+ python -m lidar_slam --no-model /working/1f219b02-5278-45ed-9747-10bbed87cf76 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/1f219b02-5278-45ed-9747-10bbed87cf76 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 0.013201008 Adjusted end_distance from 9.223372036854776e+18 to 154.573201008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.013201008 meters Centerline goodness [0,1] 0.6225069453082888 Centerline is valid? [0, False] SLAMing on 0.043201008 meters Centerline goodness [0,1] 0.5913573865398531 Centerline is valid? [False, False] Translation: X:0.00, Y:0.01, Z:-0.00 [[ 9.99998928e-01 2.81003634e-04 -1.43700344e-03 4.66905782e-03] [-2.82765230e-04 9.99999209e-01 -1.22582527e-03 1.20100576e-02] [ 1.43665784e-03 1.22623029e-03 9.99998216e-01 -1.73748982e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.073201008 meters Centerline goodness [0,1] 0.5960030618366883 Centerline is valid? [False, False] Translation: X:0.01, Y:0.03, Z:-0.00 [[ 9.99996151e-01 5.70255390e-04 -2.71511023e-03 9.40453729e-03] [-5.76481772e-04 9.99997205e-01 -2.29300332e-03 2.59865485e-02] [ 2.71379505e-03 2.29455971e-03 9.99993685e-01 -3.72288995e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.103201008 meters Centerline goodness [0,1] 0.5499492953082639 Centerline is valid? [False, False] Translation: X:0.04, Y:0.06, Z:-0.00 [[ 0.99994102 -0.00100764 -0.01081382 0.03563582] [ 0.00103135 0.99999708 0.00218676 0.05653942] [ 0.01081158 -0.00219779 0.99993914 -0.00352622] [ 0. 0. 0. 1. ]] SLAMing on 0.133201008 meters Centerline goodness [0,1] 0.5552038071591144 Centerline is valid? [False, False] Translation: X:0.04, Y:0.07, Z:-0.00 [[ 0.99991987 -0.00136805 -0.01258461 0.04130863] [ 0.00139622 0.99999654 0.00223013 0.07192476] [ 0.01258152 -0.00224752 0.99991832 -0.00433942] [ 0. 0. 0. 1. ]] SLAMing on 0.16320100799999998 meters Centerline goodness [0,1] 0.5505001346118003 Centerline is valid? [False, False] Translation: X:0.04, Y:0.09, Z:-0.00 [[ 0.99990678 -0.00154426 -0.01356616 0.04427592] [ 0.00156524 0.9999976 0.00153561 0.08641145] [ 0.01356375 -0.00155671 0.9999068 -0.00415369] [ 0. 0. 0. 1. ]] SLAMing on 0.193201008 meters Centerline goodness [0,1] 0.5492429734263996 Centerline is valid? [False, False] Translation: X:0.05, Y:0.10, Z:-0.00 [[ 9.99895941e-01 -1.57265586e-03 -1.43399322e-02 4.67776085e-02] [ 1.58340880e-03 9.99998474e-01 7.38537187e-04 9.96063299e-02] [ 1.43387489e-02 -7.61166310e-04 9.99896905e-01 -3.84215053e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22320100799999998 meters Centerline goodness [0,1] 0.5564788528089188 Centerline is valid? [False, False] Translation: X:0.06, Y:0.13, Z:-0.01 [[ 0.99995066 -0.00354238 -0.00928104 0.06391387] [ 0.00349561 0.99998114 -0.00505045 0.12530055] [ 0.00929875 0.00501776 0.99994418 -0.00553922] [ 0. 0. 0. 1. ]] SLAMing on 0.253201008 meters Centerline goodness [0,1] 0.5173672703271317 Centerline is valid? [False, False] Translation: X:0.07, Y:0.14, Z:-0.01 [[ 0.99993504 -0.00350737 -0.01084532 0.06943288] [ 0.00345472 0.99998218 -0.00486906 0.13587452] [ 0.01086221 0.00483128 0.99992933 -0.00720644] [ 0. 0. 0. 1. ]] SLAMing on 0.28320100800000003 meters Centerline goodness [0,1] 0.4705797370647844 Centerline is valid? [False, False] Translation: X:0.07, Y:0.15, Z:-0.01 [[ 0.99992112 -0.00324598 -0.01213361 0.07396578] [ 0.00319127 0.99998467 -0.00452571 0.14593892] [ 0.01214811 0.00448663 0.99991614 -0.00856102] [ 0. 0. 0. 1. ]] SLAMing on 0.313201008 meters Centerline goodness [0,1] 0.5068104661753747 Centerline is valid? [False, False] Translation: X:0.08, Y:0.16, Z:-0.01 [[ 0.99990444 -0.00314383 -0.01346227 0.07796816] [ 0.00308607 0.99998595 -0.00430941 0.15501127] [ 0.01347563 0.00426746 0.99990009 -0.00926806] [ 0. 