 -2.55878579e-03 9.99792762e-01 -1.49680546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39134618399999 meters Centerline goodness [0,1] 0.7632772269618016 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:-1.50 [[ 9.99502315e-01 -2.43971807e-02 -1.99975059e-02 5.55150055e+00] [ 2.44416037e-02 9.99699299e-01 1.97999842e-03 1.50363730e-01] [ 1.99431862e-02 -2.46778411e-03 9.99798069e-01 -1.49690141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.421346184 meters Centerline goodness [0,1] 0.7579749814535315 Centerline is valid? [False, False] Translation: X:5.55, Y:0.15, Z:-1.50 [[ 9.99497193e-01 -2.46890482e-02 -1.98950150e-02 5.55168269e+00] [ 2.47417034e-02 9.99690985e-01 2.40483307e-03 1.49080660e-01] [ 1.98294941e-02 -2.89586046e-03 9.99799182e-01 -1.49810961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.451346184 meters Centerline goodness [0,1] 0.741241062308478 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99399648e-01 -2.78686686e-02 -2.05835112e-02 5.55574220e+00] [ 2.78746829e-02 9.99611426e-01 5.28532276e-06 1.47260022e-01] [ 2.05753657e-02 -5.79040999e-04 9.99788137e-01 -1.50201484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.481346184 meters Centerline goodness [0,1] 0.7328679554055436 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99401494e-01 -2.78281972e-02 -2.05486175e-02 5.55636939e+00] [ 2.78466998e-02 9.99612016e-01 6.14788162e-04 1.45829714e-01] [ 2.05235365e-02 -1.18663139e-03 9.99788666e-01 -1.50348245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.511346184 meters Centerline goodness [0,1] 0.725185204042667 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99401649e-01 -2.76643273e-02 -2.07612196e-02 5.55732992e+00] [ 2.76914663e-02 9.99615997e-01 1.02079335e-03 1.45282244e-01] [ 2.07250077e-02 -1.59509117e-03 9.99783942e-01 -1.50433908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.541346184 meters Centerline goodness [0,1] 0.7222392246875797 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99399258e-01 -2.77546834e-02 -2.07557140e-02 5.55730637e+00] [ 2.77841748e-02 9.99613302e-01 1.13380916e-03 1.45303683e-01] [ 2.07162193e-02 -1.70980842e-03 9.99783934e-01 -1.50446971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.571346184 meters Centerline goodness [0,1] 0.7202390033053649 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99391268e-01 -2.78914097e-02 -2.09562107e-02 5.55751688e+00] [ 2.79225373e-02 9.99609377e-01 1.19416805e-03 1.45462725e-01] [ 2.09147176e-02 -1.77859170e-03 9.99779681e-01 -1.50431115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.601346184 meters Centerline goodness [0,1] 0.7319637492999338 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.50 [[ 9.99392653e-01 -2.76828379e-02 -2.11656868e-02 5.55822638e+00] [ 2.77178499e-02 9.99614858e-01 1.36255825e-03 1.45658826e-01] [ 2.11198156e-02 -1.94839803e-03 9.99775053e-01 -1.50456724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.631346184 meters Centerline goodness [0,1] 0.7260263499910807 Centerline is valid? [False, False] Translation: X:5.56, Y:0.15, Z:-1.51 [[ 9.99396602e-01 -2.73372473e-02 -2.14267761e-02 5.55939003e+00] [ 2.73794768e-02 9.99623700e-01 1.67994280e-03 1.45212884e-01] [ 2.13727882e-02 -2.26558304e-03 9.99769009e-01 -1.50524638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.661346184 meters Centerline goodness [0,1] 0.7353790796675451 Centerline is valid? [False, False] Translation: X:5.56, Y:0.14, Z:-1.51 [[ 9.99422373e-01 -2.54414115e-02 -2.25311938e-02 5.56481370e+00] [ 2.55176191e-02 9.99669562e-01 3.10124624e-03 1.44264352e-01] [ 2.24448485e-02 -3.67439730e-03 9.99741330e-01 -1.50853641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.691346184 meters Centerline goodness [0,1] 0.7358153311883969 Centerline is valid? [False, False] Translation: X:5.57, Y:0.14, Z:-1.51 [[ 9.99428398e-01 -2.48092495e-02 -2.29647181e-02 5.56677913e+00] [ 2.48934724e-02 9.99684365e-01 3.38886755e-03 1.44517115e-01] [ 2.28733944e-02 -3.95860205e-03 9.99730532e-01 -1.50951460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.721346184 meters Centerline goodness [0,1] 0.7365099642309658 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99430374e-01 -2.42310591e-02 -2.34900715e-02 5.56863702e+00] [ 2.43174014e-02 9.99698517e-01 3.39699640e-03 1.45683769e-01] [ 2.34006768e-02 -3.96627888e-03 9.99718299e-01 -1.50980669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.751346184 meters Centerline goodness [0,1] 0.7503075976622577 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99428953e-01 -2.38896188e-02 -2.38967268e-02 5.56952491e+00] [ 2.39688741e-02 9.99708096e-01 3.03562161e-03 1.47295680e-01] [ 2.38172314e-02 -3.60666576e-03 9.99709824e-01 -1.50904091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.781346184 meters Centerline goodness [0,1] 0.7526159212146082 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99429212e-01 -2.32211732e-02 -2.45362647e-02 5.57185297e+00] [ 2.33068042e-02 9.99723207e-01 3.20974804e-03 1.48910736e-01] [ 2.44549391e-02 -3.77977787e-03 9.99693788e-01 -1.50980321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.811346184 meters Centerline goodness [0,1] 0.745622593068036 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99427686e-01 -2.31023310e-02 -2.47099722e-02 5.57237745e+00] [ 2.31853370e-02 9.99726446e-01 3.07796274e-03 1.49306526e-01] [ 2.46321045e-02 -3.64911021e-03 9.99689924e-01 -1.50966308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.841346184 meters Centerline goodness [0,1] 0.745622593068036 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99427686e-01 -2.31023310e-02 -2.47099722e-02 5.57237745e+00] [ 2.31853370e-02 9.99726446e-01 3.07796274e-03 1.49306526e-01] [ 2.46321045e-02 -3.64911021e-03 9.99689924e-01 -1.50966308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.871346184 meters Centerline goodness [0,1] 0.7586906290115533 Centerline is valid? [False, False] Translation: X:5.57, Y:0.15, Z:-1.51 [[ 9.99430453e-01 -2.23917833e-02 -2.52463345e-02 5.57449851e+00] [ 2.24770539e-02 9.99742557e-01 3.09880752e-03 1.51540890e-01] [ 2.51704472e-02 -3.66450583e-03 9.99676458e-01 -1.51027405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.901346184 meters Centerline goodness [0,1] 0.7615109118548865 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99431398e-01 -2.19501706e-02 -2.55943535e-02 5.57599184e+00] [ 2.20394314e-02 9.99751947e-01 3.21062741e-03 1.51870405e-01] [ 2.55175309e-02 -3.77288684e-03 9.99667255e-01 -1.51083522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93134618399998 meters Centerline goodness [0,1] 0.7753352724651857 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99436978e-01 -2.15601706e-02 -2.57076893e-02 5.57702100e+00] [ 2.16605571e-02 9.99758782e-01 3.63283451e-03 1.50966694e-01] [ 2.56231636e-02 -4.18763201e-03 9.99662902e-01 -1.51183793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96134618399998 meters Centerline goodness [0,1] 0.7677677677677678 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99443121e-01 -2.10381157e-02 -2.59007053e-02 5.57844637e+00] [ 2.11532054e-02 9.99767518e-01 4.17752483e-03 1.49906482e-01] [ 2.58067966e-02 -4.72308139e-03 9.99655792e-01 -1.51305143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99134618399998 meters Centerline goodness [0,1] 0.7696207091760588 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99443309e-01 -2.09066669e-02 -2.59996883e-02 5.57894238e+00] [ 2.10119244e-02 9.99772073e-01 3.78179601e-03 1.51454004e-01] [ 2.59146975e-02 -4.32599420e-03 9.99654798e-01 -1.51292870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02134618399998 meters Centerline goodness [0,1] 0.7856959160580187 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99441922e-01 -2.08216468e-02 -2.61209333e-02 5.57935671e+00] [ 2.09292798e-02 9.99773531e-01 3.85393040e-03 1.51211538e-01] [ 2.60347726e-02 -4.39847193e-03 9.99651361e-01 -1.51297574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05134618399998 meters Centerline goodness [0,1] 0.7614728542348425 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99440536e-01 -2.11568074e-02 -2.59037459e-02 5.57860680e+00] [ 2.12627854e-02 9.99766614e-01 3.82260976e-03 1.50683379e-01] [ 2.58168261e-02 -4.37125694e-03 9.99657133e-01 -1.51284225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08134618399998 meters Centerline goodness [0,1] 0.7489788053949904 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99430220e-01 -2.16672252e-02 -2.58798426e-02 5.57822788e+00] [ 2.17866233e-02 9.99753221e-01 4.34050345e-03 1.48559135e-01] [ 2.57794094e-02 -4.90186470e-03 9.99655638e-01 -1.51344620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11134618399998 meters Centerline goodness [0,1] 0.7591360846452143 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99427559e-01 -2.17798306e-02 -2.58881090e-02 5.57825664e+00] [ 2.19085600e-02 9.99748934e-01 4.69930784e-03 1.47072556e-01] [ 2.57792592e-02 -5.26378895e-03 9.99653801e-01 -1.51380225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14134618399999 meters Centerline goodness [0,1] 0.7581701017746637 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99428275e-01 -2.15846489e-02 -2.60235559e-02 5.57906249e+00] [ 2.17323108e-02 9.99749216e-01 5.40472442e-03 1.45035887e-01] [ 2.59003706e-02 -5.96718641e-03 9.99646719e-01 -1.51479852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.171346184 meters Centerline goodness [0,1] 0.7554135242234437 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.52 [[ 0.99943253 -0.02158024 -0.02586328 5.57907401] [ 0.02174196 0.99974568 0.00598793 0.14268743] [ 0.02572749 -0.00654685 0.99964756 -1.51567777] [ 0. 0. 0. 1. ]] SLAMing on 220.201346184 meters Centerline goodness [0,1] 0.7594894703254627 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.52 [[ 0.9994365 -0.02153372 -0.02574832 5.57911455] [ 0.0217132 0.99974171 0.00671158 0.13934037] [ 0.02559715 -0.00726688 0.99964593 -1.516517 ] [ 0. 0. 0. 1. ]] SLAMing on 220.231346184 meters Centerline goodness [0,1] 0.7604461801567246 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.52 [[ 0.99943521 -0.02156509 -0.02577223 5.57902381] [ 0.02173911 0.9997426 0.0064912 0.1394437 ] [ 0.02562561 -0.0070478 0.99964677 -1.51601933] [ 0. 0. 0. 1. ]] SLAMing on 220.261346184 meters Centerline goodness [0,1] 0.7683379051102306 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.52 [[ 0.99942973 -0.02129365 -0.02620697 5.58001568] [ 0.02146226 0.99975062 0.00616923 0.14029184] [ 0.02606906 -0.00672817 0.9996375 -1.51533325] [ 0. 0. 0. 1. ]] SLAMing on 220.291346184 meters Centerline goodness [0,1] 0.7748329166879241 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.51 [[ 0.9994269 -0.02112001 -0.02645408 5.58051252] [ 0.02127889 0.99975711 0.00573909 0.1412418 ] [ 0.02632644 -0.00629871 0.99963356 -1.5146112 ] [ 0. 0. 0. 1. ]] SLAMing on 220.321346184 meters Centerline goodness [0,1] 0.7824616714550863 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.51 [[ 9.99427257e-01 -2.00884187e-02 -2.72325875e-02 5.58321667e+00] [ 2.02473673e-02 9.99779465e-01 5.57355261e-03 1.42613390e-01] [ 2.71146179e-02 -6.12174860e-03 9.99613586e-01 -1.51451596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.351346184 meters Centerline goodness [0,1] 0.7898223887062661 Centerline is valid? [False, False] Translation: X:5.58, Y:0.14, Z:-1.51 [[ 9.99421185e-01 -1.98408388e-02 -2.76339524e-02 5.58427344e+00] [ 1.99871497e-02 9.99787592e-01 5.02846630e-03 1.44714866e-01] [ 2.75283137e-02 -5.57787969e-03 9.99605462e-01 -1.51396612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.381346184 meters Centerline goodness [0,1] 0.7917635931388839 Centerline is valid? [False, False] Translation: X:5.58, Y:0.15, Z:-1.51 [[ 9.99413979e-01 -1.98367470e-02 -2.78962733e-02 5.58456994e+00] [ 1.99623453e-02 9.99791780e-01 4.23104521e-03 1.46723619e-01] [ 2.78065346e-02 -4.78544077e-03 9.99601869e-01 -1.51267631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.411346184 meters Centerline goodness [0,1] 0.786483864379085 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99411253e-01 -1.97634875e-02 -2.80455259e-02 5.58500716e+00] [ 1.98934099e-02 9.99792595e-01 4.36109823e-03 1.46584670e-01] [ 2.79535186e-02 -4.91645179e-03 9.99597133e-01 -1.51280508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.441346184 meters Centerline goodness [0,1] 0.788052477391415 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99409660e-01 -1.97986947e-02 -2.80774621e-02 5.58534641e+00] [ 1.99316025e-02 9.99791391e-01 4.46164096e-03 1.46602357e-01] [ 2.79832702e-02 -5.01863588e-03 9.99595793e-01 -1.51326101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.471346184 meters Centerline goodness [0,1] 0.7764648836259698 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99409316e-01 -1.98926932e-02 -2.80231962e-02 5.58533963e+00] [ 2.00307048e-02 9.99788539e-01 4.65279865e-03 1.45866803e-01] [ 2.79247137e-02 -5.21137469e-03 9.99596445e-01 -1.51364779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.501346184 meters Centerline goodness [0,1] 0.7644928460302481 Centerline is valid? [False, False] Translation: X:5.59, Y:0.14, Z:-1.51 [[ 9.99409395e-01 -2.00578882e-02 -2.79023725e-02 5.58564752e+00] [ 2.02064829e-02 9.99783055e-01 5.05376687e-03 1.44847242e-01] [ 2.77949513e-02 -5.61459090e-03 9.99597878e-01 -1.51499455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.531346184 meters Centerline goodness [0,1] 0.7722507078901049 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.52 [[ 9.99407797e-01 -2.01345137e-02 -2.79044325e-02 5.58573592e+00] [ 2.02787341e-02 9.99782382e-01 4.89502483e-03 1.45222318e-01] [ 2.77998011e-02 -5.45799255e-03 9.99598610e-01 -1.51501430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.561346184 meters Centerline goodness [0,1] 0.7813482629035969 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99401887e-01 -1.99055083e-02 -2.82778829e-02 5.58699943e+00] [ 2.00375237e-02 9.99789578e-01 4.39280697e-03 1.47429109e-01] [ 2.81844916e-02 -4.95679833e-03 9.99590448e-01 -1.51484023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.591346184 meters Centerline goodness [0,1] 0.783228575808677 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99394264e-01 -1.98757292e-02 -2.85667873e-02 5.58758036e+00] [ 1.99944674e-02 9.99792574e-01 3.87686444e-03 1.48923762e-01] [ 2.84838063e-02 -4.44569378e-03 9.99584368e-01 -1.51414547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.621346184 meters Centerline goodness [0,1] 0.782532795933561 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99384396e-01 -1.99971882e-02 -2.88260649e-02 5.58800336e+00] [ 2.00958398e-02 9.99793138e-01 3.13664834e-03 1.51490939e-01] [ 2.87573777e-02 -3.71400138e-03 9.99579521e-01 -1.51343868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.651346184 meters Centerline goodness [0,1] 0.7858628926617522 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.51 [[ 9.99374042e-01 -1.95750761e-02 -2.94676043e-02 5.59000311e+00] [ 1.96699134e-02 9.99802230e-01 2.93190078e-03 1.53397807e-01] [ 2.94043843e-02 -3.50969076e-03 9.99561436e-01 -1.51358193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68134618399998 meters Centerline goodness [0,1] 0.7877984084880636 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.51 [[ 9.99367320e-01 -1.93972964e-02 -2.98111422e-02 5.59119224e+00] [ 1.94804110e-02 9.99807113e-01 2.50011474e-03 1.55699244e-01] [ 2.97568965e-02 -3.07926627e-03 9.99552422e-01 -1.51352269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71134618399998 meters Centerline goodness [0,1] 0.793932838895756 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.51 [[ 9.99363585e-01 -1.91593242e-02 -3.00889689e-02 5.59242918e+00] [ 1.92462946e-02 9.99811383e-01 2.60346446e-03 1.56228671e-01] [ 3.00334130e-02 -3.18090874e-03 9.99543834e-01 -1.51422144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74134618399998 meters Centerline goodness [0,1] 0.7737957313148477 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.51 [[ 9.99362120e-01 -1.90171932e-02 -3.02274583e-02 5.59322390e+00] [ 1.91089001e-02 9.99813632e-01 2.74789506e-03 1.56166380e-01] [ 3.01695677e-02 -3.32375572e-03 9.99539269e-01 -1.51481954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77134618399998 meters Centerline goodness [0,1] 0.7870623420821946 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99681923e-01 -1.89625397e-02 -1.66275498e-02 5.59840088e+00] [ 1.90515037e-02 9.99804937e-01 5.20840875e-03 1.55645699e-01] [ 1.65255417e-02 -5.52353190e-03 9.99848187e-01 -1.52377916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80134618399998 meters Centerline goodness [0,1] 0.7822905894519131 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99673595e-01 -1.95244201e-02 -1.64773008e-02 5.59744422e+00] [ 1.95972838e-02 9.99798827e-01 4.27222807e-03 1.57778515e-01] [ 1.63905732e-02 -4.59374393e-03 9.99855113e-01 -1.52261245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83134618399998 meters Centerline goodness [0,1] 0.779481345502495 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99665593e-01 -1.97581773e-02 -1.66828111e-02 5.59752649e+00] [ 1.98172034e-02 9.99797906e-01 3.38024946e-03 1.60009463e-01] [ 1.66126520e-02 -3.70972574e-03 9.99855118e-01 -1.52142487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86134618399998 meters Centerline goodness [0,1] 0.7733440781948633 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99660188e-01 -2.00716361e-02 -1.66324586e-02 5.59717246e+00] [ 2.01110305e-02 9.99795322e-01 2.20464352e-03 1.63183092e-01] [ 1.65848035e-02 -2.53839024e-03 9.99859241e-01 -1.52026265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89134618399999 meters Centerline goodness [0,1] 0.7697317212391677 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99663074e-01 -1.98529978e-02 -1.67211776e-02 5.59782447e+00] [ 1.98923643e-02 9.99799726e-01 2.19124665e-03 1.63497723e-01] [ 1.66743259e-02 -2.52313212e-03 9.99857790e-01 -1.52060628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.921346184 meters Centerline goodness [0,1] 0.7834098990370889 Centerline is valid? [False, False] Translation: X:5.60, Y:0.16, Z:-1.52 [[ 9.99665347e-01 -1.97344763e-02 -1.67255460e-02 5.59818044e+00] [ 1.97717143e-02 9.99802390e-01 2.06397516e-03 1.63994706e-01] [ 1.66815094e-02 -2.39397716e-03 9.99857988e-01 -1.52079102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.951346184 meters Centerline goodness [0,1] 0.7851185991530487 Centerline is valid? [False, False] Translation: X:5.60, Y:0.17, Z:-1.52 [[ 9.99665892e-01 -1.95795318e-02 -1.68744186e-02 5.59880572e+00] [ 1.96125963e-02 9.99806041e-01 1.79617866e-03 1.65233619e-01] [ 1.68359773e-02 -2.12652971e-03 9.99856004e-01 -1.52076774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.981346184 meters Centerline goodness [0,1] 0.7950203570310053 Centerline is valid? [False, False] Translation: X:5.60, Y:0.17, Z:-1.52 [[ 9.99730076e-01 -1.63813322e-02 -1.64750618e-02 5.59673360e+00] [ 1.64558153e-02 9.99854932e-01 4.39559389e-03 1.68764547e-01] [ 1.64006661e-02 -4.66551799e-03 9.99854615e-01 -1.51908357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.011346184 meters Centerline goodness [0,1] 0.8141292327136763 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:-1.52 [[ 0.99978768 -0.01322672 -0.01580021 5.59419465] [ 0.01334913 0.9998815 0.00766699 0.17029941] [ 0.01569693 -0.00787628 0.99984577 -1.51825634] [ 0. 0. 0. 1. ]] SLAMing on 221.041346184 meters Centerline goodness [0,1] 0.7930171277997364 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:-1.52 [[ 0.99977781 -0.01349907 -0.01618943 5.59436658] [ 0.01359383 0.99989103 0.00575724 0.1751209 ] [ 0.01610994 -0.00597604 0.99985237 -1.515634 ] [ 0. 0. 0. 1. ]] SLAMing on 221.071346184 meters Centerline goodness [0,1] 0.8147472504230119 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:-1.51 [[ 9.99773378e-01 -1.38194816e-02 -1.61930261e-02 5.59391807e+00] [ 1.38972360e-02 9.99892387e-01 4.69906847e-03 1.77876470e-01] [ 1.61263449e-02 -4.92304187e-03 9.99857842e-01 -1.51433578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.101346184 meters Centerline goodness [0,1] 0.8076759853588669 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:-1.51 [[ 9.99774129e-01 -1.41693532e-02 -1.58404475e-02 5.59294126e+00] [ 1.42378316e-02 9.99889738e-01 4.21862501e-03 1.78422373e-01] [ 1.57789257e-02 -4.44320577e-03 9.99865633e-01 -1.51392062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.131346184 meters Centerline goodness [0,1] 0.8158773045136681 Centerline is valid? [False, False] Translation: X:5.59, Y:0.18, Z:-1.51 [[ 9.99774696e-01 -1.43048404e-02 -1.56821236e-02 5.59274489e+00] [ 1.43753429e-02 9.99887022e-01 4.39224993e-03 1.76987758e-01] [ 1.56175214e-02 -4.61669624e-03 9.99867381e-01 -1.51435877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.161346184 meters Centerline goodness [0,1] 0.8051992519819844 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99714178e-01 -1.74184114e-02 -1.63756592e-02 5.59576000e+00] [ 1.74288712e-02 9.99847983e-01 4.96229500e-04 1.78174344e-01] [ 1.63645263e-02 -7.81496921e-04 9.99865787e-01 -1.51507638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.191346184 meters Centerline goodness [0,1] 0.8009394875042883 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99712438e-01 -1.76123951e-02 -1.62740597e-02 5.59602219e+00] [ 1.76278336e-02 9.99844293e-01 8.05685153e-04 1.78101074e-01] [ 1.62573357e-02 -1.09232988e-03 9.99867244e-01 -1.51642424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.221346184 meters Centerline goodness [0,1] 0.798936620463443 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99711790e-01 -1.76166356e-02 -1.63092298e-02 5.59634510e+00] [ 1.76344668e-02 9.99844049e-01 9.50143182e-04 1.78555735e-01] [ 1.62899480e-02 -1.23747391e-03 9.99866544e-01 -1.51695064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.251346184 meters Centerline goodness [0,1] 0.8004536941784706 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99714016e-01 -1.76510917e-02 -1.61345848e-02 5.59611961e+00] [ 1.76751830e-02 9.99842868e-01 1.35175614e-03 1.77007740e-01] [ 1.61081896e-02 -1.63655129e-03 9.99868915e-01 -1.51749012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.281346184 meters Centerline goodness [0,1] 0.7909690645780219 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99711056e-01 -1.79858911e-02 -1.59471423e-02 5.59510037e+00] [ 1.80087728e-02 9.99836994e-01 1.29239417e-03 1.76118444e-01] [ 1.59212980e-02 -1.57920921e-03 9.99872001e-01 -1.51685238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.311346184 meters Centerline goodness [0,1] 0.7967845489948426 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99711782e-01 -1.78469708e-02 -1.60573333e-02 5.59544502e+00] [ 1.78714563e-02 9.99839337e-01 1.38266855e-03 1.76083151e-01] [ 1.60300770e-02 -1.66923797e-03 9.99870117e-01 -1.51687586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.341346184 meters Centerline goodness [0,1] 0.7996591504981647 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99714290e-01 -1.75792787e-02 -1.61958817e-02 5.59604997e+00] [ 1.76075450e-02 9.99843688e-01 1.60432930e-03 1.75530498e-01] [ 1.61651471e-02 -1.88904065e-03 9.99867551e-01 -1.51707419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.371346184 meters Centerline goodness [0,1] 0.8024211549066463 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99716823e-01 -1.73256864e-02 -1.63124138e-02 5.59654353e+00] [ 1.73564983e-02 9.99847835e-01 1.74918084e-03 1.75581287e-01] [ 1.62796258e-02 -2.03181189e-03 9.99865414e-01 -1.51720371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.401346184 meters Centerline goodness [0,1] 0.8011183157010474 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99714049e-01 -1.71811266e-02 -1.66321496e-02 5.59739489e+00] [ 1.72090231e-02 9.99850735e-01 1.53558641e-03 1.77201154e-01] [ 1.66032839e-02 -1.82137035e-03 9.99860497e-01 -1.51705085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43134618399998 meters Centerline goodness [0,1] 0.8015868845567757 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99712270e-01 -1.71950736e-02 -1.67244536e-02 5.59745382e+00] [ 1.72231451e-02 9.99850491e-01 1.53587670e-03 1.77569637e-01] [ 1.66955436e-02 -1.82348247e-03 9.99858957e-01 -1.51680935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46134618399998 meters Centerline goodness [0,1] 0.8005045859504349 Centerline is valid? [False, False] Translation: X:5.60, Y:0.18, Z:-1.52 [[ 9.99713726e-01 -1.73482717e-02 -1.64773937e-02 5.59717636e+00] [ 1.73841489e-02 9.99846810e-01 2.03661780e-03 1.76138046e-01] [ 1.64395377e-02 -2.32248023e-03 9.99862164e-01 -1.51786489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49134618399998 meters Centerline goodness [0,1] 0.772335577149742 Centerline is valid? [False, False] Translation: X:5.60, Y:0.17, Z:-1.52 [[ 9.99711951e-01 -1.74349426e-02 -1.64935977e-02 5.59755845e+00] [ 1.74817732e-02 9.99843538e-01 2.69940551e-03 1.73846823e-01] [ 1.64439531e-02 -2.98696528e-03 9.99860327e-01 -1.51902290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52134618399998 meters Centerline goodness [0,1] 0.7712483053498801 Centerline is valid? [False, False] Translation: X:5.60, Y:0.17, Z:-1.52 [[ 9.99708847e-01 -1.77218660e-02 -1.63755011e-02 5.59738665e+00] [ 1.77767667e-02 9.99836818e-01 3.21314256e-03 1.71570893e-01] [ 1.63158860e-02 -3.50331051e-03 9.99860750e-01 -1.51990420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55134618399998 meters Centerline goodness [0,1] 0.7554918566775244 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:-1.52 [[ 9.99672363e-01 -1.98491868e-02 -1.61609574e-02 5.59494566e+00] [ 1.98953750e-02 9.99798416e-01 2.70225345e-03 1.69036566e-01] [ 1.61040621e-02 -3.02289640e-03 9.99865752e-01 -1.51934245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58134618399998 meters Centerline goodness [0,1] 0.7579330990498503 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:-1.52 [[ 9.99669453e-01 -2.01747576e-02 -1.59362714e-02 5.59434586e+00] [ 2.02263361e-02 9.99790676e-01 3.08201494e-03 1.67491570e-01] [ 1.58707567e-02 -3.40332857e-03 9.99868260e-01 -1.51982197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61134618399998 meters Centerline goodness [0,1] 0.7468732160464995 Centerline is valid? [False, False] Translation: X:5.59, Y:0.17, Z:-1.52 [[ 9.99664839e-01 -2.04787279e-02 -1.58376772e-02 5.59386079e+00] [ 2.05362440e-02 9.99783061e-01 3.47751972e-03 1.65268573e-01] [ 1.57630263e-02 -3.80160059e-03 9.99868529e-01 -1.52003486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64134618399999 meters Centerline goodness [0,1] 0.7397491058006325 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.52 [[ 9.99662028e-01 -2.07467903e-02 -1.56652934e-02 5.59320004e+00] [ 2.08092963e-02 9.99776098e-01 3.83767135e-03 1.63204190e-01] [ 1.55821665e-02 -4.16235806e-03 9.99869927e-01 -1.52014645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.671346184 meters Centerline goodness [0,1] 0.7224490850821875 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.52 [[ 9.99652188e-01 -2.12460843e-02 -1.56239061e-02 5.59263754e+00] [ 2.13186414e-02 9.99762640e-01 4.49217272e-03 1.59952272e-01] [ 1.55247566e-02 -4.82369075e-03 9.99867848e-01 -1.52062665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.701346184 meters Centerline goodness [0,1] 0.6988499806176509 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.52 [[ 9.99648198e-01 -2.12497545e-02 -1.58722510e-02 5.59312300e+00] [ 2.13315032e-02 9.99759960e-01 4.99898312e-03 1.58417380e-01] [ 1.57622139e-02 -5.33580344e-03 9.99861531e-01 -1.52093710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.731346184 meters Centerline goodness [0,1] 0.6988499806176509 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.52 [[ 9.99648198e-01 -2.12497545e-02 -1.58722510e-02 5.59312300e+00] [ 2.13315032e-02 9.99759960e-01 4.99898312e-03 1.58417380e-01] [ 1.57622139e-02 -5.33580344e-03 9.99861531e-01 -1.52093710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.761346184 meters Centerline goodness [0,1] 0.7101834412652546 Centerline is valid? [False, False] Translation: X:5.59, Y:0.16, Z:-1.52 [[ 9.99643215e-01 -2.16549226e-02 -1.56367373e-02 5.59210840e+00] [ 2.17409966e-02 9.99749291e-01 5.35573362e-03 1.56036150e-01] [ 1.55168390e-02 -5.69378102e-03 9.99863395e-01 -1.52089354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.791346184 meters Centerline goodness [0,1] 0.7056389431479387 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.52 [[ 0.99962686 -0.02241017 -0.01561789 5.59124273] [ 0.0225047 0.99972931 0.00590325 0.1519357 ] [ 0.01548137 -0.00625252 0.99986061 -1.52104428] [ 0. 0. 0. 1. ]] SLAMing on 221.821346184 meters Centerline goodness [0,1] 0.7201332820709984 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.52 [[ 0.99962109 -0.02274608 -0.01550164 5.59046 ] [ 0.02284446 0.99971981 0.00619877 0.14906222] [ 0.01535629 -0.00655055 0.99986063 -1.52074507] [ 0. 0. 0. 1. ]] SLAMing on 221.851346184 meters Centerline goodness [0,1] 0.682019622409509 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.52 [[ 0.9996211 -0.02270398 -0.01556242 5.59071954] [ 0.02280719 0.99971884 0.00648675 0.148015 ] [ 0.01541077 -0.00683923 0.99985786 -1.52103343] [ 0. 0. 0. 1. ]] SLAMing on 221.881346184 meters Centerline goodness [0,1] 0.7134323000794811 Centerline is valid? [False, False] Translation: X:5.59, Y:0.15, Z:-1.52 [[ 0.99962373 -0.02219448 -0.01611815 5.59251582] [ 0.02230548 0.99972848 0.00673987 0.14814782] [ 0.01596418 -0.00709686 0.99984738 -1.52149036] [ 0. 0. 0. 1. ]] SLAMing on 221.911346184 meters Centerline goodness [0,1] 0.7203376783331623 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99963561 -0.02104669 -0.01690245 5.59525212] [ 0.02117163 0.99974959 0.00724708 0.14824691] [ 0.01674569 -0.00760229 0.99983088 -1.52198104] [ 0. 0. 0. 1. ]] SLAMing on 221.941346184 meters Centerline goodness [0,1] 0.7200237027876539 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99963491 -0.02076427 -0.01728822 5.59586852] [ 0.02088542 0.99975836 0.00685701 0.14941904] [ 0.01714166 -0.00721558 0.99982703 -1.52091254] [ 0. 0. 0. 1. ]] SLAMing on 221.971346184 meters Centerline goodness [0,1] 0.7255375446348293 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99963362 -0.02071772 -0.01741834 5.59571245] [ 0.02083776 0.99976016 0.00673859 0.14837081] [ 0.01727455 -0.00709908 0.99982558 -1.51995082] [ 0. 0. 0. 1. ]] SLAMing on 222.001346184 meters Centerline goodness [0,1] 0.7364904797389316 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99963688 -0.02008784 -0.01796073 5.59754065] [ 0.0202141 0.99977203 0.00687632 0.1484304 ] [ 0.0178185 -0.00723688 0.99981505 -1.52021272] [ 0. 0. 0. 1. ]] SLAMing on 222.031346184 meters Centerline goodness [0,1] 0.7450909560056767 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99971931 -0.01474224 -0.0185465 5.60022611] [ 0.01497179 0.99981226 0.01230014 0.14578084] [ 0.01836169 -0.01257436 0.99975234 -1.5223723 ] [ 0. 0. 0. 1. ]] SLAMing on 222.061346184 meters Centerline goodness [0,1] 0.76027184867435 Centerline is valid? [False, False] Translation: X:5.60, Y:0.15, Z:-1.52 [[ 0.99971534 -0.01366344 -0.01955888 5.60341949] [ 0.01390148 0.99983031 0.01208693 0.14755048] [ 0.01939042 -0.01235539 0.99973564 -1.52231273] [ 0. 0. 0. 1. ]] SLAMing on 222.091346184 meters Centerline goodness [0,1] 0.7895790541067575 Centerline is valid? [False, False] Translation: X:5.61, Y:0.15, Z:-1.52 [[ 0.99972054 -0.01218185 -0.02025929 5.60554955] [ 0.01238119 0.99987588 0.00974318 0.15336695] [ 0.02013808 -0.00999129 0.99974728 -1.51829368] [ 0. 0. 0. 1. ]] SLAMing on 222.121346184 meters Centerline goodness [0,1] 0.7847015897836852 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99971212 -0.0120178 -0.02076669 5.60652898] [ 0.01220706 0.99988489 0.00901111 0.15519834] [ 0.02065601 -0.00926201 0.99974374 -1.51721261] [ 0. 0. 0. 1. ]] SLAMing on 222.151346184 meters Centerline goodness [0,1] 0.7917729757875553 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99970088 -0.01171562 -0.02146828 5.60838539] [ 0.01189529 0.99989513 0.00826052 0.15758862] [ 0.02136926 -0.00851342 0.9997354 -1.51663124] [ 0. 0. 0. 1. ]] SLAMing on 222.18134618399998 meters Centerline goodness [0,1] 0.8037908496732026 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99969323 -0.01144439 -0.02196546 5.61003292] [ 0.01161885 0.99990183 0.00783117 0.1595733 ] [ 0.02187368 -0.00808398 0.99972806 -1.5168356 ] [ 0. 0. 0. 1. ]] SLAMing on 222.21134618399998 meters Centerline goodness [0,1] 0.8125163930126422 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99969 -0.01093669 -0.02236744 5.61176139] [ 0.01110915 0.9999094 0.00760083 0.16063264] [ 0.02228228 -0.00784695 0.99972092 -1.51729043] [ 0. 0. 0. 1. ]] SLAMing on 222.24134618399998 meters Centerline goodness [0,1] 0.8011860092886568 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99969004 -0.01125118 -0.0222091 5.61117009] [ 0.01141737 0.99990765 0.00737064 0.15998141] [ 0.02212412 -0.00762193 0.99972618 -1.517031 ] [ 0. 0. 0. 1. ]] SLAMing on 222.27134618399998 meters Centerline goodness [0,1] 0.8105390290650353 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 0.99968466 -0.01122091 -0.02246482 5.61205229] [ 0.01138167 0.99991043 0.00704133 0.16075762] [ 0.0223838 -0.00729479 0.99972284 -1.51712364] [ 0. 0. 0. 1. ]] SLAMing on 222.30134618399998 meters Centerline goodness [0,1] 0.8162789479199413 Centerline is valid? [False, False] Translation: X:5.61, Y:0.16, Z:-1.52 [[ 9.99619272e-01 -1.52398107e-02 -2.30012735e-02 5.61368872e+00] [ 1.52885683e-02 9.99881230e-01 1.94540764e-03 1.63729974e-01] [ 2.29688940e-02 -2.29632351e-03 9.99733543e-01 -1.51639092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33134618399998 meters Centerline goodness [0,1] 0.8058624399716587 Centerline is valid? [False, False] Translation: X:5.63, Y:0.16, Z:-1.52 [[ 0.99969275 -0.01803699 -0.01700237 5.62803211] [ 0.01818575 0.99979733 0.00863588 0.16257423] [ 0.01684316 -0.00894243 0.99981815 -1.52050218] [ 0. 0. 0. 1. ]] SLAMing on 222.36134618399998 meters Centerline goodness [0,1] 0.7722367731796752 Centerline is valid? [False, False] Translation: X:5.63, Y:0.16, Z:-1.52 [[ 0.99967994 -0.01881187 -0.01691529 5.62664246] [ 0.01894061 0.99979261 0.00748275 0.16444364] [ 0.01677102 -0.00780075 0.99982893 -1.51858557] [ 0. 0. 0. 1. ]] SLAMing on 222.39134618399999 meters Centerline goodness [0,1] 0.7820728881398779 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:-1.52 [[ 0.99966333 -0.01965075 -0.01694303 5.62569466] [ 0.01975163 0.99978805 0.00580709 0.16935091] [ 0.01682533 -0.00613978 0.99983959 -1.5166716 ] [ 0. 0. 0. 