0. 0. 1. ]] SLAMing on 0.343201008 meters Centerline goodness [0,1] 0.5773180903375729 Centerline is valid? [False, False] Translation: X:0.08, Y:0.16, Z:-0.01 [[ 0.9998867 -0.00336394 -0.01467235 0.08165078] [ 0.00330229 0.99998562 -0.00422455 0.16313497] [ 0.01468635 0.00417562 0.99988343 -0.00978557] [ 0. 0. 0. 1. ]] SLAMing on 0.373201008 meters Centerline goodness [0,1] 0.5782399135746042 Centerline is valid? [False, False] Translation: X:0.10, Y:0.18, Z:-0.01 [[ 0.9999071 -0.00844952 -0.01069572 0.10375472] [ 0.00837959 0.99994333 -0.00656636 0.18023091] [ 0.0107506 0.00647612 0.99992124 -0.00942256] [ 0. 0. 0. 1. ]] SLAMing on 0.403201008 meters Centerline goodness [0,1] 0.4872139139056433 Centerline is valid? [False, False] Translation: X:0.11, Y:0.18, Z:-0.01 [[ 9.99937241e-01 -1.04784142e-02 -3.96446457e-03 1.14851213e-01] [ 1.04794710e-02 9.99945059e-01 2.45888992e-04 1.84836040e-01] [ 3.96167023e-03 -2.87419052e-04 9.99992111e-01 -1.30775127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.433201008 meters Centerline goodness [0,1] 0.4711820051093526 Centerline is valid? [False, False] Translation: X:0.12, Y:0.19, Z:-0.01 [[ 9.99917273e-01 -1.14549669e-02 -5.85066436e-03 1.19644971e-01] [ 1.14586081e-02 9.99934174e-01 5.89217610e-04 1.92341922e-01] [ 5.84352977e-03 -6.56209336e-04 9.99982711e-01 -1.31086846e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46320100799999997 meters Centerline goodness [0,1] 0.5129994185563584 Centerline is valid? [False, False] Translation: X:0.13, Y:0.20, Z:-0.01 [[ 0.99989314 -0.0121208 -0.00817302 0.12581085] [ 0.01213138 0.99992564 0.0012457 0.1997504 ] [ 0.00815731 -0.00134472 0.99996582 -0.01378807] [ 0. 0. 0. 1. ]] SLAMing on 0.493201008 meters Centerline goodness [0,1] 0.5338864683441389 Centerline is valid? [False, False] Translation: X:0.13, Y:0.21, Z:-0.02 [[ 0.99988115 -0.01201454 -0.00966077 0.13135781] [ 0.01203149 0.99992618 0.00169834 0.20652162] [ 0.00963965 -0.00181437 0.99995189 -0.01576533] [ 0. 0. 0. 1. ]] SLAMing on 0.523201008 meters Centerline goodness [0,1] 0.5370227495464688 Centerline is valid? [False, False] Translation: X:0.16, Y:0.22, Z:-0.02 [[ 0.99984021 -0.01371933 -0.01145971 0.16100544] [ 0.0136942 0.99990366 -0.0022684 0.21944963] [ 0.01148973 0.0021111 0.99993176 -0.02201905] [ 0. 0. 0. 1. ]] SLAMing on 0.553201008 meters Centerline goodness [0,1] 0.5340659799845392 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.03 [[ 0.99982283 -0.01403375 -0.01254432 0.16727327] [ 0.01400143 0.99989843 -0.0026608 0.22539417] [ 0.01258039 0.00248469 0.99991778 -0.02543325] [ 0. 0. 0. 1. ]] SLAMing on 0.583201008 meters Centerline goodness [0,1] 0.5406929219676804 Centerline is valid? [False, False] Translation: X:0.17, Y:0.23, Z:-0.03 [[ 0.99980437 -0.01400134 -0.01397085 0.17312919] [ 0.01397532 0.99990042 -0.0019589 0.23144751] [ 0.01399688 0.00176327 0.99990048 -0.02748268] [ 0. 0. 0. 1. ]] SLAMing on 0.613201008 meters Centerline goodness [0,1] 0.5860395045195849 Centerline is valid? [False, False] Translation: X:0.21, Y:0.24, Z:-0.03 [[ 0.99984077 -0.01470957 -0.01010255 0.21493646] [ 0.0147625 0.99987758 0.00518514 0.24224956] [ 0.01002504 -0.00533345 0.99993552 -0.02970659] [ 0. 0. 0. 1. ]] SLAMing on 0.643201008 meters Centerline goodness [0,1] 0.5946870891675884 Centerline is valid? [False, False] Translation: X:0.22, Y:0.25, Z:-0.03 [[ 0.99973646 -0.01826111 -0.01391196 0.22377894] [ 0.01834273 0.99981515 0.00576243 0.24936884] [ 0.01380416 -0.0060161 0.99988662 -0.02824783] [ 0. 