1. ]] SLAMing on 222.421346184 meters Centerline goodness [0,1] 0.7848847975028437 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:-1.52 [[ 9.99658960e-01 -1.94998343e-02 -1.73701142e-02 5.62710892e+00] [ 1.95930806e-02 9.99794440e-01 5.21428383e-03 1.72373290e-01] [ 1.72648659e-02 -5.55283960e-03 9.99835532e-01 -1.51672821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.451346184 meters Centerline goodness [0,1] 0.7987162825239371 Centerline is valid? [False, False] Translation: X:5.63, Y:0.17, Z:-1.52 [[ 9.99654037e-01 -1.97101709e-02 -1.74159757e-02 5.62718025e+00] [ 1.97923362e-02 9.99793722e-01 4.55809331e-03 1.74374090e-01] [ 1.73225424e-02 -4.90121922e-03 9.99837941e-01 -1.51637686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.481346184 meters Centerline goodness [0,1] 0.7834133149508179 Centerline is valid? [False, False] Translation: X:5.63, Y:0.18, Z:-1.52 [[ 9.99648814e-01 -1.99524716e-02 -1.74398305e-02 5.62710263e+00] [ 2.00255041e-02 9.99791375e-01 4.02311012e-03 1.75844753e-01] [ 1.73559211e-02 -4.37093865e-03 9.99839821e-01 -1.51600801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.511346184 meters Centerline goodness [0,1] 0.7824102495662618 Centerline is valid? [False, False] Translation: X:5.63, Y:0.18, Z:-1.52 [[ 9.99637876e-01 -2.03650044e-02 -1.75893101e-02 5.62761412e+00] [ 2.04149201e-02 9.99788047e-01 2.66294961e-03 1.81579634e-01] [ 1.75313510e-02 -3.02106966e-03 9.99841750e-01 -1.51572473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.541346184 meters Centerline goodness [0,1] 0.7745937725126071 Centerline is valid? [False, False] Translation: X:5.63, Y:0.18, Z:-1.52 [[ 9.99635960e-01 -2.03108559e-02 -1.77599873e-02 5.62850447e+00] [ 2.03581937e-02 9.99789653e-01 2.48867837e-03 1.82673586e-01] [ 1.77057043e-02 -2.84933365e-03 9.99839182e-01 -1.51624538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.571346184 meters Centerline goodness [0,1] 0.7799614437185391 Centerline is valid? [False, False] Translation: X:5.63, Y:0.18, Z:-1.52 [[ 9.99635891e-01 -2.00524689e-02 -1.80550386e-02 5.63013414e+00] [ 2.01006076e-02 9.99794865e-01 2.48868760e-03 1.84128069e-01] [ 1.80014305e-02 -2.85069869e-03 9.99833897e-01 -1.51744059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.601346184 meters Centerline goodness [0,1] 0.7843894273603499 Centerline is valid? [False, False] Translation: X:5.63, Y:0.19, Z:-1.52 [[ 0.99970845 -0.01599517 -0.01808782 5.63141934] [ 0.01611741 0.99984811 0.00663268 0.18634656] [ 0.01797898 -0.00692228 0.9998144 -1.51991144] [ 0. 0. 0. 1. ]] SLAMing on 222.631346184 meters Centerline goodness [0,1] 0.7774229343148664 Centerline is valid? [False, False] Translation: X:5.63, Y:0.19, Z:-1.52 [[ 0.99970122 -0.01546366 -0.01892983 5.6342172 ] [ 0.0155806 0.99986034 0.00604578 0.18956031] [ 0.01883369 -0.00633892 0.99980254 -1.52006075] [ 0. 0. 0. 1. ]] SLAMing on 222.661346184 meters Centerline goodness [0,1] 0.8016323633782825 Centerline is valid? [False, False] Translation: X:5.63, Y:0.19, Z:-1.52 [[ 0.99975763 -0.01144331 -0.01880754 5.63408464] [ 0.01163602 0.99988059 0.01016913 0.18997502] [ 0.01868893 -0.01038551 0.99977141 -1.52072655] [ 0. 0. 0. 1. ]] SLAMing on 222.691346184 meters Centerline goodness [0,1] 0.8113558626351074 Centerline is valid? [False, False] Translation: X:5.63, Y:0.19, Z:-1.52 [[ 0.99974705 -0.01163977 -0.01924439 5.63426018] [ 0.01179796 0.99989737 0.00812736 0.19454507] [ 0.01914781 -0.00835234 0.99978178 -1.51762404] [ 0. 0. 0. 1. ]] SLAMing on 222.721346184 meters Centerline goodness [0,1] 0.8121298530379469 Centerline is valid? [False, False] Translation: X:5.63, Y:0.20, Z:-1.52 [[ 0.99974003 -0.01158783 -0.01963661 5.63499539] [ 0.01173387 0.99990423 0.00733814 0.19687472] [ 0.0195497 -0.00756665 0.99978025 -1.51656695] [ 0. 0. 0. 1. ]] SLAMing on 222.751346184 meters Centerline goodness [0,1] 0.8116940130604182 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99973267 -0.01126654 -0.0201903 5.63682323] [ 0.01141059 0.99991016 0.0070336 0.19805822] [ 0.02010924 -0.0072621 0.99977141 -1.51665994] [ 0. 0. 0. 1. ]] SLAMing on 222.781346184 meters Centerline goodness [0,1] 0.8108271171566477 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99972979 -0.01101404 -0.02047033 5.63801581] [ 0.01115861 0.99991351 0.00696186 0.19809643] [ 0.02039188 -0.0071884 0.99976622 -1.51696253] [ 0. 0. 0. 1. ]] SLAMing on 222.811346184 meters Centerline goodness [0,1] 0.809319940721225 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99972996 -0.01102715 -0.02045507 5.63860855] [ 0.0111765 0.99991161 0.00720138 0.19739919] [ 0.02037385 -0.00742805 0.99976484 -1.51810866] [ 0. 0. 0. 1. ]] SLAMing on 222.841346184 meters Centerline goodness [0,1] 0.7979108405987827 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99972893 -0.01073772 -0.02065843 5.6399017 ] [ 0.01089638 0.99991188 0.00758276 0.19678411] [ 0.02057519 -0.00780581 0.99975784 -1.51924591] [ 0. 0. 0. 1. ]] SLAMing on 222.871346184 meters Centerline goodness [0,1] 0.8096154374776656 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99972612 -0.01043625 -0.02094694 5.64133264] [ 0.0105978 0.99991484 0.00761638 0.19723761] [ 0.02086567 -0.00783628 0.99975158 -1.52002346] [ 0. 0. 0. 1. ]] SLAMing on 222.901346184 meters Centerline goodness [0,1] 0.8283236994219654 Centerline is valid? [False, False] Translation: X:5.64, Y:0.20, Z:-1.52 [[ 0.99972303 -0.00962206 -0.0214772 5.64347583] [ 0.00977566 0.99992731 0.00705836 0.19959121] [ 0.02140773 -0.00726636 0.99974442 -1.51962181] [ 0. 0. 0. 1. ]] SLAMing on 222.93134618399998 meters Centerline goodness [0,1] 0.8370462387853692 Centerline is valid? [False, False] Translation: X:5.65, Y:0.20, Z:-1.52 [[ 0.99971472 -0.00915486 -0.02206059 5.64514016] [ 0.00929067 0.99993847 0.00606144 0.20277963] [ 0.02200374 -0.00626467 0.99973826 -1.51837713] [ 0. 0. 0. 1. ]] SLAMing on 222.96134618399998 meters Centerline goodness [0,1] 0.8468324419694547 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.52 [[ 9.99704828e-01 -8.52303706e-03 -2.27511262e-02 5.64733034e+00] [ 8.64402564e-03 9.99948989e-01 5.22487872e-03 2.05843437e-01] [ 2.27054339e-02 -5.41999781e-03 9.99727506e-01 -1.51747132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99134618399998 meters Centerline goodness [0,1] 0.8632837480884192 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.52 [[ 9.99731393e-01 -4.04570325e-03 -2.28204696e-02 5.64752046e+00] [ 4.24513526e-03 9.99953165e-01 8.69750812e-03 2.08059320e-01] [ 2.27842133e-02 -8.79204789e-03 9.99701745e-01 -1.51655183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02134618399998 meters Centerline goodness [0,1] 0.8670380169892773 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.51 [[ 9.99716662e-01 -3.80487051e-03 -2.34971993e-02 5.64884462e+00] [ 3.97306981e-03 9.99966790e-01 7.11573887e-03 2.12173435e-01] [ 2.34693445e-02 -7.20707872e-03 9.99698579e-01 -1.51410992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05134618399998 meters Centerline goodness [0,1] 0.8694707520891365 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.51 [[ 9.99711982e-01 -3.77523708e-03 -2.37002111e-02 5.64889897e+00] [ 3.92697283e-03 9.99972070e-01 6.35902157e-03 2.12827988e-01] [ 2.36755424e-02 -6.45026014e-03 9.99698886e-01 -1.51240418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08134618399998 meters Centerline goodness [0,1] 0.868710735531217 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.51 [[ 9.99703199e-01 -2.86238022e-03 -2.41933915e-02 5.65148123e+00] [ 3.02750818e-03 9.99972355e-01 6.79146313e-03 2.12400688e-01] [ 2.41732829e-02 -6.86269311e-03 9.99684228e-01 -1.51361660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11134618399998 meters Centerline goodness [0,1] 0.8718919671446471 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.51 [[ 9.99693136e-01 -2.42874701e-03 -2.46522930e-02 5.65320281e+00] [ 2.59753131e-03 9.99973391e-01 6.81688449e-03 2.12763685e-01] [ 2.46350806e-02 -6.87882773e-03 9.99672844e-01 -1.51405056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14134618399999 meters Centerline goodness [0,1] 0.8727703455964325 Centerline is valid? [False, False] Translation: X:5.65, Y:0.21, Z:-1.51 [[ 9.99686093e-01 -2.24962452e-03 -2.49530511e-02 5.65412086e+00] [ 2.40956458e-03 9.99976735e-01 6.38142453e-03 2.13589847e-01] [ 2.49381148e-02 -6.43954734e-03 9.99668256e-01 -1.51356253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.171346184 meters Centerline goodness [0,1] 0.8695990657843519 Centerline is valid? [False, False] Translation: X:5.66, Y:0.21, Z:-1.51 [[ 9.99674579e-01 -1.53008694e-03 -2.54636166e-02 5.65633248e+00] [ 1.69272570e-03 9.99978299e-01 6.36677496e-03 2.14388012e-01] [ 2.54533223e-02 -6.40780599e-03 9.99655475e-01 -1.51397334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.201346184 meters Centerline goodness [0,1] 0.871647349842964 Centerline is valid? [False, False] Translation: X:5.66, Y:0.21, Z:-1.51 [[ 9.99669897e-01 -1.13743677e-03 -2.56671442e-02 5.65728504e+00] [ 1.29977496e-03 9.99979254e-01 6.30894994e-03 2.13961277e-01] [ 2.56594357e-02 -6.34022885e-03 9.99650636e-01 -1.51391291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.231346184 meters Centerline goodness [0,1] 0.8724990956395915 Centerline is valid? [False, False] Translation: X:5.66, Y:0.22, Z:-1.51 [[ 9.99654852e-01 -6.70046094e-04 -2.62626661e-02 5.65881805e+00] [ 8.24608334e-04 9.99982403e-01 5.87485744e-03 2.15005990e-01] [ 2.62582675e-02 -5.89448615e-03 9.99637814e-01 -1.51301147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.261346184 meters Centerline goodness [0,1] 0.8739232576350822 Centerline is valid? [False, False] Translation: X:5.66, Y:0.22, Z:-1.51 [[ 9.99650840e-01 3.54291061e-03 -2.61848373e-02 5.65838165e+00] [-3.29216412e-03 9.99948375e-01 9.61293260e-03 2.15270553e-01] [ 2.62175433e-02 -9.52337137e-03 9.99610897e-01 -1.51204882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.291346184 meters Centerline goodness [0,1] 0.8724107042884335 Centerline is valid? [False, False] Translation: X:5.66, Y:0.22, Z:-1.51 [[ 9.99634212e-01 4.01329139e-03 -2.67457462e-02 5.65992386e+00] [-3.76999153e-03 9.99951114e-01 9.14099280e-03 2.16457799e-01] [ 2.67811242e-02 -9.03681790e-03 9.99600474e-01 -1.51115850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.321346184 meters Centerline goodness [0,1] 0.8718759620497607 Centerline is valid? [False, False] Translation: X:5.66, Y:0.22, Z:-1.51 [[ 9.99624537e-01 4.48602966e-03 -2.70307375e-02 5.66100211e+00] [-4.24246344e-03 9.99949946e-01 9.06133487e-03 2.16003750e-01] [ 2.70700339e-02 -8.94325575e-03 9.99593533e-01 -1.51085294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.351346184 meters Centerline goodness [0,1] 0.8692211230319075 Centerline is valid? [False, False] Translation: X:5.66, Y:0.22, Z:-1.51 [[ 9.99605446e-01 1.66839090e-03 -2.80387188e-02 5.66452362e+00] [-1.55305396e-03 9.99990246e-01 4.13476206e-03 2.18519823e-01] [ 2.80453437e-02 -4.08958503e-03 9.99598286e-01 -1.50944184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.381346184 meters Centerline goodness [0,1] 0.8680008932060514 Centerline is valid? [False, False] Translation: X:5.67, Y:0.22, Z:-1.51 [[ 9.99593333e-01 2.74202431e-03 -2.83839879e-02 5.66646270e+00] [-2.62916558e-03 9.99988493e-01 4.01269791e-03 2.19762257e-01] [ 2.83946642e-02 -3.93643987e-03 9.99589039e-01 -1.50926432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.411346184 meters Centerline goodness [0,1] 0.8642647674905739 Centerline is valid? [False, False] Translation: X:5.67, Y:0.22, Z:-1.51 [[ 9.99570938e-01 3.39113643e-03 -2.90936465e-02 5.66873984e+00] [-3.28961720e-03 9.99988336e-01 3.53654954e-03 2.21460729e-01] [ 2.91053000e-02 -3.43932518e-03 9.99570434e-01 -1.50877929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.441346184 meters Centerline goodness [0,1] 0.849411567383222 Centerline is valid? [False, False] Translation: X:5.67, Y:0.22, Z:-1.51 [[ 9.99547371e-01 6.08735001e-03 -2.94617828e-02 5.67314653e+00] [-5.95686984e-03 9.99972067e-01 4.51453938e-03 2.22261468e-01] [ 2.94884414e-02 -4.33699597e-03 9.99555712e-01 -1.51084829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.471346184 meters Centerline goodness [0,1] 0.8354646444861068 Centerline is valid? [False, False] Translation: X:5.68, Y:0.22, Z:-1.51 [[ 9.99510975e-01 7.29158653e-03 -3.04079566e-02 5.67699176e+00] [-7.15314065e-03 9.99963561e-01 4.65924913e-03 2.23636847e-01] [ 3.04408219e-02 -4.43945825e-03 9.99526712e-01 -1.51175559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.501346184 meters Centerline goodness [0,1] 0.8219754332828537 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:-1.51 [[ 9.99483505e-01 8.18178024e-03 -3.10770304e-02 5.67984791e+00] [-8.05258110e-03 9.99958417e-01 4.28026830e-03 2.26676727e-01] [ 3.11107584e-02 -4.02780726e-03 9.99507828e-01 -1.51201798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.531346184 meters Centerline goodness [0,1] 0.8085076433658962 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:-1.51 [[ 9.99449189e-01 8.99262203e-03 -3.19445159e-02 5.68273677e+00] [-8.88782885e-03 9.99954651e-01 3.42095939e-03 2.30725278e-01] [ 3.19738306e-02 -3.13515770e-03 9.99483789e-01 -1.51115267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.561346184 meters Centerline goodness [0,1] 0.7931766103708733 Centerline is valid? [False, False] Translation: X:5.68, Y:0.23, Z:-1.51 [[ 9.99431470e-01 9.41344925e-03 -3.23747395e-02 5.68416035e+00] [-9.33741464e-03 9.99953283e-01 2.49896812e-03 2.34275745e-01] [ 3.23967509e-02 -2.19525101e-03 9.99472677e-01 -1.51006475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.591346184 meters Centerline goodness [0,1] 0.7962836879432624 Centerline is valid? [False, False] Translation: X:5.69, Y:0.24, Z:-1.51 [[ 9.99411184e-01 9.77018804e-03 -3.28911582e-02 5.68556426e+00] [-9.72955128e-03 9.99951693e-01 1.39532074e-03 2.37171718e-01] [ 3.29032019e-02 -1.07448294e-03 9.99457965e-01 -1.50843296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.621346184 meters Centerline goodness [0,1] 0.7975298126064736 Centerline is valid? [False, False] Translation: X:5.69, Y:0.24, Z:-1.51 [[ 9.99400523e-01 9.90450586e-03 -3.31737027e-02 5.68649757e+00] [-9.87153155e-03 9.99950605e-01 1.15762862e-03 2.38194419e-01] [ 3.31835298e-02 -8.29459400e-04 9.99448931e-01 -1.50836805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.651346184 meters Centerline goodness [0,1] 0.7869271395309216 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:-1.51 [[ 0.99959317 0.00757703 -0.02749702 5.70194576] [-0.00732976 0.99993189 0.0090823 0.23624834] [ 0.02756397 -0.00887706 0.99958062 -1.51437713] [ 0. 0. 0. 1. ]] SLAMing on 223.68134618399998 meters Centerline goodness [0,1] 0.7869271395309216 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:-1.51 [[ 0.99959317 0.00757703 -0.02749702 5.70194576] [-0.00732976 0.99993189 0.0090823 0.23624834] [ 0.02756397 -0.00887706 0.99958062 -1.51437713] [ 0. 0. 0. 1. ]] SLAMing on 223.71134618399998 meters Centerline goodness [0,1] 0.7903673099779275 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:-1.51 [[ 9.99595545e-01 3.66308125e-03 -2.82015490e-02 5.70366242e+00] [-3.56777320e-03 9.99987756e-01 3.42910943e-03 2.40373441e-01] [ 2.82137648e-02 -3.32710578e-03 9.99596375e-01 -1.51218084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74134618399998 meters Centerline goodness [0,1] 0.8199619717910152 Centerline is valid? [False, False] Translation: X:5.70, Y:0.24, Z:-1.51 [[ 9.99607381e-01 2.70725502e-03 -2.78882437e-02 5.70208647e+00] [-2.61951930e-03 9.99991506e-01 3.18202869e-03 2.39748887e-01] [ 2.78966214e-02 -3.10772558e-03 9.99605983e-01 -1.51195277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77134618399998 meters Centerline goodness [0,1] 0.8288028089251331 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:-1.52 [[ 9.99759749e-01 -3.30857347e-04 -2.19165399e-02 5.71650030e+00] [ 5.61677781e-04 9.99944437e-01 1.05264733e-02 2.37760699e-01] [ 2.19118394e-02 -1.05362544e-02 9.99704386e-01 -1.51746092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80134618399998 meters Centerline goodness [0,1] 0.8357926277702397 Centerline is valid? [False, False] Translation: X:5.72, Y:0.24, Z:-1.51 [[ 9.99752649e-01 -4.94403043e-03 -2.16840543e-02 5.71509819e+00] [ 5.04157941e-03 9.99977406e-01 4.44629246e-03 2.41186775e-01] [ 2.16615818e-02 -4.55451454e-03 9.99754986e-01 -1.51397006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83134618399998 meters Centerline goodness [0,1] 0.8316518298714144 Centerline is valid? [False, False] Translation: X:5.72, Y:0.25, Z:-1.51 [[ 9.99717727e-01 -8.60620773e-03 -2.21449812e-02 5.71642013e+00] [ 8.56605523e-03 9.99961492e-01 -1.90738735e-03 2.46517164e-01] [ 2.21605438e-02 1.71715381e-03 9.99752950e-01 -1.51021833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86134618399998 meters Centerline goodness [0,1] 0.8503372442328402 Centerline is valid? [False, False] Translation: X:5.72, Y:0.25, Z:-1.51 [[ 9.99715792e-01 -8.96281847e-03 -2.20908037e-02 5.71576288e+00] [ 8.90360395e-03 9.99956505e-01 -2.77740714e-03 2.48707214e-01] [ 2.21147362e-02 2.57993001e-03 9.99752110e-01 -1.50889361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89134618399999 meters Centerline goodness [0,1] 0.8357925202882923 Centerline is valid? [False, False] Translation: X:5.72, Y:0.25, Z:-1.51 [[ 9.99714589e-01 -9.06868766e-03 -2.21020109e-02 5.71577592e+00] [ 8.99894697e-03 9.99954218e-01 -3.25282180e-03 2.50242242e-01] [ 2.21304979e-02 3.05299859e-03 9.99750429e-01 -1.50841634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.921346184 meters Centerline goodness [0,1] 0.8591453572338799 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:-1.51 [[ 9.99768893e-01 -1.42448528e-02 -1.61010964e-02 5.72969473e+00] [ 1.42884093e-02 9.99894552e-01 2.59339090e-03 2.46863443e-01] [ 1.60624561e-02 -2.82285061e-03 9.99867006e-01 -1.51397757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.951346184 meters Centerline goodness [0,1] 0.8632871197300899 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:-1.51 [[ 9.99768340e-01 -1.45816729e-02 -1.58316347e-02 5.72899796e+00] [ 1.46225134e-02 9.99890042e-01 2.46698863e-03 2.47113637e-01] [ 1.57939210e-02 -2.69791542e-03 9.99871628e-01 -1.51408142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.981346184 meters Centerline goodness [0,1] 0.8670613562970937 Centerline is valid? [False, False] Translation: X:5.73, Y:0.25, Z:-1.51 [[ 9.99763604e-01 -1.53329366e-02 -1.54154704e-02 5.72712365e+00] [ 1.53681501e-02 9.99879552e-01 2.16843220e-03 2.46825131e-01] [ 1.53803652e-02 -2.40482686e-03 9.99878823e-01 -1.51326989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.011346184 meters Centerline goodness [0,1] 0.8702561068379681 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 0.99972672 -0.02147174 -0.0092443 5.74067039] [ 0.02153357 0.99974607 0.00664155 0.24545221] [ 0.00909935 -0.0068388 0.99993521 -1.51796842] [ 0. 0. 0. 1. ]] SLAMing on 224.041346184 meters Centerline goodness [0,1] 0.8700787401574803 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.52 [[ 0.99972555 -0.02163434 -0.00898765 5.74050904] [ 0.02169612 0.99974126 0.00683347 0.24484688] [ 0.00883749 -0.00702659 0.99993626 -1.51892698] [ 0. 0. 0. 1. ]] SLAMing on 224.071346184 meters Centerline goodness [0,1] 0.8693836080379318 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99619596e-01 -2.61420743e-02 -8.78945548e-03 5.73989992e+00] [ 2.61617192e-02 9.99655460e-01 2.12753996e-03 2.45804305e-01] [ 8.73080885e-03 -2.35667790e-03 9.99959109e-01 -1.51790004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.101346184 meters Centerline goodness [0,1] 0.8709905127625932 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99617143e-01 -2.63176837e-02 -8.54091279e-03 5.73937806e+00] [ 2.63390847e-02 9.99650178e-01 2.40295540e-03 2.45163689e-01] [ 8.47468477e-03 -2.62699523e-03 9.99960639e-01 -1.51836388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.131346184 meters Centerline goodness [0,1] 0.8723169905106191 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99617385e-01 -2.63189873e-02 -8.50846958e-03 5.73954596e+00] [ 2.63411795e-02 9.99649868e-01 2.50678185e-03 2.45281876e-01] [ 8.43951453e-03 -2.72994584e-03 9.99960660e-01 -1.51870795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.161346184 meters Centerline goodness [0,1] 0.8721360567279712 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99621150e-01 -2.61355389e-02 -8.63081719e-03 5.74033528e+00] [ 2.61590738e-02 9.99654346e-01 2.62528266e-03 2.45905591e-01] [ 8.55922074e-03 -2.85006226e-03 9.99959308e-01 -1.51936125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.191346184 meters Centerline goodness [0,1] 0.8747844766669493 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99636896e-01 -2.54267271e-02 -8.91950476e-03 5.74262516e+00] [ 2.54579890e-02 9.99670080e-01 3.40902376e-03 2.45569730e-01] [ 8.82988172e-03 -3.63485858e-03 9.99954409e-01 -1.52156503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.221346184 meters Centerline goodness [0,1] 0.8756352343308865 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99641091e-01 -2.52004802e-02 -9.08980910e-03 5.74364313e+00] [ 2.52349098e-02 9.99674727e-01 3.69309759e-03 2.45351480e-01] [ 8.99378460e-03 -3.92115261e-03 9.99951867e-01 -1.52237835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.251346184 meters Centerline goodness [0,1] 0.8748868522290111 Centerline is valid? [False, False] Translation: X:5.74, Y:0.25, Z:-1.52 [[ 9.99643756e-01 -2.51101756e-02 -9.04652028e-03 5.74400523e+00] [ 2.51448889e-02 9.99676806e-01 3.74410132e-03 2.45320101e-01] [ 8.94958146e-03 -3.97024125e-03 9.99952070e-01 -1.52284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.281346184 meters Centerline goodness [0,1] 0.8781012192707007 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.52 [[ 9.99642573e-01 -2.52183132e-02 -8.87480170e-03 5.74410939e+00] [ 2.52560222e-02 9.99672348e-01 4.16286260e-03 2.43867372e-01] [ 8.76691349e-03 -4.38551687e-03 9.99951953e-01 -1.52390006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.311346184 meters Centerline goodness [0,1] 0.87607006082451 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99649721e-01 -2.49368983e-02 -8.86489182e-03 5.74518777e+00] [ 2.49816109e-02 9.99675560e-01 4.96934111e-03 2.41399097e-01] [ 8.73809574e-03 -5.18905973e-03 9.99948358e-01 -1.52574011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.341346184 meters Centerline goodness [0,1] 0.8790822072072072 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99653178e-01 -2.48237557e-02 -8.79236015e-03 5.74599882e+00] [ 2.48742229e-02 9.99674465e-01 5.67779278e-03 2.39559375e-01] [ 8.64855378e-03 -5.89452672e-03 9.99945227e-01 -1.52759405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.371346184 meters Centerline goodness [0,1] 0.8758239600572214 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99552864e-01 -2.85410854e-02 -8.91505191e-03 5.74800337e+00] [ 2.85651555e-02 9.99588592e-01 2.58435022e-03 2.37886146e-01] [ 8.83762402e-03 -2.83785451e-03 9.99956921e-01 -1.53009849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.401346184 meters Centerline goodness [0,1] 0.8752953752672443 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99553618e-01 -2.85858160e-02 -8.68419548e-03 5.74830407e+00] [ 2.86165016e-02 9.99584579e-01 3.43000488e-03 2.35806251e-01] [ 8.58253839e-03 -3.67698508e-03 9.99956409e-01 -1.53217184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43134618399998 meters Centerline goodness [0,1] 0.8766631112109133 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 9.99551947e-01 -2.86646639e-02 -8.61641694e-03 5.74858183e+00] [ 2.86998962e-02 9.99580096e-01 3.99349393e-03 2.33800088e-01] [ 8.49832671e-03 -4.23899491e-03 9.99954904e-01 -1.53327337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46134618399998 meters Centerline goodness [0,1] 0.8748628499085667 Centerline is valid? [False, False] Translation: X:5.74, Y:0.23, Z:-1.53 [[ 9.99509823e-01 -3.03355375e-02 -7.73754528e-03 5.74477586e+00] [ 3.03640996e-02 9.99532418e-01 3.60097271e-03 2.32527313e-01] [ 7.62468990e-03 -3.83415119e-03 9.99963581e-01 -1.53216494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49134618399998 meters Centerline goodness [0,1] 0.8741695865451997 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 9.99505754e-01 -3.04362247e-02 -7.86665693e-03 5.74507916e+00] [ 3.04643408e-02 9.99529799e-01 3.47928086e-03 2.32735069e-01] [ 7.75706184e-03 -3.71721375e-03 9.99963004e-01 -1.53196594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52134618399998 meters Centerline goodness [0,1] 0.873211781206171 Centerline is valid? [False, False] Translation: X:5.74, Y:0.23, Z:-1.53 [[ 9.99491995e-01 -3.09932272e-02 -7.42770773e-03 5.74354583e+00] [ 3.10178935e-02 9.99513614e-01 3.22895199e-03 2.32232065e-01] [ 7.32401935e-03 -3.45770351e-03 9.99967201e-01 -1.53136750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55134618399998 meters Centerline goodness [0,1] 0.8675950362176428 Centerline is valid? [False, False] Translation: X:5.74, Y:0.23, Z:-1.53 [[ 9.99467296e-01 -3.18756679e-02 -7.00474479e-03 5.74136123e+00] [ 3.18916159e-02 9.99488962e-01 2.17694134e-03 2.34310777e-01] [ 6.93177364e-03 -2.39917431e-03 9.99973097e-01 -1.52917600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58134618399998 meters Centerline goodness [0,1] 0.869069728178288 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 9.99468753e-01 -3.17999874e-02 -7.13944764e-03 5.74188265e+00] [ 3.18148233e-02 9.99491831e-01 1.97412966e-03 2.35452964e-01] [ 7.07304229e-03 -2.20022117e-03 9.99972565e-01 -1.52908708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61134618399998 meters Centerline goodness [0,1] 0.8686888564039132 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 9.99473728e-01 -3.16350180e-02 -7.17581420e-03 5.74247562e+00] [ 3.16508043e-02 9.99496788e-01 2.09712260e-03 2.35531940e-01] [ 7.10586073e-03 -2.32313923e-03 9.99972054e-01 -1.52962042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64134618399999 meters Centerline goodness [0,1] 0.8748592342342343 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 9.99490332e-01 -3.10695996e-02 -7.33181076e-03 5.74383018e+00] [ 3.10835219e-02 9.99515183e-01 1.79260466e-03 2.37366242e-01] [ 7.27256066e-03 -2.01958953e-03 9.99971515e-01 -1.52957354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.671346184 meters Centerline goodness [0,1] 0.8752718542578732 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 0.9995983 -0.02744823 -0.00705983 5.7428372 ] [ 0.02749141 0.99960347 0.00609381 0.23564295] [ 0.00688977 -0.00628545 0.99995651 -1.53007995] [ 0. 0. 0. 1. ]] SLAMing on 224.701346184 meters Centerline goodness [0,1] 0.8795691629208718 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 9.99599316e-01 -2.73795999e-02 -7.18087455e-03 5.74312077e+00] [ 2.74169056e-02 9.99610824e-01 5.14918321e-03 2.37646495e-01] [ 7.03709735e-03 -5.34399737e-03 9.99960960e-01 -1.52869591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.731346184 meters Centerline goodness [0,1] 0.8771123965067483 Centerline is valid? [False, False] Translation: X:5.74, Y:0.24, Z:-1.53 [[ 9.99605750e-01 -2.70892201e-02 -7.38369944e-03 5.74389346e+00] [ 2.71243023e-02 9.99621051e-01 4.69329259e-03 2.39373764e-01] [ 7.25376376e-03 -4.89171995e-03 9.99961726e-01 -1.52808012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.761346184 meters Centerline goodness [0,1] 0.8781512605042017 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99617915e-01 -2.65901160e-02 -7.54921104e-03 5.74507735e+00] [ 2.66241416e-02 9.99635641e-01 4.44300961e-03 2.40985116e-01] [ 7.42832028e-03 -4.64230327e-03 9.99961634e-01 -1.52790042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.791346184 meters Centerline goodness [0,1] 0.8781951039208439 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99626443e-01 -2.62303261e-02 -7.67751098e-03 5.74612643e+00] [ 2.62673685e-02 9.99643599e-01 4.76438164e-03 2.40400209e-01] [ 7.54980343e-03 -4.96426988e-03 9.99959177e-01 -1.52871273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.821346184 meters Centerline goodness [0,1] 0.8783158850398616 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 9.99638659e-01 -2.57200185e-02 -7.81233791e-03 5.74759716e+00] [ 2.57618180e-02 9.99654071e-01 5.29777143e-03 2.39285375e-01] [ 7.67337662e-03 -5.49711715e-03 9.99955450e-01 -1.53003688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.851346184 meters Centerline goodness [0,1] 0.8747238429728658 Centerline is valid? [False, False] Translation: X:5.75, Y:0.24, Z:-1.53 [[ 0.99963726 -0.02581762 -0.00766741 5.74763566] [ 0.02586249 0.99964862 0.00581171 0.23579597] [ 0.00751467 -0.0060079 0.99995372 -1.53074769] [ 0. 0. 0. 1. ]] SLAMing on 224.881346184 meters Centerline goodness [0,1] 0.8735602981029811 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 0.99964192 -0.02564303 -0.00764664 5.74839831] [ 0.02569042 0.99965094 0.0061651 0.234041 ] [ 0.00748588 -0.00635933 0.99995176 -1.53153223] [ 0. 0. 0. 1. ]] SLAMing on 224.911346184 meters Centerline goodness [0,1] 0.8753856168454419 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 0.9996459 -0.02544104 -0.00779922 5.74937995] [ 0.02549218 0.99965371 0.00652829 0.23290632] [ 0.00763043 -0.00672479 0.99994828 -1.53235524] [ 0. 0. 0. 1. ]] SLAMing on 224.941346184 meters Centerline goodness [0,1] 0.8754902237395255 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 0.99964558 -0.02542072 -0.0079061 5.74975597] [ 0.02547219 0.99965453 0.0064793 0.23181197] [ 0.00773866 -0.00667839 0.99994775 -1.53192031] [ 0. 0. 0. 1. ]] SLAMing on 224.971346184 meters Centerline goodness [0,1] 0.8732374466642177 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 0.99964908 -0.02527224 -0.00793927 5.75009483] [ 0.02532225 0.99965972 0.00626294 0.23186342] [ 0.00777829 -0.00646179 0.99994887 -1.53142463] [ 0. 0. 0. 1. ]] SLAMing on 225.001346184 meters Centerline goodness [0,1] 0.8744026917748183 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 0.99965531 -0.02489905 -0.00832493 5.75140052] [ 0.02494825 0.99967157 0.00585894 0.23267809] [ 0.00817632 -0.00606462 0.99994818 -1.53065432] [ 0. 0. 0. 1. ]] SLAMing on 225.031346184 meters Centerline goodness [0,1] 0.8750424160162877 Centerline is valid? [False, False] Translation: X:5.75, Y:0.23, Z:-1.53 [[ 9.99660397e-01 -2.45474845e-02 -8.74708303e-03 5.75267819e+00] [ 2.45940349e-02 9.99683711e-01 5.25457387e-03 2.33492266e-01] [ 8.61532985e-03 -5.46791546e-03 9.99947938e-01 -1.52950749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.061346184 meters Centerline goodness [0,1] 0.8769726794501952 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 9.99675863e-01 -2.36268983e-02 -9.48363882e-03 5.75544122e+00] [ 2.36792746e-02 9.99704756e-01 5.44902800e-03 2.32845952e-01] [ 9.35209520e-03 -5.67182746e-03 9.99940183e-01 -1.52955474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.091346184 meters Centerline goodness [0,1] 0.8748799367195887 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.99968462 -0.02317438 -0.00967547 5.75680781] [ 0.02323437 0.99971122 0.00613516 0.23070769] [ 0.00953049 -0.00635803 0.99993437 -1.53070277] [ 0. 0. 0. 1. ]] SLAMing on 225.121346184 meters Centerline goodness [0,1] 0.8738316437466467 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.9996872 -0.02310318 -0.00957805 5.75718966] [ 0.02316508 0.99971115 0.0064026 0.22903417] [ 0.00942736 -0.00662247 0.99993363 -1.53132129] [ 0. 0. 0. 1. ]] SLAMing on 225.151346184 meters Centerline goodness [0,1] 0.868750527530034 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.99965738 -0.02446551 -0.00930425 5.7550707 ] [ 0.02452048 0.99968227 0.00584059 0.22627366] [ 0.00915841 -0.00606674 0.99993966 -1.52980351] [ 0. 0. 0. 1. ]] SLAMing on 225.18134618399998 meters Centerline goodness [0,1] 0.8650611192104968 Centerline is valid? [False, False] Translation: X:5.75, Y:0.22, Z:-1.53 [[ 0.9996501 -0.0248038 -0.00918962 5.75483046] [ 0.02485895 0.99967334 0.00593606 0.22441683] [ 0.00903938 -0.00616243 0.99994016 -1.52987387] [ 0. 0. 0. 1. ]] SLAMing on 225.21134618399998 meters Centerline goodness [0,1] 0.861677686876611 Centerline is valid? [False, False] Translation: X:5.75, Y:0.22, Z:-1.53 [[ 0.99964139 -0.02520914 -0.00903254 5.75419619] [ 0.02526209 0.99966405 0.00579736 0.22314491] [ 0.00888336 -0.00602346 0.9999424 -1.52936016] [ 0. 0. 0. 1. ]] SLAMing on 225.24134618399998 meters Centerline goodness [0,1] 0.8623974003417654 Centerline is valid? [False, False] Translation: X:5.75, Y:0.22, Z:-1.53 [[ 9.99632054e-01 -2.56529560e-02 -8.81371177e-03 5.75327051e+00] [ 2.56968712e-02 9.99657742e-01 4.90599169e-03 2.23104009e-01] [ 8.68484202e-03 -5.13067137e-03 9.99949124e-01 -1.52760874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27134618399998 meters Centerline goodness [0,1] 0.8621403783723274 Centerline is valid? [False, False] Translation: X:5.75, Y:0.22, Z:-1.53 [[ 9.99633487e-01 -2.55196476e-02 -9.03539292e-03 5.75406604e+00] [ 2.55611583e-02 9.99663092e-01 4.50893650e-03 2.24139367e-01] [ 8.91728235e-03 -4.73823903e-03 9.99949014e-01 -1.52706018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30134618399998 meters Centerline goodness [0,1] 0.8646981296093772 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 9.99638602e-01 -2.51878030e-02 -9.39364959e-03 5.75515892e+00] [ 2.52256142e-02 9.99674064e-01 3.92864774e-03 2.25840600e-01] [ 9.29163385e-03 -4.16418851e-03 9.99948161e-01 -1.52616572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33134618399998 meters Centerline goodness [0,1] 0.8644680370454032 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.99974364 -0.02039902 -0.00982493 5.75701615] [ 0.02047177 0.99976332 0.00736223 0.22789216] [ 0.00967242 -0.00756148 0.99992463 -1.52580438] [ 0. 0. 0. 1. ]] SLAMing on 225.36134618399998 meters Centerline goodness [0,1] 0.8654589576455318 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.99974774 -0.01986836 -0.01047434 5.75932545] [ 0.0199411 0.99977744 0.00688672 0.23025101] [ 0.01033518 -0.00709385 0.99992143 -1.52564186] [ 0. 0. 0. 1. ]] SLAMing on 225.39134618399999 meters Centerline goodness [0,1] 0.8633605534762391 Centerline is valid? [False, False] Translation: X:5.76, Y:0.23, Z:-1.53 [[ 0.99975161 -0.01938288 -0.01100078 5.76125666] [ 0.01945396 0.99979033 0.00639105 0.23292191] [ 0.0108746 -0.00660347 0.99991907 -1.52553877] [ 0. 0. 0. 1. ]] SLAMing on 225.421346184 meters Centerline goodness [0,1] 0.8607296867907399 Centerline is valid? [False, False] Translation: X:5.77, Y:0.23, Z:-1.53 [[ 0.99978327 -0.01653707 -0.01264668 5.76925205] [ 0.01661964 0.99984107 0.00645169 0.23471795] [ 0.01253798 -0.00666048 0.99989921 -1.52665534] [ 0. 0. 0. 1. ]] SLAMing on 225.451346184 meters Centerline goodness [0,1] 0.8576127020130422 Centerline is valid? [False, False] Translation: X:5.77, Y:0.24, Z:-1.53 [[ 0.99979015 -0.01583007 -0.01300278 5.77146568] [ 0.01591452 0.99985276 0.00641734 0.2351942 ] [ 0.01289928 -0.00662293 0.99989487 -1.5274059 ] [ 0. 0. 0. 1. ]] SLAMing on 225.481346184 meters Centerline goodness [0,1] 0.8540063055642344 Centerline is valid? [False, False] Translation: X:5.77, Y:0.24, Z:-1.53 [[ 0.99979595 -0.01508 -0.01344063 5.77383781] [ 0.01516631 0.99986487 0.00634237 0.23624294] [ 0.01334318 -0.00654492 0.99988956 -1.52805499] [ 0. 0. 0. 1. ]] SLAMing on 225.511346184 meters Centerline goodness [0,1] 0.8476028368794326 Centerline is valid? [False, False] Translation: X:5.78, Y:0.24, Z:-1.53 [[ 0.99980147 -0.01382575 -0.01434789 5.77772982] [ 0.01391709 0.99988339 0.00628609 0.23718893] [ 0.0142593 -0.00648452 0.9998773 -1.528662 ] [ 0. 0. 0. 1. ]] SLAMing on 225.541346184 meters Centerline goodness [0,1] 0.8476028368794326 Centerline is valid? [False, False] Translation: X:5.78, Y:0.24, Z:-1.53 [[ 0.99980147 -0.01382575 -0.01434789 5.77772982] [ 0.01391709 0.99988339 0.00628609 0.23718893] [ 0.0142593 -0.00648452 0.9998773 -1.528662 ] [ 0. 0. 0. 1. ]] SLAMing on 225.571346184 meters Centerline goodness [0,1] 0.8399011981148146 Centerline is valid? [False, False] Translation: X:5.79, Y:0.24, Z:-1.53 [[ 9.99821241e-01 -9.80846153e-03 -1.61641391e-02 5.78768094e+00] [ 9.89497803e-03 9.99937098e-01 5.28111440e-03 2.38986643e-01] [ 1.61113227e-02 -5.44011416e-03 9.99855405e-01 -1.52718356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.601346184 meters Centerline goodness [0,1] 0.8337516399520849 Centerline is valid? [False, False] Translation: X:5.79, Y:0.24, Z:-1.53 [[ 9.99821275e-01 -8.67593065e-03 -1.67971839e-02 5.79064091e+00] [ 8.76167223e-03 9.99948926e-01 5.03767556e-03 2.41925800e-01] [ 1.67526195e-02 -5.18394662e-03 9.99846226e-01 -1.52738275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.631346184 meters Centerline goodness [0,1] 0.8314417221761629 Centerline is valid? [False, False] Translation: X:5.79, Y:0.25, Z:-1.53 [[ 9.99813338e-01 -7.80354028e-03 -1.76746738e-02 5.79361687e+00] [ 7.87454520e-03 9.99961189e-01 3.95129860e-03 2.45671666e-01] [ 1.76431537e-02 -4.08974106e-03 9.99835983e-01 -1.52603345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.661346184 meters Centerline goodness [0,1] 0.8142528735632184 Centerline is valid? [False, False] Translation: X:5.79, Y:0.25, Z:-1.52 [[ 9.99836228e-01 -3.57315153e-03 -1.77411793e-02 5.79401065e+00] [ 3.69907159e-03 9.99968166e-01 7.06987940e-03 2.47926140e-01] [ 1.77153528e-02 -7.13434744e-03 9.99817617e-01 -1.52471704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.691346184 meters Centerline goodness [0,1] 0.8145562164181248 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.52 [[ 9.99831139e-01 -3.29205354e-03 -1.80791651e-02 5.79551933e+00] [ 3.40570420e-03 9.99974612e-01 6.25909149e-03 2.50145488e-01] [ 1.80581008e-02 -6.31960686e-03 9.99816967e-01 -1.52414640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.721346184 meters Centerline goodness [0,1] 0.8080006897146306 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.52 [[ 9.99824126e-01 -2.97415786e-03 -1.85167905e-02 5.79724087e+00] [ 3.07934062e-03 9.99979272e-01 5.65448050e-03 2.51625416e-01] [ 1.84995894e-02 -5.71050553e-03 9.99812560e-01 -1.52379208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.751346184 meters Centerline goodness [0,1] 0.8134843085412116 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.52 [[ 9.99819009e-01 -2.76153084e-03 -1.88234707e-02 5.79903360e+00] [ 2.86797461e-03 9.99980038e-01 5.63019524e-03 2.51953811e-01] [ 1.88075470e-02 -5.68316146e-03 9.99806970e-01 -1.52454824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.781346184 meters Centerline goodness [0,1] 0.7989922257414339 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.53 [[ 9.99816178e-01 -2.60180070e-03 -1.89957901e-02 5.80035556e+00] [ 2.70884101e-03 9.99980587e-01 5.61139501e-03 2.52021576e-01] [ 1.89808216e-02 -5.66182009e-03 9.99803817e-01 -1.52530291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.811346184 meters Centerline goodness [0,1] 0.8000517404926845 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.53 [[ 9.99810012e-01 -2.02204462e-03 -1.93868966e-02 5.80312765e+00] [ 2.14029341e-03 9.99979222e-01 6.08061111e-03 2.51280145e-01] [ 1.93741985e-02 -6.12094951e-03 9.99793566e-01 -1.52726659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.841346184 meters Centerline goodness [0,1] 0.79494932043308 Centerline is valid? [False, False] Translation: X:5.80, Y:0.25, Z:-1.53 [[ 9.99806222e-01 -1.78619170e-03 -1.96042671e-02 5.80455853e+00] [ 1.90633300e-03 9.99979508e-01 6.11134807e-03 2.50908523e-01] [ 1.95929493e-02 -6.14753609e-03 9.99789140e-01 -1.52798627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.871346184 meters Centerline goodness [0,1] 0.7866244786423127 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:-1.53 [[ 9.99802499e-01 -1.58439504e-03 -1.98103985e-02 5.80589305e+00] [ 1.70228004e-03 9.99980938e-01 5.93521620e-03 2.51022601e-01] [ 1.98006171e-02 -5.96776683e-03 9.99786138e-01 -1.52824929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.901346184 meters Centerline goodness [0,1] 0.7913276015757541 Centerline is valid? [False, False] Translation: X:5.81, Y:0.25, Z:-1.53 [[ 9.99797853e-01 -1.33851451e-03 -2.00614310e-02 5.80713296e+00] [ 1.44206890e-03 9.99985708e-01 5.14828728e-03 2.52854525e-01] [ 2.00542532e-02 -5.17617654e-03 9.99785494e-01 -1.52752217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93134618399998 meters Centerline goodness [0,1] 0.7861265004616805 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:-1.52 [[ 9.99793318e-01 -1.96020161e-04 -2.03293715e-02 5.80952535e+00] [ 2.07714189e-04 9.99999814e-01 5.73118236e-04 2.58745639e-01] [ 2.03292554e-02 -5.77222481e-04 9.99793173e-01 -1.51910740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96134618399998 meters Centerline goodness [0,1] 0.7835551577792534 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:-1.52 [[ 9.99788212e-01 1.53000700e-04 -2.05793168e-02 5.81091625e+00] [-1.51340837e-04 9.99999985e-01 8.22142039e-05 2.60033098e-01] [ 2.05793291e-02 -7.90823008e-05 9.99788220e-01 -1.51855127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99134618399998 meters Centerline goodness [0,1] 0.7706350354404745 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:-1.52 [[ 9.99785539e-01 4.85103491e-04 -2.07036352e-02 5.81205349e+00] [-4.85435064e-04 9.99999882e-01 -1.09894907e-05 2.60239017e-01] [ 2.07036274e-02 2.10374043e-05 9.99785657e-01 -1.51866864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02134618399998 meters Centerline goodness [0,1] 0.7602296993132106 Centerline is valid? [False, False] Translation: X:5.81, Y:0.26, Z:-1.52 [[ 9.99781626e-01 1.00971909e-03 -2.08729893e-02 5.81375730e+00] [-1.01805192e-03 9.99999406e-01 -3.88593437e-04 2.60854831e-01] [ 2.08725845e-02 4.09758365e-04 9.99782060e-01 -1.51839997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05134618399998 meters Centerline goodness [0,1] 0.7641267739428308 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99773943e-01 1.54260799e-03 -2.12057402e-02 5.81571151e+00] [-1.54763270e-03 9.99998778e-01 -2.20541363e-04 2.60612341e-01] [ 2.12053741e-02 2.53310205e-04 9.99775109e-01 -1.51905119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08134618399998 meters Centerline goodness [0,1] 0.7617086237686502 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99772279e-01 1.84673181e-03 -2.12598340e-02 5.81692366e+00] [-1.84528778e-03 9.99998294e-01 8.75401428e-05 2.59577702e-01] [ 2.12599594e-02 -4.82896961e-05 9.99773980e-01 -1.52002116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11134618399998 meters Centerline goodness [0,1] 0.7754390011822035 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99776677e-01 1.77932011e-03 -2.10577767e-02 5.81711364e+00] [-1.76927174e-03 9.99998312e-01 4.95801796e-04 2.57980107e-01] [ 2.10586234e-02 -4.58434143e-04 9.99778137e-01 -1.52107207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14134618399999 meters Centerline goodness [0,1] 0.777448327479993 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99763736e-01 2.27902706e-03 -2.16166099e-02 5.81993811e+00] [-2.27029746e-03 9.99997331e-01 4.28369872e-04 2.59589465e-01] [ 2.16175285e-02 -3.79192530e-04 9.99766242e-01 -1.52162404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.171346184 meters Centerline goodness [0,1] 0.7724366359447005 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99757948e-01 2.51002245e-03 -2.18574016e-02 5.82147815e+00] [-2.50250921e-03 9.99996800e-01 3.71084929e-04 2.60509804e-01] [ 2.18582631e-02 -3.16296758e-04 9.99761030e-01 -1.52223294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.201346184 meters Centerline goodness [0,1] 0.7756998590212043 Centerline is valid? [False, False] Translation: X:5.82, Y:0.26, Z:-1.52 [[ 9.99740502e-01 -8.58713134e-04 -2.27638136e-02 5.82471481e+00] [ 7.53122229e-04 9.99988920e-01 -4.64670928e-03 2.63721145e-01] [ 2.27675516e-02 4.62835953e-03 9.99730072e-01 -1.52103750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.231346184 meters Centerline goodness [0,1] 0.7791097854766549 Centerline is valid? [False, False] Translation: X:5.84, Y:0.26, Z:-1.53 [[ 9.99849228e-01 -2.78949781e-03 -1.71388612e-02 5.84303731e+00] [ 2.83879288e-03 9.99991902e-01 2.85256096e-03 2.61641726e-01] [ 1.71307652e-02 -2.90078455e-03 9.99849050e-01 -1.52804522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.261346184 meters Centerline goodness [0,1] 0.7724153771066005 Centerline is valid? [False, False] Translation: X:5.84, Y:0.26, Z:-1.53 [[ 9.99851053e-01 -2.97027160e-03 -1.70014709e-02 5.84313811e+00] [ 3.01469567e-03 9.99992107e-01 2.58792208e-03 2.62120701e-01] [ 1.69936499e-02 -2.63879088e-03 9.99852115e-01 -1.52816498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.291346184 meters Centerline goodness [0,1] 0.7758803776942285 Centerline is valid? [False, False] Translation: X:5.84, Y:0.26, Z:-1.53 [[ 9.99850583e-01 -3.01441085e-03 -1.70212887e-02 5.84354617e+00] [ 3.05547744e-03 9.99992483e-01 2.38717015e-03 2.62324520e-01] [ 1.70139648e-02 -2.43882163e-03 9.99852278e-01 -1.52799391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.321346184 meters Centerline goodness [0,1] 0.784151051351738 Centerline is valid? [False, False] Translation: X:5.85, Y:0.27, Z:-1.53 [[ 9.99825485e-01 -6.39218822e-03 -1.75538927e-02 5.84615582e+00] [ 6.34589673e-03 9.99976242e-01 -2.69154428e-03 2.65822153e-01] [ 1.75706806e-02 2.57967938e-03 9.99842296e-01 -1.52633794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.351346184 meters Centerline goodness [0,1] 0.7841636197440585 Centerline is valid? [False, False] Translation: X:5.85, Y:0.27, Z:-1.53 [[ 9.99824597e-01 -6.12047087e-03 -1.77007126e-02 5.84750604e+00] [ 6.08171088e-03 9.99978991e-01 -2.24274293e-03 2.65370233e-01] [ 1.77140674e-02 2.13469893e-03 9.99840815e-01 -1.52758976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.381346184 meters Centerline goodness [0,1] 0.791682160121278 Centerline is valid? [False, False] Translation: X:5.85, Y:0.27, Z:-1.53 [[ 9.99825885e-01 -6.27779079e-03 -1.75723990e-02 5.84769195e+00] [ 6.24260417e-03 9.99978400e-01 -2.05651783e-03 2.65022476e-01] [ 1.75849298e-02 1.94646222e-03 9.99843479e-01 -1.52827123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.411346184 meters Centerline goodness [0,1] 0.7989547933860697 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.53 [[ 9.99822464e-01 -6.60991928e-03 -1.76450796e-02 5.84856894e+00] [ 6.58252913e-03 9.99977039e-01 -1.60991085e-03 2.64083040e-01] [ 1.76553158e-02 1.49347578e-03 9.99843017e-01 -1.52961750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.441346184 meters Centerline goodness [0,1] 0.8051302559414991 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.53 [[ 9.99826613e-01 -6.59248700e-03 -1.74150192e-02 5.84899920e+00] [ 6.57767568e-03 9.99977955e-01 -9.07634126e-04 2.62259713e-01] [ 1.74206189e-02 7.92926406e-04 9.99847935e-01 -1.53135017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.471346184 meters Centerline goodness [0,1] 0.8090688720946813 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.53 [[ 9.99829394e-01 -6.39571738e-03 -1.73285373e-02 5.85005788e+00] [ 6.38978867e-03 9.99979506e-01 -3.97481773e-04 2.61278887e-01] [ 1.73307244e-02 2.86688268e-04 9.99849771e-01 -1.53305203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.501346184 meters Centerline goodness [0,1] 0.8057147770262525 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99833833e-01 -6.33858695e-03 -1.70917750e-02 5.85102301e+00] [ 6.34202337e-03 9.99979878e-01 1.46861596e-04 2.60439824e-01] [ 1.70905002e-02 -2.55233629e-04 9.99853914e-01 -1.53510732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.531346184 meters Centerline goodness [0,1] 0.8083810068649886 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99830619e-01 -5.91325824e-03 -1.74288821e-02 5.85302752e+00] [ 5.92746441e-03 9.99982141e-01 7.63547220e-04 2.59480004e-01] [ 1.74240557e-02 -8.66726968e-04 9.99847814e-01 -1.53671110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.561346184 meters Centerline goodness [0,1] 0.8164781167866529 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99827549e-01 -5.75758899e-03 -1.76556829e-02 5.85433268e+00] [ 5.77468865e-03 9.99982905e-01 9.17677796e-04 2.59251030e-01] [ 1.76500975e-02 -1.01947561e-03 9.99843705e-01 -1.53752430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.591346184 meters Centerline goodness [0,1] 0.8214244818504524 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99828790e-01 -5.86520226e-03 -1.75496256e-02 5.85460430e+00] [ 5.88143924e-03 9.99982322e-01 8.73733650e-04 2.59276850e-01] [ 1.75441908e-02 -9.76801115e-04 9.99845612e-01 -1.53803259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.621346184 meters Centerline goodness [0,1] 0.8273749892663937 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99833738e-01 -6.43202244e-03 -1.70624234e-02 5.85368233e+00] [ 6.44036114e-03 9.99979167e-01 4.33813715e-04 2.60065478e-01] [ 1.70592776e-02 -5.43629757e-04 9.99854332e-01 -1.53751621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.651346184 meters Centerline goodness [0,1] 0.8568033444049937 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99833006e-01 -6.68989350e-03 -1.70060637e-02 5.85365887e+00] [ 6.69746098e-03 9.99977496e-01 3.88072972e-04 2.60193327e-01] [ 1.70030848e-02 -5.01905614e-04 9.99855311e-01 -1.53753240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68134618399998 meters Centerline goodness [0,1] 0.8637144329306693 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99834410e-01 -7.34435632e-03 -1.66496933e-02 5.85325831e+00] [ 7.35620755e-03 9.99972731e-01 6.50666099e-04 2.58556694e-01] [ 1.66444606e-02 -7.73036956e-04 9.99861173e-01 -1.53848506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71134618399998 meters Centerline goodness [0,1] 0.8649165904936015 Centerline is valid? [False, False] Translation: X:5.85, Y:0.26, Z:-1.54 [[ 9.99835712e-01 -7.09139755e-03 -1.66811377e-02 5.85469739e+00] [ 7.11432177e-03 9.99973828e-01 1.31531916e-03 2.57136300e-01] [ 1.66713736e-02 -1.43377805e-03 9.99859995e-01 -1.54047149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74134618399998 meters Centerline goodness [0,1] 0.866961736150771 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99837527e-01 -6.94229085e-03 -1.66350426e-02 5.85586821e+00] [ 6.96955214e-03 9.99974462e-01 1.58137354e-03 2.56178454e-01] [ 1.66236394e-02 -1.69705541e-03 9.99860378e-01 -1.54202130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77134618399998 meters Centerline goodness [0,1] 0.8708327402135232 Centerline is valid? [False, False] Translation: X:5.85, Y:0.25, Z:-1.54 [[ 9.99835570e-01 -7.92351020e-03 -1.63110896e-02 5.85498020e+00] [ 7.94965286e-03 9.99967217e-01 1.53853933e-03 2.53237916e-01] [ 1.62983642e-02 -1.66795385e-03 9.99865782e-01 -1.54254996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80134618399998 meters Centerline goodness [0,1] 0.8707861974873514 Centerline is valid? [False, False] Translation: X:5.85, Y:0.25, Z:-1.54 [[ 9.99842393e-01 -8.70544758e-03 -1.54726883e-02 5.85375226e+00] [ 8.72959658e-03 9.99960780e-01 1.49389503e-03 2.51255115e-01] [ 1.54590764e-02 -1.62872990e-03 9.99879175e-01 -1.54344179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83134618399998 meters Centerline goodness [0,1] 0.8723361936693754 Centerline is valid? [False, False] Translation: X:5.85, Y:0.25, Z:-1.54 [[ 9.99842567e-01 -8.66475588e-03 -1.54842580e-02 5.85445953e+00] [ 8.69114781e-03 9.99960890e-01 1.63795651e-03 2.50681680e-01] [ 1.54694600e-02 -1.77227462e-03 9.99878770e-01 -1.54410165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86134618399998 meters Centerline goodness [0,1] 0.8700736126840317 Centerline is valid? [False, False] Translation: X:5.86, Y:0.25, Z:-1.54 [[ 9.99840844e-01 -8.51601638e-03 -1.56768385e-02 5.85552408e+00] [ 8.54123955e-03 9.99962333e-01 1.54269325e-03 2.50494045e-01] [ 1.56631104e-02 -1.67634735e-03 9.99875921e-01 -1.54417735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89134618399999 meters Centerline goodness [0,1] 0.866400204098988 Centerline is valid? [False, False] Translation: X:5.86, Y:0.25, Z:-1.54 [[ 9.99840063e-01 -8.15886579e-03 -1.59147874e-02 5.85706703e+00] [ 8.17891254e-03 9.99965838e-01 1.19494971e-03 2.51983750e-01] [ 1.59044943e-02 -1.32492425e-03 9.99872638e-01 -1.54433534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.921346184 meters Centerline goodness [0,1] 0.8665552975819695 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99840498e-01 -8.08336748e-03 -1.59259969e-02 5.85749726e+00] [ 8.07612187e-03 9.99967253e-01 -5.19218199e-04 2.55760293e-01] [ 1.59296724e-02 3.90515091e-04 9.99873038e-01 -1.54142014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.951346184 meters Centerline goodness [0,1] 0.8673252752851927 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99836786e-01 -7.89393330e-03 -1.62507723e-02 5.85872545e+00] [ 7.87676347e-03 9.99968350e-01 -1.12029062e-03 2.57558458e-01] [ 1.62591015e-02 9.92104285e-04 9.99867320e-01 -1.54054542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.981346184 meters Centerline goodness [0,1] 0.863627353815659 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99837834e-01 -7.86740101e-03 -1.61990825e-02 5.85929313e+00] [ 7.84862518e-03 9.99968452e-01 -1.22231682e-03 2.58555064e-01] [ 1.62081879e-02 1.09497807e-03 9.99868039e-01 -1.54085006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.011346184 meters Centerline goodness [0,1] 0.8689565266678003 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99845613e-01 -8.03181629e-03 -1.56281543e-02 5.85943716e+00] [ 8.02565520e-03 9.99967690e-01 -4.56907810e-04 2.56524632e-01] [ 1.56313191e-02 3.31411092e-04 9.99877769e-01 -1.54319496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.041346184 meters Centerline goodness [0,1] 0.8707173900773268 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99802954e-01 -1.15200931e-02 -1.61660270e-02 5.86205628e+00] [ 1.14438255e-02 9.99922985e-01 -4.80237341e-03 2.58276121e-01] [ 1.62201058e-02 4.61642593e-03 9.99857788e-01 -1.54328635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.071346184 meters Centerline goodness [0,1] 0.8732692851087878 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.54 [[ 9.99806647e-01 -1.15345096e-02 -1.59255738e-02 5.86257995e+00] [ 1.14664657e-02 9.99924764e-01 -4.35734027e-03 2.57773507e-01] [ 1.59746354e-02 4.17388772e-03 9.99863686e-01 -1.54488232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.101346184 meters Centerline goodness [0,1] 0.8741761194874261 Centerline is valid? [False, False] Translation: X:5.86, Y:0.26, Z:-1.55 [[ 9.99809486e-01 -1.15672264e-02 -1.57222805e-02 5.86304682e+00] [ 1.15057533e-02 9.99925827e-01 -3.99478601e-03 2.57535004e-01] [ 1.57673230e-02 3.81312827e-03 9.99868417e-01 -1.54619752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.131346184 meters Centerline goodness [0,1] 0.8712452404456353 Centerline is valid? [False, False] Translation: X:5.86, Y:0.25, Z:-1.55 [[ 9.99814102e-01 -1.16671429e-02 -1.53505171e-02 5.86413671e+00] [ 1.16262994e-02 9.99928638e-01 -2.74728163e-03 2.54608395e-01] [ 1.53814746e-02 2.56830120e-03 9.99878400e-01 -1.54968778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.161346184 meters Centerline goodness [0,1] 0.8751509704238407 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.55 [[ 9.99817134e-01 -1.15868011e-02 -1.52132776e-02 5.86513839e+00] [ 1.15604118e-02 9.99931517e-01 -1.82142216e-03 2.52558464e-01] [ 1.52333403e-02 1.64521733e-03 9.99882612e-01 -1.55201269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.191346184 meters Centerline goodness [0,1] 0.8747252127839468 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.55 [[ 9.99821448e-01 -1.16707269e-02 -1.48615546e-02 5.86554087e+00] [ 1.16486116e-02 9.99930914e-01 -1.57378820e-03 2.53234955e-01] [ 1.48788951e-02 1.40039072e-03 9.99888322e-01 -1.55348144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.221346184 meters Centerline goodness [0,1] 0.8762779462981687 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.55 [[ 9.99822721e-01 -1.14825668e-02 -1.49223995e-02 5.86669740e+00] [ 1.14652746e-02 9.99933498e-01 -1.24384471e-03 2.53146506e-01] [ 1.49356897e-02 1.07253479e-03 9.99887881e-01 -1.55454851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.251346184 meters Centerline goodness [0,1] 0.8762140705498156 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99825158e-01 -1.12302030e-02 -1.49511241e-02 5.86780934e+00] [ 1.12156698e-02 9.99936545e-01 -1.05554584e-03 2.53730044e-01] [ 1.49620293e-02 8.87674419e-04 9.99887669e-01 -1.55558903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.281346184 meters Centerline goodness [0,1] 0.875299692550701 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99830906e-01 -1.12979454e-02 -1.45091428e-02 5.86822533e+00] [ 1.12909232e-02 9.99936095e-01 -5.65806786e-04 2.54185610e-01] [ 1.45146081e-02 4.01889494e-04 9.99894577e-01 -1.55730229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.311346184 meters Centerline goodness [0,1] 0.8755629362756137 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99831573e-01 -1.10955245e-02 -1.46189703e-02 5.86962754e+00] [ 1.10928026e-02 9.99938437e-01 -2.67266647e-04 2.54212682e-01] [ 1.46210358e-02 1.05056281e-04 9.99893101e-01 -1.55865079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.341346184 meters Centerline goodness [0,1] 0.8778892772578645 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99833626e-01 -1.14967737e-02 -1.41613546e-02 5.86914638e+00] [ 1.14980499e-02 9.99933895e-01 8.69779491e-06 2.53147347e-01] [ 1.41603184e-02 -1.71524309e-04 9.99899723e-01 -1.55982726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.371346184 meters Centerline goodness [0,1] 0.8782116294793779 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99837451e-01 -1.14834614e-02 -1.38997187e-02 5.86984740e+00] [ 1.14926046e-02 9.99933791e-01 5.78096911e-04 2.51951205e-01] [ 1.38921599e-02 -7.37746913e-04 9.99903227e-01 -1.56166152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.401346184 meters Centerline goodness [0,1] 0.8759528564597339 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.56 [[ 9.99824867e-01 -1.32030718e-02 -1.32632869e-02 5.86848860e+00] [ 1.32106950e-02 9.99912616e-01 4.87310542e-04 2.49658865e-01] [ 1.32556939e-02 -6.62442436e-04 9.99911920e-01 -1.56321753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43134618399998 meters Centerline goodness [0,1] 0.875662270319017 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.57 [[ 9.99826884e-01 -1.32082873e-02 -1.31050617e-02 5.86928674e+00] [ 1.32262548e-02 9.99911703e-01 1.28531072e-03 2.48003777e-01] [ 1.30869278e-02 -1.45841909e-03 9.99913299e-01 -1.56540363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46134618399998 meters Centerline goodness [0,1] 0.875662270319017 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.57 [[ 9.99826884e-01 -1.32082873e-02 -1.31050617e-02 5.86928674e+00] [ 1.32262548e-02 9.99911703e-01 1.28531072e-03 2.48003777e-01] [ 1.30869278e-02 -1.45841909e-03 9.99913299e-01 -1.56540363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49134618399998 meters Centerline goodness [0,1] 0.8750845928265283 Centerline is valid? [False, False] Translation: X:5.87, Y:0.25, Z:-1.57 [[ 9.99824453e-01 -1.37562628e-02 -1.27211493e-02 5.86881817e+00] [ 1.37770429e-02 9.99903895e-01 1.54731801e-03 2.46517179e-01] [ 1.26986414e-02 -1.72230620e-03 9.99917886e-01 -1.56657842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52134618399998 meters Centerline goodness [0,1] 0.8743197135042157 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:-1.57 [[ 9.99801999e-01 -1.57668252e-02 -1.21395710e-02 5.86671885e+00] [ 1.57831834e-02 9.99874653e-01 1.25287806e-03 2.44633371e-01] [ 1.21182954e-02 -1.44423107e-03 9.99925528e-01 -1.56719611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55134618399998 meters Centerline goodness [0,1] 0.8776956079936773 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:-1.57 [[ 9.99801996e-01 -1.58569670e-02 -1.20218366e-02 5.86716034e+00] [ 1.58787973e-02 9.99872440e-01 1.72261215e-03 2.43229769e-01] [ 1.19929877e-02 -1.91316337e-03 9.99926251e-01 -1.56841446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58134618399998 meters Centerline goodness [0,1] 0.877745158922825 Centerline is valid? [False, False] Translation: X:5.87, Y:0.24, Z:-1.57 [[ 9.99806524e-01 -1.52037068e-02 -1.24804732e-02 5.86961072e+00] [ 1.52275478e-02 9.99882402e-01 1.81746140e-03 2.44279978e-01] [ 1.24513734e-02 -2.00715677e-03 9.99920464e-01 -1.56945406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61134618399998 meters Centerline goodness [0,1] 0.8758560437392554 Centerline is valid? [False, False] Translation: X:5.88, Y:0.24, Z:-1.57 [[ 9.99830487e-01 -1.24709923e-02 -1.35451685e-02 5.87705317e+00] [ 1.25159385e-02 9.99916428e-01 3.23855761e-03 2.43003169e-01] [ 1.35036484e-02 -3.40753913e-03 9.99903015e-01 -1.57309635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64134618399999 meters Centerline goodness [0,1] 0.8760095680315182 Centerline is valid? [False, False] Translation: X:5.88, Y:0.24, Z:-1.57 [[ 9.99834377e-01 -1.18528647e-02 -1.38104371e-02 5.87918968e+00] [ 1.19052150e-02 9.99922231e-01 3.71460423e-03 2.41887646e-01] [ 1.37653343e-02 -3.87840522e-03 9.99897732e-01 -1.57461707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.671346184 meters Centerline goodness [0,1] 0.874448658519455 Centerline is valid? [False, False] Translation: X:5.88, Y:0.24, Z:-1.58 [[ 9.99839772e-01 -1.11775707e-02 -1.39818737e-02 5.88159896e+00] [ 1.12458543e-02 9.99925172e-01 4.81466958e-03 2.38886688e-01] [ 1.39270111e-02 -4.97113625e-03 9.99890657e-01 -1.57742834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.701346184 meters Centerline goodness [0,1] 0.8740093533843009 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:-1.58 [[ 9.99801984e-01 -1.37622153e-02 -1.43733853e-02 5.88563896e+00] [ 1.37913179e-02 9.99903037e-01 1.92759768e-03 2.37210509e-01] [ 1.43454636e-02 -2.12544391e-03 9.99894840e-01 -1.57998536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.731346184 meters Centerline goodness [0,1] 0.8714838058948784 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:-1.58 [[ 9.99804250e-01 -1.32553962e-02 -1.46886401e-02 5.88748459e+00] [ 1.32931754e-02 9.99908573e-01 2.47735553e-03 2.35997692e-01] [ 1.46544588e-02 -2.67212925e-03 9.99889047e-01 -1.58122479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.761346184 meters Centerline goodness [0,1] 0.8721859522737505 Centerline is valid? [False, False] Translation: X:5.89, Y:0.24, Z:-1.58 [[ 9.99808714e-01 -1.24196221e-02 -1.51092482e-02 5.89012785e+00] [ 1.24646335e-02 9.99918141e-01 2.88854543e-03 2.36238244e-01] [ 1.50721368e-02 -3.07632413e-03 9.99881676e-01 -1.58276519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.791346184 meters Centerline goodness [0,1] 0.8714129121110767 Centerline is valid? [False, False] Translation: X:5.89, Y:0.23, Z:-1.58 [[ 9.99811344e-01 -1.20088803e-02 -1.52664352e-02 5.89164585e+00] [ 1.20667612e-02 9.99920330e-01 3.70493800e-03 2.33623900e-01] [ 1.52207268e-02 -3.88845547e-03 9.99876597e-01 -1.58441537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.821346184 meters Centerline goodness [0,1] 0.8713258942305003 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.58 [[ 9.99760800e-01 -1.47486375e-02 -1.61499124e-02 5.89560719e+00] [ 1.47453198e-02 9.99891229e-01 -3.24490505e-04 2.34983728e-01] [ 1.61529416e-02 8.62772629e-05 9.99869529e-01 -1.58464319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.851346184 meters Centerline goodness [0,1] 0.8678193128958135 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.59 [[ 9.99767778e-01 -1.47382378e-02 -1.57217894e-02 5.89616176e+00] [ 1.47436882e-02 9.99891279e-01 2.30822286e-04 2.32748443e-01] [ 1.57166782e-02 -4.62565845e-04 9.99876378e-01 -1.58632956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.881346184 meters Centerline goodness [0,1] 0.869225600537544 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.59 [[ 9.99764191e-01 -1.53147483e-02 -1.53954524e-02 5.89533478e+00] [ 1.53219969e-02 9.99882549e-01 3.52984294e-04 2.30999228e-01] [ 1.53882384e-02 -5.88790133e-04 9.99881421e-01 -1.58646295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.911346184 meters Centerline goodness [0,1] 0.8655727623413653 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.59 [[ 9.99762184e-01 -1.55470527e-02 -1.52926480e-02 5.89556266e+00] [ 1.55633326e-02 9.99878436e-01 9.46115912e-04 2.28645067e-01] [ 1.52760797e-02 -1.18389548e-03 9.99882613e-01 -1.58750643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.941346184 meters Centerline goodness [0,1] 0.8627002288329519 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.59 [[ 9.99688555e-01 -1.99783645e-02 -1.49552285e-02 5.89510169e+00] [ 1.99317159e-02 9.99796023e-01 -3.26181357e-03 2.28265097e-01] [ 1.50173437e-02 2.96271433e-03 9.99882844e-01 -1.58664424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.971346184 meters Centerline goodness [0,1] 0.8615925646822407 Centerline is valid? [False, False] Translation: X:5.90, Y:0.23, Z:-1.59 [[ 9.99686940e-01 -2.00200830e-02 -1.50072848e-02 5.89585865e+00] [ 1.99854378e-02 9.99797257e-01 -2.45499704e-03 2.26049491e-01] [ 1.50533914e-02 2.15430133e-03 9.99884371e-01 -1.58791811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.001346184 meters Centerline goodness [0,1] 0.8611521006765599 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.59 [[ 9.99687185e-01 -1.98026169e-02 -1.52770284e-02 5.89736933e+00] [ 1.97798856e-02 9.99803018e-01 -1.63762093e-03 2.23989756e-01] [ 1.53064483e-02 1.33493078e-03 9.99881958e-01 -1.58927379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.031346184 meters Centerline goodness [0,1] 0.8604464161929849 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.59 [[ 9.99684771e-01 -1.99459015e-02 -1.52486230e-02 5.89831183e+00] [ 1.99384581e-02 9.99801004e-01 -6.40022356e-04 2.20490205e-01] [ 1.52583544e-02 3.35786571e-04 9.99883528e-01 -1.59112334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.061346184 meters Centerline goodness [0,1] 0.8564430421786782 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.59 [[ 9.99684387e-01 -1.98810618e-02 -1.53580227e-02 5.89954450e+00] [ 1.98849062e-02 9.99802271e-01 9.76429191e-05 2.18815028e-01] [ 1.53530447e-02 -4.03004943e-04 9.99882054e-01 -1.59267971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.091346184 meters Centerline goodness [0,1] 0.8561846955461323 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.59 [[ 9.99682971e-01 -2.01123732e-02 -1.51475957e-02 5.89937747e+00] [ 2.01236012e-02 9.99797326e-01 5.89166549e-04 2.17146728e-01] [ 1.51326762e-02 -8.93803942e-04 9.99885095e-01 -1.59324850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.121346184 meters Centerline goodness [0,1] 0.8451347015544615 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.59 [[ 9.99672533e-01 -2.06795938e-02 -1.50725398e-02 5.89927504e+00] [ 2.06951978e-02 9.99785444e-01 8.80010343e-04 2.15659554e-01] [ 1.50511076e-02 -1.19165136e-03 9.99886016e-01 -1.59345598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.151346184 meters Centerline goodness [0,1] 0.8185794164867408 Centerline is valid? [False, False] Translation: X:5.90, Y:0.21, Z:-1.60 [[ 9.99674541e-01 -2.05029343e-02 -1.51802870e-02 5.90095975e+00] [ 2.05293485e-02 9.99787992e-01 1.58623907e-03 2.14750339e-01] [ 1.51445462e-02 -1.89736422e-03 9.99883515e-01 -1.59534382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18134618399998 meters Centerline goodness [0,1] 0.8493575542755871 Centerline is valid? [False, False] Translation: X:5.90, Y:0.22, Z:-1.60 [[ 9.99683124e-01 -1.95207243e-02 -1.58931582e-02 5.90452740e+00] [ 1.95569565e-02 9.99806481e-01 2.12750154e-03 2.15033728e-01] [ 1.58485522e-02 -2.43764919e-03 9.99871432e-01 -1.59717667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21134618399998 meters Centerline goodness [0,1] 0.8395899709100983 Centerline is valid? [False, False] Translation: X:5.91, Y:0.22, Z:-1.60 [[ 9.99685799e-01 -1.86320321e-02 -1.67675587e-02 5.90818188e+00] [ 1.86669878e-02 9.99823893e-01 1.93061355e-03 2.17075027e-01] [ 1.67286346e-02 -2.24300676e-03 9.99857551e-01 -1.59804777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24134618399998 meters Centerline goodness [0,1] 0.8496217599288018 Centerline is valid? [False, False] Translation: X:5.92, Y:0.22, Z:-1.60 [[ 9.99731959e-01 -1.43217187e-02 -1.81906421e-02 5.91773815e+00] [ 1.43807919e-02 9.99891721e-01 3.12079572e-03 2.18840837e-01] [ 1.81439773e-02 -3.38155505e-03 9.99829666e-01 -1.60067637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27134618399998 meters Centerline goodness [0,1] 0.8480984464613843 Centerline is valid? [False, False] Translation: X:5.92, Y:0.22, Z:-1.60 [[ 9.99734299e-01 -1.30815678e-02 -1.89790479e-02 5.92189243e+00] [ 1.31499285e-02 9.99907475e-01 3.48158402e-03 2.19991321e-01] [ 1.89317473e-02 -3.73023208e-03 9.99813820e-01 -1.60262173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30134618399998 meters Centerline goodness [0,1] 0.8502506963788301 Centerline is valid? [False, False] Translation: X:5.93, Y:0.22, Z:-1.60 [[ 9.99731686e-01 -1.15253484e-02 -2.00928342e-02 5.92710051e+00] [ 1.16008177e-02 9.99926070e-01 3.64352639e-03 2.21568960e-01] [ 2.00493558e-02 -3.87564208e-03 9.99791480e-01 -1.60419317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33134618399998 meters Centerline goodness [0,1] 0.846490121899958 Centerline is valid? [False, False] Translation: X:5.93, Y:0.22, Z:-1.61 [[ 0.99976791 -0.00615879 -0.02064427 5.93117799] [ 0.0063295 0.99994623 0.00821409 0.22222366] [ 0.02059257 -0.00834285 0.99975314 -1.60671793] [ 0. 0. 0. 1. ]] SLAMing on 228.36134618399998 meters Centerline goodness [0,1] 0.8455186698762805 Centerline is valid? [False, False] Translation: X:5.94, Y:0.22, Z:-1.61 [[ 9.99750665e-01 -4.24945823e-03 -2.19214697e-02 5.93705247e+00] [ 4.42931030e-03 9.99956878e-01 8.16236007e-03 2.24238254e-01] [ 2.18858388e-02 -8.25742190e-03 9.99726375e-01 -1.60765086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39134618399999 meters Centerline goodness [0,1] 0.8383849681243709 Centerline is valid? [False, False] Translation: X:5.94, Y:0.22, Z:-1.61 [[ 9.99732109e-01 -2.70075542e-03 -2.29872857e-02 5.94201138e+00] [ 2.90113519e-03 9.99958049e-01 8.68810184e-03 2.24415833e-01] [ 2.29628570e-02 -8.75246360e-03 9.99698005e-01 -1.60928551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.421346184 meters Centerline goodness [0,1] 0.838776365414164 Centerline is valid? [False, False] Translation: X:5.95, Y:0.23, Z:-1.61 [[ 9.99700345e-01 -8.38070203e-04 -2.44646126e-02 5.95332602e+00] [ 9.39493177e-04 9.99991012e-01 4.13450173e-03 2.27024690e-01] [ 2.44609277e-02 -4.15624715e-03 9.99692147e-01 -1.60744474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.451346184 meters Centerline goodness [0,1] 0.8303733236679957 Centerline is valid? [False, False] Translation: X:5.97, Y:0.23, Z:-1.61 [[ 9.99677285e-01 5.02122742e-03 -2.49020810e-02 5.97090642e+00] [-5.01719405e-03 9.99987389e-01 2.24445959e-04 2.29522719e-01] [ 2.49028940e-02 -9.94349541e-05 9.99689870e-01 -1.60650328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.481346184 meters Centerline goodness [0,1] 0.8254778847495465 Centerline is valid? [False, False] Translation: X:5.97, Y:0.23, Z:-1.61 [[ 9.99647239e-01 6.17953672e-03 -2.58304135e-02 5.97493521e+00] [-6.18458114e-03 9.99980869e-01 -1.15405367e-04 2.31670490e-01] [ 2.58292062e-02 2.75114945e-04 9.99666333e-01 -1.60664873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.511346184 meters Centerline goodness [0,1] 0.8154056772463121 Centerline is valid? [False, False] Translation: X:5.98, Y:0.23, Z:-1.61 [[ 9.99607149e-01 7.60975497e-03 -2.69747894e-02 5.97957161e+00] [-7.62217129e-03 9.99970887e-01 -3.57500022e-04 2.33909497e-01] [ 2.69712836e-02 5.62966043e-04 9.99636050e-01 -1.60681647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.541346184 meters Centerline goodness [0,1] 0.8021826955448322 Centerline is valid? [False, False] Translation: X:5.99, Y:0.24, Z:-1.61 [[ 9.99559176e-01 1.09437220e-02 -2.75987089e-02 5.98563841e+00] [-1.09279212e-02 9.99940027e-01 7.23287978e-04 2.35472555e-01] [ 2.76049692e-02 -4.21372621e-04 9.99618821e-01 -1.60875405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.571346184 meters Centerline goodness [0,1] 0.790005882188174 Centerline is valid? [False, False] Translation: X:5.99, Y:0.24, Z:-1.61 [[ 9.99524039e-01 1.19849400e-02 -2.84263340e-02 5.98911849e+00] [-1.19623011e-02 9.99927982e-01 9.66333568e-04 2.35522699e-01] [ 2.84358682e-02 -6.25829265e-04 9.99595423e-01 -1.60941657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.601346184 meters Centerline goodness [0,1] 0.7901648505169041 Centerline is valid? [False, False] Translation: X:5.99, Y:0.24, Z:-1.61 [[ 9.99498651e-01 1.27820170e-02 -2.89666453e-02 5.99168929e+00] [-1.27625815e-02 9.99918189e-01 8.55751474e-04 2.36140203e-01] [ 2.89752137e-02 -4.85633272e-04 9.99580012e-01 -1.60950155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.631346184 meters Centerline goodness [0,1] 0.7779513937330841 Centerline is valid? [False, False] Translation: X:6.01, Y:0.24, Z:-1.60 [[ 9.99441990e-01 1.48816941e-02 -2.99039029e-02 6.00504358e+00] [-1.50572957e-02 9.99870638e-01 -5.65560374e-03 2.38090234e-01] [ 2.98158694e-02 6.10271977e-03 9.99536778e-01 -1.60478245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.661346184 meters Centerline goodness [0,1] 0.78046197999387 Centerline is valid? [False, False] Translation: X:6.01, Y:0.24, Z:-1.61 [[ 9.99408197e-01 1.60021322e-02 -3.04497619e-02 6.00841519e+00] [-1.61441059e-02 9.99859895e-01 -4.42241674e-03 2.35961501e-01] [ 3.03747277e-02 4.91138373e-03 9.99526515e-01 -1.60720548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.691346184 meters Centerline goodness [0,1] 0.7705937899239016 Centerline is valid? [False, False] Translation: X:6.01, Y:0.23, Z:-1.61 [[ 9.99375150e-01 1.70820065e-02 -3.09437441e-02 6.01178081e+00] [-1.71803356e-02 9.99848159e-01 -2.91457084e-03 2.33116296e-01] [ 3.08892588e-02 3.44437358e-03 9.99516878e-01 -1.61016784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.721346184 meters Centerline goodness [0,1] 0.7701216141514649 Centerline is valid? [False, False] Translation: X:6.02, Y:0.23, Z:-1.61 [[ 0.99934478 0.01549567 -0.03270936 6.01957245] [-0.0157061 0.99985751 -0.00618637 0.23210899] [ 0.03260884 0.00669605 0.99944576 -1.61135922] [ 0. 0. 0. 1. ]] SLAMing on 228.751346184 meters Centerline goodness [0,1] 0.7652872484333159 Centerline is valid? [False, False] Translation: X:6.04, Y:0.23, Z:-1.62 [[ 9.99528052e-01 1.39265880e-02 -2.73810679e-02 6.03523961e+00] [-1.38656344e-02 9.99900952e-01 2.41473575e-03 2.29452209e-01] [ 2.74119849e-02 -2.03394024e-03 9.99622152e-01 -1.61709707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.781346184 meters Centerline goodness [0,1] 0.7702513005422367 Centerline is valid? [False, False] Translation: X:6.04, Y:0.23, Z:-1.62 [[ 9.99549287e-01 1.29448856e-02 -2.70860264e-02 6.03793813e+00] [-1.29442576e-02 9.99916200e-01 1.98527362e-04 2.29803020e-01] [ 2.70863265e-02 1.52170621e-04 9.99633087e-01 -1.61883066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.811346184 meters Centerline goodness [0,1] 0.7608008140142453 Centerline is valid? [False, False] Translation: X:6.04, Y:0.23, Z:-1.62 [[ 9.99530824e-01 1.35288120e-02 -2.74791275e-02 6.04004336e+00] [-1.35041240e-02 9.99908228e-01 1.08381595e-03 2.27606802e-01] [ 2.74912684e-02 -7.12225909e-04 9.99621790e-01 -1.62048154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.841346184 meters Centerline goodness [0,1] 0.7680683311432326 Centerline is valid? [False, False] Translation: X:6.05, Y:0.23, Z:-1.62 [[ 9.99479461e-01 1.34345420e-02 -2.93312133e-02 6.04957217e+00] [-1.34854433e-02 9.99907884e-01 -1.53826119e-03 2.25603148e-01] [ 2.93078456e-02 1.93300488e-03 9.99568564e-01 -1.62181785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.871346184 meters Centerline goodness [0,1] 0.7554717599803262 Centerline is valid? [False, False] Translation: X:6.05, Y:0.22, Z:-1.62 [[ 9.99449912e-01 1.42494028e-02 -2.99470838e-02 6.05225004e+00] [-1.42761599e-02 9.99897859e-01 -6.79844785e-04 2.23377663e-01] [ 2.99343376e-02 1.10700017e-03 9.99551254e-01 -1.62322354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.901346184 meters Centerline goodness [0,1] 0.7308236703141162 Centerline is valid? [False, False] Translation: X:6.06, Y:0.22, Z:-1.63 [[ 9.99377973e-01 1.63454600e-02 -3.12488786e-02 6.06300433e+00] [-1.63812042e-02 9.99865425e-01 -8.88170713e-04 2.19594024e-01] [ 3.12301557e-02 1.39951251e-03 9.99511240e-01 -1.62767937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93134618399998 meters Centerline goodness [0,1] 0.7153342213281866 Centerline is valid? [False, False] Translation: X:6.07, Y:0.22, Z:-1.63 [[ 9.99333659e-01 1.74795113e-02 -3.20422361e-02 6.06637527e+00] [-1.74878258e-02 9.99847076e-01 2.07640699e-05 2.17577876e-01] [ 3.20376990e-02 5.39598809e-04 9.99486516e-01 -1.62912537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96134618399998 meters Centerline goodness [0,1] 0.7135460435360135 Centerline is valid? [False, False] Translation: X:6.07, Y:0.22, Z:-1.63 [[ 9.99279898e-01 1.87938991e-02 -3.29617166e-02 6.07025044e+00] [-1.87729516e-02 9.99823326e-01 9.44900595e-04 2.16046920e-01] [ 3.29736515e-02 -3.25431461e-04 9.99456168e-01 -1.63061213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99134618399998 meters Centerline goodness [0,1] 0.7141813458884649 Centerline is valid? [False, False] Translation: X:6.07, Y:0.22, Z:-1.63 [[ 9.99217184e-01 2.03008062e-02 -3.39543256e-02 6.07455891e+00] [-2.02551720e-02 9.99793419e-01 1.68745794e-03 2.15206648e-01] [ 3.39815681e-02 -9.98386263e-04 9.99421961e-01 -1.63204901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02134618399998 meters Centerline goodness [0,1] 0.6843657817109144 Centerline is valid? [False, False] Translation: X:6.08, Y:0.22, Z:-1.63 [[ 9.99136076e-01 2.22264338e-02 -3.51153471e-02 6.07978920e+00] [-2.21585618e-02 9.99751775e-01 2.32086996e-03 2.15867254e-01] [ 3.51582153e-02 -1.54075931e-03 9.99380571e-01 -1.63351752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05134618399998 meters Centerline goodness [0,1] 0.6801303282440693 Centerline is valid? [False, False] Translation: X:6.10, Y:0.21, Z:-1.63 [[ 9.98812999e-01 3.15597641e-02 -3.71022215e-02 6.09714321e+00] [-3.14205048e-02 9.99496872e-01 4.33065415e-03 2.12866651e-01] [ 3.72202287e-02 -3.15974313e-03 9.99302092e-01 -1.63437135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08134618399998 meters Centerline goodness [0,1] 0.6710512187265114 Centerline is valid? [False, False] Translation: X:6.10, Y:0.21, Z:-1.64 [[ 9.98720017e-01 3.31921185e-02 -3.81655676e-02 6.10173195e+00] [-3.30265414e-02 9.99442163e-01 4.96087736e-03 2.12964274e-01] [ 3.83089394e-02 -3.69405083e-03 9.99259115e-01 -1.63563443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11134618399998 meters Centerline goodness [0,1] 0.6644881341404618 Centerline is valid? [False, False] Translation: X:6.11, Y:0.21, Z:-1.64 [[ 9.98619223e-01 3.49026865e-02 -3.92613038e-02 6.10662947e+00] [-3.46961304e-02 9.99380312e-01 5.93039327e-03 2.11893534e-01] [ 3.94439607e-02 -4.55998940e-03 9.99211379e-01 -1.63749123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14134618399999 meters Centerline goodness [0,1] 0.6334950162571291 Centerline is valid? [False, False] Translation: X:6.12, Y:0.21, Z:-1.64 [[ 0.9982081 0.04377811 -0.04079306 6.12131047] [-0.043405 0.99900763 0.00998801 0.20797136] [ 0.04118984 -0.00819949 0.99911769 -1.64079313] [ 0. 0. 0. 1. ]] SLAMing on 229.171346184 meters Centerline goodness [0,1] 0.6137246554201479 Centerline is valid? [False, False] Translation: X:6.13, Y:0.21, Z:-1.64 [[ 0.99809651 0.04539947 -0.0417402 6.1253902 ] [-0.04498354 0.9989288 0.01085097 0.20671153] [ 0.04218811 -0.00895269 0.99906957 -1.64174483] [ 0. 0. 0. 1. ]] SLAMing on 229.201346184 meters Centerline goodness [0,1] 0.5773887129819333 Centerline is valid? [False, False] Translation: X:6.14, Y:0.20, Z:-1.65 [[ 0.9975818 0.05420112 -0.04350625 6.14095729] [-0.0535973 0.99845104 0.01492831 0.20204346] [ 0.044248 -0.01256039 0.99894162 -1.64557661] [ 0. 0. 0. 1. ]] SLAMing on 229.231346184 meters Centerline goodness [0,1] 0.5577977278144117 Centerline is valid? [False, False] Translation: X:6.15, Y:0.20, Z:-1.65 [[ 0.9974273 0.05605906 -0.04467851 6.14655411] [-0.05540055 0.99833849 0.01584411 0.20223514] [ 0.04549248 -0.01332813 0.99887577 -1.64790324] [ 0. 0. 0. 1. ]] SLAMing on 229.261346184 meters Centerline goodness [0,1] 0.5442426482234306 Centerline is valid? [False, False] Translation: X:6.15, Y:0.20, Z:-1.65 [[ 0.9972943 0.05768162 -0.04557314 6.15102221] [-0.05695925 0.99823185 0.01699462 0.20058017] [ 0.04647284 -0.01435283 0.99881644 -1.65007107] [ 0. 0. 0. 1. ]] SLAMing on 229.291346184 meters Centerline goodness [0,1] 0.5838176246830094 Centerline is valid? [False, False] Translation: X:6.17, Y:0.20, Z:-1.65 [[ 0.99662502 0.06700557 -0.04742181 6.16812258] [-0.0662093 0.99764032 0.01816912 0.19868251] [ 0.04852734 -0.01496803 0.9987097 -1.64899189] [ 0. 0. 0. 1. ]] SLAMing on 229.321346184 meters Centerline goodness [0,1] 0.5134474327628362 Centerline is valid? [False, False] Translation: X:6.17, Y:0.20, Z:-1.65 [[ 0.9964961 0.06830667 -0.04826714 6.17198223] [-0.06746972 0.99754487 0.01876328 0.19865117] [ 0.0494303 -0.01544097 0.99865821 -1.6501961 ] [ 0. 0. 0. 1. ]] SLAMing on 229.351346184 meters Centerline goodness [0,1] 0.5134474327628362 Centerline is valid? [False, False] Translation: X:6.17, Y:0.20, Z:-1.65 [[ 0.9964961 0.06830667 -0.04826714 6.17198223] [-0.06746972 0.99754487 0.01876328 0.19865117] [ 0.0494303 -0.01544097 0.99865821 -1.6501961 ] [ 0. 0. 0. 1. ]] SLAMing on 229.381346184 meters Centerline goodness [0,1] 0.5480897991335172 Centerline is valid? [False, False] Translation: X:6.18, Y:0.20, Z:-1.65 [[ 0.99635272 0.06965993 -0.04928234 6.17657874] [-0.06876865 0.99744092 0.01955739 0.19851836] [ 0.05051859 -0.01609698 0.99859339 -1.65220604] [ 0. 0. 0. 1. ]] SLAMing on 229.411346184 meters Centerline goodness [0,1] 0.5223045397225725 Centerline is valid? [False, False] Translation: X:6.19, Y:0.20, Z:-1.66 [[ 0.99602859 0.0727416 -0.05133908 6.18872465] [-0.07178212 0.99721386 0.02029417 0.19653558] [ 0.05267227 -0.01652835 0.99847506 -1.6564328 ] [ 0. 0. 0. 1. ]] SLAMing on 229.441346184 meters Centerline goodness [0,1] 0.4707462063930751 Centerline is valid? [False, False] Translation: X:6.19, Y:0.20, Z:-1.66 [[ 0.99614731 0.07025852 -0.05248115 6.19288144] [-0.06947113 0.99744447 0.0166821 0.19840168] [ 0.05351909 -0.01297191 0.99848257 -1.65706498] [ 0. 0. 0. 1. ]] SLAMing on 229.471346184 meters Centerline goodness [0,1] 0.5500195643667667 Centerline is valid? [False, False] Translation: X:6.20, Y:0.20, Z:-1.66 [[ 0.99628941 0.06759374 -0.05327762 6.19595466] [-0.0669961 0.9976695 0.01292672 0.20020562] [ 0.05402722 -0.00930936 0.99849607 -1.65719707] [ 0. 0. 0. 1. ]] SLAMing on 229.501346184 meters Centerline goodness [0,1] 0.5290917137427433 Centerline is valid? [False, False] Translation: X:6.20, Y:0.20, Z:-1.66 [[ 9.96476013e-01 6.43311922e-02 -5.38242882e-02 6.19763141e+00] [-6.39692394e-02 9.97916328e-01 8.42249080e-03 2.02326379e-01] [ 5.42539650e-02 -4.94971127e-03 9.98514901e-01 -1.65605620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.531346184 meters Centerline goodness [0,1] 0.4656738760130078 Centerline is valid? [False, False] Translation: X:6.21, Y:0.20, Z:-1.66 [[ 0.99701366 0.06084762 -0.04755346 6.21315713] [-0.06030696 0.99809878 0.01272409 0.19838676] [ 0.04823728 -0.00981829 0.99878765 -1.65846078] [ 0. 0. 0. 1. ]] SLAMing on 229.561346184 meters Centerline goodness [0,1] 0.4619310167970253 Centerline is valid? [False, False] Translation: X:6.21, Y:0.20, Z:-1.66 [[ 9.97188168e-01 5.73364218e-02 -4.82523783e-02 6.21465521e+00] [-5.69864680e-02 9.98337924e-01 8.59838768e-03 1.98284149e-01] [ 4.86651799e-02 -5.82447785e-03 9.98798166e-01 -1.65736940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.591346184 meters Centerline goodness [0,1] 0.45698938483181994 Centerline is valid? [False, False] Translation: X:6.22, Y:0.20, Z:-1.66 [[ 9.97330727e-01 5.39866933e-02 -4.91615444e-02 6.21684499e+00] [-5.38095588e-02 9.98539093e-01 4.92045742e-03 1.97449979e-01] [ 4.93553632e-02 -2.26196237e-03 9.98778720e-01 -1.65707978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.621346184 meters Centerline goodness [0,1] 0.4374904594718364 Centerline is valid? [False, False] Translation: X:6.22, Y:0.20, Z:-1.66 [[ 9.97444139e-01 5.08309209e-02 -5.02136209e-02 6.21975385e+00] [-5.08215482e-02 9.98706677e-01 1.46423767e-03 1.96372034e-01] [ 5.02231070e-02 1.09143868e-03 9.98737427e-01 -1.65731962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.651346184 meters Centerline goodness [0,1] 0.46705873406169995 Centerline is valid? [False, False] Translation: X:6.23, Y:0.19, Z:-1.65 [[ 9.97286149e-01 5.09971467e-02 -5.31001658e-02 6.23048776e+00] [-5.11890803e-02 9.98686423e-01 -2.25993154e-03 1.91350847e-01] [ 5.29151645e-02 4.97194707e-03 9.98586634e-01 -1.65481648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68134618399998 meters Centerline goodness [0,1] 0.4642199520746626 Centerline is valid? [False, False] Translation: X:6.25, Y:0.19, Z:-1.66 [[ 9.97699852e-01 4.86651143e-02 -4.71880595e-02 6.24511033e+00] [-4.84813005e-02 9.98811411e-01 5.03273869e-03 1.89263612e-01] [ 4.73768911e-02 -2.73342415e-03 9.98873345e-01 -1.65958634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71134618399998 meters Centerline goodness [0,1] 0.45204271825096976 Centerline is valid? [False, False] Translation: X:6.25, Y:0.19, Z:-1.66 [[ 9.97792797e-01 4.58170005e-02 -4.80659687e-02 6.24790259e+00] [-4.57988506e-02 9.98949587e-01 1.47943440e-03 1.89610113e-01] [ 4.80832628e-02 7.25197131e-04 9.98843068e-01 -1.65941145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74134618399998 meters Centerline goodness [0,1] 0.44873581524985073 Centerline is valid? [False, False] Translation: X:6.26, Y:0.18, Z:-1.66 [[ 9.97673608e-01 4.70158605e-02 -4.93647733e-02 6.26354980e+00] [-4.73461098e-02 9.98863173e-01 -5.54145472e-03 1.84405315e-01] [ 4.90481178e-02 7.86579310e-03 9.98765444e-01 -1.65668208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77134618399998 meters Centerline goodness [0,1] 0.41963602242141396 Centerline is valid? [False, False] Translation: X:6.27, Y:0.18, Z:-1.66 [[ 0.99771351 0.04473745 -0.0506587 6.26859188] [-0.04519179 0.99894742 -0.00785854 0.18183079] [ 0.05025381 0.01012993 0.99868511 -1.65919208] [ 0. 0. 0. 1. ]] SLAMing on 229.80134618399998 meters Centerline goodness [0,1] 0.4215032134621989 Centerline is valid? [False, False] Translation: X:6.27, Y:0.18, Z:-1.66 [[ 0.99776661 0.0426845 -0.0513792 6.2725967 ] [-0.04325474 0.99901365 -0.01003796 0.17975092] [ 0.05090006 0.01223794 0.99862877 -1.66183334] [ 0. 0. 0. 1. ]] SLAMing on 229.83134618399998 meters Centerline goodness [0,1] 0.44341381899203214 Centerline is valid? [False, False] Translation: X:6.28, Y:0.17, Z:-1.67 [[ 0.99760219 0.04491152 -0.05265772 6.28182018] [-0.04546178 0.9989228 -0.00929831 0.1725966 ] [ 0.0521834 0.01166993 0.99856933 -1.66593556] [ 0. 0. 0. 1. ]] SLAMing on 229.86134618399998 meters Centerline goodness [0,1] 0.4382966465829713 Centerline is valid? [False, False] Translation: X:6.29, Y:0.17, Z:-1.67 [[ 0.99747077 0.0467477 -0.05354165 6.28614421] [-0.04721146 0.99885729 -0.0074291 0.16988066] [ 0.05313317 0.00993809 0.99853798 -1.66847091] [ 0. 0. 0. 1. ]] SLAMing on 229.89134618399999 meters Centerline goodness [0,1] 0.4206998898942027 Centerline is valid? [False, False] Translation: X:6.29, Y:0.17, Z:-1.67 [[ 9.97392131e-01 4.80057215e-02 -5.38923792e-02 6.28851853e+00] [-4.84083624e-02 9.98808447e-01 -6.19010698e-03 1.67659819e-01] [ 5.35310030e-02 8.78280582e-03 9.98527563e-01 -1.67006321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.921346184 meters Centerline goodness [0,1] 0.4220346197502838 Centerline is valid? [False, False] Translation: X:6.30, Y:0.16, Z:-1.67 [[ 9.97143218e-01 5.15086584e-02 -5.52472684e-02 6.29579075e+00] [-5.17704558e-02 9.98653502e-01 -3.31702821e-03 1.60379739e-01] [ 5.50020224e-02 6.16772845e-03 9.98467194e-01 -1.67304293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.951346184 meters Centerline goodness [0,1] 0.4138271604938272 Centerline is valid? [False, False] Translation: X:6.30, Y:0.16, Z:-1.67 [[ 9.97085092e-01 5.24135403e-02 -5.54449255e-02 6.29734001e+00] [-5.26077798e-02 9.98613151e-01 -2.04856166e-03 1.56398174e-01] [ 5.52606594e-02 4.95942473e-03 9.98459645e-01 -1.67437194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.981346184 meters Centerline goodness [0,1] 0.42548273366177125 Centerline is valid? [False, False] Translation: X:6.30, Y:0.15, Z:-1.68 [[ 9.97011014e-01 5.34451767e-02 -5.57911378e-02 6.29974971e+00] [-5.35674700e-02 9.98563989e-01 -6.97758909e-04 1.52995371e-01] [ 5.56737292e-02 3.68426342e-03 9.98442218e-01 -1.67629361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.011346184 meters Centerline goodness [0,1] 0.41212457003024217 Centerline is valid? [False, False] Translation: X:6.31, Y:0.15, Z:-1.68 [[ 9.97025025e-01 5.23106693e-02 -5.66100093e-02 6.30506348e+00] [-5.25082206e-02 9.98618475e-01 -2.00687369e-03 1.47790802e-01] [ 5.64268202e-02 4.97339414e-03 9.98394351e-01 -1.67956010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.041346184 meters Centerline goodness [0,1] 0.4174311926605505 Centerline is valid? [False, False] Translation: X:6.31, Y:0.14, Z:-1.68 [[ 9.97117479e-01 4.97558099e-02 -5.72808186e-02 6.30876683e+00] [-5.00852563e-02 9.98735563e-01 -4.32933413e-03 1.44643134e-01] [ 5.69929810e-02 7.18577922e-03 9.98348719e-01 -1.68241903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.071346184 meters Centerline goodness [0,1] 0.42459439107318075 Centerline is valid? [False, False] Translation: X:6.31, Y:0.14, Z:-1.68 [[ 0.99719197 0.04730408 -0.058056 6.31231786] [-0.04776558 0.99883686 -0.00658659 0.14185509] [ 0.0576769 0.00934117 0.9982916 -1.68467987] [ 0. 0. 0. 1. ]] SLAMing on 230.101346184 meters Centerline goodness [0,1] 0.4144879681563235 Centerline is valid? [False, False] Translation: X:6.33, Y:0.14, Z:-1.69 [[ 9.97584117e-01 4.47754652e-02 -5.31139047e-02 6.33003924e+00] [-4.47882735e-02 9.98996050e-01 9.49706342e-04 1.35541496e-01] [ 5.31031045e-02 1.43146813e-03 9.98588009e-01 -1.69128012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.131346184 meters Centerline goodness [0,1] 0.42514121115286807 Centerline is valid? [False, False] Translation: X:6.33, Y:0.13, Z:-1.69 [[ 9.97670145e-01 4.21856147e-02 -5.36158107e-02 6.33307803e+00] [-4.23209370e-02 9.99103100e-01 -1.39057659e-03 1.32965801e-01] [ 5.35090604e-02 3.65640809e-03 9.98560670e-01 -1.69363635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.161346184 meters Centerline goodness [0,1] 0.421173583221776 Centerline is valid? [False, False] Translation: X:6.33, Y:0.13, Z:-1.70 [[ 9.97776405e-01 3.93638050e-02 -5.37841736e-02 6.33496731e+00] [-3.96288068e-02 9.99206979e-01 -3.86916176e-03 1.29318036e-01] [ 5.35892167e-02 5.99196093e-03 9.98545088e-01 -1.69562341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.191346184 meters Centerline goodness [0,1] 0.4174429385016114 Centerline is valid? [False, False] Translation: X:6.34, Y:0.13, Z:-1.70 [[ 9.97877824e-01 3.67875900e-02 -5.37263595e-02 6.33655984e+00] [-3.71693406e-02 9.99290221e-01 -6.12328431e-03 1.25472320e-01] [ 5.34629648e-02 8.10726298e-03 9.98536922e-01 -1.69763559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.221346184 meters Centerline goodness [0,1] 0.43343004864853074 Centerline is valid? [False, False] Translation: X:6.35, Y:0.12, Z:-1.70 [[ 0.99777808 0.03677048 -0.05555924 6.34597724] [-0.03725688 0.99927572 -0.00774393 0.11553402] [ 0.05523425 0.00979669 0.99842536 -1.69989242] [ 0. 0. 0. 1. ]] SLAMing on 230.251346184 meters Centerline goodness [0,1] 0.42021748059753117 Centerline is valid? [False, False] Translation: X:6.35, Y:0.11, Z:-1.70 [[ 0.99788601 0.03385197 -0.05547579 6.34693316] [-0.03447126 0.99935318 -0.01024426 0.11151825] [ 0.05509312 0.01213492 0.99840748 -1.70121964] [ 0. 0. 0. 1. ]] SLAMing on 230.281346184 meters Centerline goodness [0,1] 0.4370875072086119 Centerline is valid? [False, False] Translation: X:6.36, Y:0.11, Z:-1.71 [[ 9.98341465e-01 3.11522771e-02 -4.84133666e-02 6.35946016e+00] [-3.13464932e-02 9.99503270e-01 -3.25738788e-03 1.06503099e-01] [ 4.82878432e-02 4.76957466e-03 9.98822074e-01 -1.70677720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.311346184 meters Centerline goodness [0,1] 0.4470893838095643 Centerline is valid? [False, False] Translation: X:6.37, Y:0.10, Z:-1.71 [[ 9.98699884e-01 2.88420745e-02 -4.20318557e-02 6.37326972e+00] [-2.86880744e-02 9.99579324e-01 4.26259442e-03 9.76157283e-02] [ 4.21371160e-02 -3.05123955e-03 9.99107178e-01 -1.71065981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.341346184 meters Centerline goodness [0,1] 0.4402009622344275 Centerline is valid? [False, False] Translation: X:6.39, Y:0.09, Z:-1.72 [[ 0.99902455 0.02656436 -0.03527446 6.38504455] [-0.0261467 0.99958307 0.01224932 0.09347233] [ 0.03558515 -0.01131506 0.99930259 -1.71548717] [ 0. 0. 0. 1. ]] SLAMing on 230.371346184 meters Centerline goodness [0,1] 0.46654294916917305 Centerline is valid? [False, False] Translation: X:6.39, Y:0.09, Z:-1.72 [[ 0.99910662 0.0234877 -0.03513237 6.38546384] [-0.02317014 0.99968716 0.00941911 0.09054186] [ 0.03534261 -0.00859667 0.99933828 -1.71626256] [ 0. 0. 0. 1. ]] SLAMing on 230.40134618399998 meters Centerline goodness [0,1] 0.46468830059777966 Centerline is valid? [False, False] Translation: X:6.39, Y:0.08, Z:-1.72 [[ 0.99910498 0.02193675 -0.03616666 6.39057137] [-0.02162335 0.99972537 0.00903377 0.08187736] [ 0.0363549 -0.00824364 0.99930494 -1.71965498] [ 0. 0. 0. 1. ]] SLAMing on 230.43134618399998 meters Centerline goodness [0,1] 0.47388537751964466 Centerline is valid? [False, False] Translation: X:6.39, Y:0.08, Z:-1.72 [[ 9.99164495e-01 1.90646667e-02 -3.61503815e-02 6.39188726e+00] [-1.88480483e-02 9.99802362e-01 6.32353330e-03 7.98038031e-02] [ 3.62637929e-02 -5.63688582e-03 9.99326355e-01 -1.72116510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46134618399998 meters Centerline goodness [0,1] 0.47900771493116234 Centerline is valid? [False, False] Translation: X:6.39, Y:0.08, Z:-1.72 [[ 9.99198138e-01 1.66488813e-02 -3.64128422e-02 6.39457459e+00] [-1.65053878e-02 9.99854796e-01 4.23781985e-03 7.62915365e-02] [ 3.64781099e-02 -3.63341362e-03 9.99327847e-01 -1.72367148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49134618399998 meters Centerline goodness [0,1] 0.49182782817046033 Centerline is valid? [False, False] Translation: X:6.41, Y:0.07, Z:-1.73 [[ 9.99155203e-01 1.57252772e-02 -3.79683566e-02 6.40633554e+00] [-1.57311005e-02 9.99876248e-01 1.45391484e-04 6.64347764e-02] [ 3.79659443e-02 4.52015375e-04 9.99278931e-01 -1.72676505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52134618399998 meters Centerline goodness [0,1] 0.4976889497560558 Centerline is valid? [False, False] Translation: X:6.41, Y:0.06, Z:-1.73 [[ 9.99141733e-01 1.66602042e-02 -3.79240688e-02 6.40800927e+00] [-1.66051434e-02 9.99860565e-01 1.76640762e-03 6.15984591e-02] [ 3.79482096e-02 -1.13515697e-03 9.99279063e-01 -1.72900661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55134618399998 meters Centerline goodness [0,1] 0.5016579313295539 Centerline is valid? [False, False] Translation: X:6.41, Y:0.06, Z:-1.73 [[ 9.99127794e-01 1.76380586e-02 -3.78490459e-02 6.40929736e+00] [-1.75333559e-02 9.99841484e-01 3.09649771e-03 5.84235698e-02] [ 3.78976624e-02 -2.43017614e-03 9.99278671e-01 -1.73064683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58134618399998 meters Centerline goodness [0,1] 0.5128292630905407 Centerline is valid? [False, False] Translation: X:6.43, Y:0.05, Z:-1.74 [[ 0.99927393 0.01928083 -0.03286126 6.42683967] [-0.01882076 0.99972128 0.01425256 0.05206965] [ 0.0331269 -0.01362374 0.9993583 -1.73716502] [ 0. 0. 0. 1. ]] SLAMing on 230.61134618399998 meters Centerline goodness [0,1] 0.48896816801511966 Centerline is valid? [False, False] Translation: X:6.43, Y:0.05, Z:-1.74 [[ 0.99925856 0.0201565 -0.03280323 6.42861902] [-0.01965422 0.99968571 0.0155628 0.04842156] [ 0.03310661 -0.01490654 0.99934066 -1.7394038 ] [ 0. 0. 0. 1. ]] SLAMing on 230.64134618399999 meters Centerline goodness [0,1] 0.5087173366298648 Centerline is valid? [False, False] Translation: X:6.43, Y:0.05, Z:-1.74 [[ 0.9993114 0.01802965 -0.03242932 6.42982267] [-0.01761093 0.99975842 0.01315134 0.04620158] [ 0.0326586 -0.01257117 0.9993875 -1.74141578] [ 0. 0. 0. 1. ]] SLAMing on 230.671346184 meters Centerline goodness [0,1] 0.5182327291381669 Centerline is valid? [False, False] Translation: X:6.43, Y:0.04, Z:-1.74 [[ 0.99937074 0.01553622 -0.03188656 6.43057779] [-0.01520599 0.99982848 0.01057312 0.04288454] [ 0.03204535 -0.0100816 0.99943557 -1.74338091] [ 0. 0. 0. 1. ]] SLAMing on 230.701346184 meters Centerline goodness [0,1] 0.5228101605988866 Centerline is valid? [False, False] Translation: X:6.44, Y:0.04, Z:-1.75 [[ 0.99928463 0.0161164 -0.03421235 6.44175805] [-0.0158213 0.99983541 0.00887869 0.03669434] [ 0.03434982 -0.00833105 0.99937515 -1.74587009] [ 0. 0. 0. 1. ]] SLAMing on 230.731346184 meters Centerline goodness [0,1] 0.539460752894928 Centerline is valid? [False, False] Translation: X:6.44, Y:0.03, Z:-1.75 [[ 0.999285 0.01623999 -0.03414308 6.44237417] [-0.01592372 0.99982794 0.00951451 0.03468088] [ 0.03429172 -0.00896403 0.99937166 -1.74666843] [ 0. 0. 0. 1. ]] SLAMing on 230.761346184 meters Centerline goodness [0,1] 0.5552457750707729 Centerline is valid? [False, False] Translation: X:6.46, Y:0.03, Z:-1.75 [[ 0.99952718 0.01345433 -0.02764766 6.45614889] [-0.01298411 0.99976918 0.01711715 0.03128299] [ 0.02787157 -0.01675008 0.99947117 -1.75213735] [ 0. 0. 0. 1. ]] SLAMing on 230.791346184 meters Centerline goodness [0,1] 0.5583004799451492 Centerline is valid? [False, False] Translation: X:6.46, Y:0.03, Z:-1.75 [[ 0.99956981 0.01023482 -0.02748521 6.45709813] [-0.00985027 0.99985221 0.0140902 0.02961962] [ 0.02762536 -0.0138134 0.9995229 -1.75325987] [ 0. 0. 0. 1. ]] SLAMing on 230.821346184 meters Centerline goodness [0,1] 0.5751172698713258 Centerline is valid? [False, False] Translation: X:6.46, Y:0.03, Z:-1.75 [[ 9.99615596e-01 6.16024559e-03 -2.70316810e-02 6.45669117e+00] [-5.87602813e-03 9.99926754e-01 1.05811035e-02 2.73733929e-02] [ 2.70948832e-02 -1.04181972e-02 9.99578575e-01 -1.75342071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.851346184 meters Centerline goodness [0,1] 0.5796767737631539 Centerline is valid? [False, False] Translation: X:6.47, Y:0.03, Z:-1.76 [[ 9.99789028e-01 -4.78025358e-04 -2.05346371e-02 6.46818427e+00] [ 7.79111504e-04 9.99892279e-01 1.46568584e-02 2.50852473e-02] [ 2.05254187e-02 -1.46697650e-02 9.99681702e-01 -1.75755582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.881346184 meters Centerline goodness [0,1] 0.5633627711566492 Centerline is valid? [False, False] Translation: X:6.48, Y:0.02, Z:-1.76 [[ 0.99979384 -0.01486143 -0.01383509 6.47882916] [ 0.01504366 0.99980021 0.01316188 0.01933929] [ 0.01363672 -0.0133673 0.99981766 -1.75939344] [ 0. 0. 0. 1. ]] SLAMing on 230.911346184 meters Centerline goodness [0,1] 0.538975787443754 Centerline is valid? [False, False] Translation: X:6.48, Y:0.02, Z:-1.76 [[ 0.99961552 -0.02355558 -0.01462688 6.47999106] [ 0.02366287 0.99969403 0.00720582 0.01625268] [ 0.01445267 -0.00754917 0.99986706 -1.75740497] [ 0. 0. 0. 1. ]] SLAMing on 230.941346184 meters Centerline goodness [0,1] 0.5030733974427619 Centerline is valid? [False, False] Translation: X:6.49, Y:0.01, Z:-1.76 [[ 0.99933647 -0.03546309 -0.00830638 6.48972285] [ 0.03552813 0.99933809 0.00781878 0.01375733] [ 0.00802361 -0.0081087 0.99993493 -1.75997581] [ 0. 0. 0. 1. ]] SLAMing on 230.971346184 meters Centerline goodness [0,1] 0.45057878774934856 Centerline is valid? [False, False] Translation: X:6.52, Y:0.01, Z:-1.76 [[ 9.98082936e-01 -6.17805929e-02 -3.68942416e-03 6.51706581e+00] [ 6.18238871e-02 9.98001394e-01 1.30776016e-02 9.77241621e-03] [ 2.87410847e-03 -1.32806256e-02 9.99907678e-01 -1.76022002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.001346184 meters Centerline goodness [0,1] 0.4379489141059969 Centerline is valid? [False, False] Translation: X:6.54, Y:0.01, Z:-1.76 [[ 9.97454513e-01 -7.12948790e-02 -1.23904525e-03 6.53729031e+00] [ 7.13049460e-02 9.97371075e-01 1.29051343e-02 9.56251033e-03] [ 3.15717908e-04 -1.29606345e-02 9.99915958e-01 -1.76102049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.031346184 meters Centerline goodness [0,1] 0.41655515197858917 Centerline is valid? [False, False] Translation: X:6.55, Y:0.01, Z:-1.77 [[ 9.96548265e-01 -8.29286866e-02 3.79320644e-03 6.55067997e+00] [ 8.28684365e-02 9.96462730e-01 1.39588653e-02 8.30504809e-03] [-4.93737921e-03 -1.35963459e-02 9.99895375e-01 -1.76566053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.061346184 meters Centerline goodness [0,1] 0.4101041379456616 Centerline is valid? [False, False] Translation: X:6.59, Y:0.01, Z:-1.77 [[ 0.99475337 -0.10199111 0.00797122 6.58959008] [ 0.1018695 0.99469341 0.01440927 0.00781934] [-0.00939854 -0.01352165 0.99986441 -1.77326677] [ 0. 0. 0. 1. ]] SLAMing on 231.091346184 meters Centerline goodness [0,1] 0.39792343461366964 Centerline is valid? [False, False] Translation: X:6.61, Y:0.01, Z:-1.78 [[ 0.9941151 -0.1079486 0.00907038 6.61366971] [ 0.10779209 0.99404041 0.01626466 0.00978351] [-0.01077207 -0.01519123 0.99982658 -1.77531221] [ 0. 0. 0. 1. ]] SLAMing on 231.121346184 meters Centerline goodness [0,1] 0.39770226811103593 Centerline is valid? [False, False] Translation: X:6.64, Y:0.01, Z:-1.78 [[ 0.99364419 -0.11214753 0.00970326 6.63792629] [ 0.11193376 0.99350796 0.02031655 0.01286972] [-0.01191872 -0.0191013 0.99974651 -1.77601608] [ 0. 0. 0. 1. ]] SLAMing on 231.15134618399998 meters Centerline goodness [0,1] 0.3963431428631963 Centerline is valid? [False, False] Translation: X:6.69, Y:0.03, Z:-1.77 [[ 0.99297941 -0.11800968 0.00810014 6.68824281] [ 0.11777286 0.9927196 0.0252457 0.02548508] [-0.01102041 -0.02411448 0.99964846 -1.77167161] [ 0. 0. 0. 1. ]] SLAMing on 231.18134618399998 meters Centerline goodness [0,1] 0.3968986016205124 Centerline is valid? [False, False] Translation: X:6.72, Y:0.03, Z:-1.77 [[ 0.99339172 -0.11438388 0.00944532 6.7196977 ] [ 0.11417476 0.99325299 0.02031283 0.03416775] [-0.01170505 -0.01910018 0.99974906 -1.7666589 ] [ 0. 0. 0. 1. ]] SLAMing on 231.21134618399998 meters Centerline goodness [0,1] 0.40141855948661653 Centerline is valid? [False, False] Translation: X:6.77, Y:0.05, Z:-1.77 [[ 0.99349526 -0.11319806 0.01238437 6.76838654] [ 0.11297767 0.99344783 0.01724707 0.05053782] [-0.01425556 -0.01573572 0.99977456 -1.76653933] [ 0. 0. 0. 1. ]] SLAMing on 231.24134618399998 meters Centerline goodness [0,1] 0.41389012290833704 Centerline is valid? [False, False] Translation: X:6.80, Y:0.06, Z:-1.76 [[ 0.99386743 -0.10975546 0.0134639 6.79953646] [ 0.10960993 0.99391257 0.01111124 0.06185575] [-0.01460146 -0.00956732 0.99984762 -1.76346764] [ 0. 0. 0. 1. ]] SLAMing on 231.27134618399998 meters Centerline goodness [0,1] 0.41389012290833704 Centerline is valid? [False, False] Translation: X:6.80, Y:0.06, Z:-1.76 [[ 0.99388496 -0.10959923 0.01344202 6.7994854 ] [ 0.10945384 0.99392973 0.01111525 0.06171824] [-0.01457865 -0.009576 0.99984787 -1.76344988] [ 0. 0. 0. 1. ]] SLAMing on 231.30134618399998 meters Centerline goodness [0,1] 0.4285198862430494 Centerline is valid? [False, False] Translation: X:6.83, Y:0.08, Z:-1.76 [[ 0.99383488 -0.11039444 0.01026161 6.83471263] [ 0.1102986 0.99385328 0.00948016 0.07546191] [-0.01124509 -0.00828988 0.99990241 -1.76002074] [ 0. 0. 0. 1. ]] SLAMing on 231.33134618399998 meters Centerline goodness [0,1] 0.39279435748628555 Centerline is valid? [False, False] Translation: X:6.87, Y:0.09, Z:-1.76 [[ 9.93797381e-01 -1.11026635e-01 6.31287820e-03 6.87090049e+00] [ 1.10971411e-01 9.93787134e-01 8.51337905e-03 9.00312574e-02] [-7.21886896e-03 -7.76002480e-03 9.99943833e-01 -1.75692108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36134618399998 meters Centerline goodness [0,1] 0.43019404696191244 Centerline is valid? [False, False] Translation: X:6.91, Y:0.11, Z:-1.75 [[ 9.93654704e-01 -1.12445276e-01 2.52771345e-03 6.90671308e+00] [ 1.12427110e-01 9.93639068e-01 6.44576982e-03 1.05830608e-01] [-3.23643121e-03 -6.12068598e-03 9.99976031e-01 -1.75283619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 12750.12 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%| | 0/7713 [00:00