0. 0. 1. ]] SLAMing on 0.6732010079999999 meters Centerline goodness [0,1] 0.605286233245647 Centerline is valid? [False, False] Translation: X:0.24, Y:0.25, Z:-0.03 [[ 9.99711591e-01 -1.81032471e-02 -1.57799508e-02 2.36783035e-01] [ 1.81041282e-02 9.99836103e-01 -8.70238682e-05 2.53811585e-01] [ 1.57789399e-02 -1.98683481e-04 9.99875485e-01 -2.67779087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.703201008 meters Centerline goodness [0,1] 0.6410829555662328 Centerline is valid? [False, False] Translation: X:0.26, Y:0.26, Z:-0.03 [[ 0.99961389 -0.0247546 -0.01262046 0.26145491] [ 0.02467797 0.99967628 -0.00619173 0.26103846] [ 0.01276965 0.00587789 0.99990119 -0.03129518] [ 0. 0. 0. 1. ]] SLAMing on 0.733201008 meters Centerline goodness [0,1] 0.6488788675936366 Centerline is valid? [False, False] Translation: X:0.27, Y:0.26, Z:-0.04 [[ 0.99957344 -0.02594701 -0.01340501 0.26746746] [ 0.02585711 0.99964227 -0.0068372 0.26405027] [ 0.01357762 0.00648767 0.99988677 -0.0351536 ] [ 0. 0. 0. 1. ]] SLAMing on 0.763201008 meters Centerline goodness [0,1] 0.6542982639615142 Centerline is valid? [False, False] Translation: X:0.27, Y:0.27, Z:-0.04 [[ 0.99953896 -0.02677437 -0.01431809 0.27359206] [ 0.0266731 0.99961815 -0.00721767 0.26814758] [ 0.01450587 0.00683244 0.99987144 -0.03891796] [ 0. 0. 0. 1. ]] SLAMing on 0.793201008 meters Centerline goodness [0,1] 0.680432459614055 Centerline is valid? [False, False] Translation: X:0.28, Y:0.27, Z:-0.04 [[ 0.99951011 -0.02733925 -0.01523532 0.27973872] [ 0.02722939 0.99960203 -0.00737203 0.27248572] [ 0.0154308 0.00695357 0.99985676 -0.04277149] [ 0. 0. 0. 1. ]] SLAMing on 0.823201008 meters Centerline goodness [0,1] 0.6795403165033911 Centerline is valid? [False, False] Translation: X:0.31, Y:0.28, Z:-0.05 [[ 0.99944408 -0.02918963 -0.01610907 0.30698735] [ 0.02910257 0.99956067 -0.00561283 0.27927933] [ 0.01626583 0.0051409 0.99985449 -0.04831945] [ 0. 0. 0. 1. ]] SLAMing on 0.853201008 meters Centerline goodness [0,1] 0.6867305920777154 Centerline is valid? [False, False] Translation: X:0.31, Y:0.28, Z:-0.05 [[ 0.99942196 -0.02955849 -0.01679425 0.3107902 ] [ 0.02947637 0.99955238 -0.00511679 0.28218319] [ 0.01693797 0.0046188 0.99984587 -0.04981402] [ 0. 0. 0. 1. ]] SLAMing on 0.883201008 meters Centerline goodness [0,1] 0.6903835696657883 Centerline is valid? [False, False] Translation: X:0.32, Y:0.28, Z:-0.05 [[ 0.99946371 -0.03130123 -0.00961916 0.3224853 ] [ 0.03131553 0.99950865 0.00134036 0.28267255] [ 0.00957247 -0.00164087 0.99995284 -0.05350541] [ 0. 0. 0. 1. ]] SLAMing on 0.9132010079999999 meters Centerline goodness [0,1] 0.7136457831829695 Centerline is valid? [False, False] Translation: X:0.32, Y:0.29, Z:-0.05 [[ 9.99418148e-01 -3.26201141e-02 -9.96464937e-03 3.24186474e-01] [ 3.26285367e-02 9.99467314e-01 6.83803777e-04 2.85692069e-01] [ 9.93703558e-03 -1.00853783e-03 9.99950118e-01 -5.30842130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.943201008 meters Centerline goodness [0,1] 0.7136457831829695 Centerline is valid? [False, False] Translation: X:0.32, Y:0.29, Z:-0.05 [[ 9.99418148e-01 -3.26201141e-02 -9.96464937e-03 3.24186474e-01] [ 3.26285367e-02 9.99467314e-01 6.83803777e-04 2.85692069e-01] [ 9.93703558e-03 -1.00853783e-03 9.99950118e-01 -5.30842130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.973201008 meters Centerline goodness [0,1] 0.728275485334902 Centerline is valid? [False, False] Translation: X:0.33, Y:0.29, Z:-0.05 [[ 9.99376276e-01 -3.37989228e-02 -1.02318714e-02 3.25826010e-01] [ 3.38026361e-02 9.99428510e-01 1.90148686e-04 2.87821343e-01] [ 1.02195972e-02 -5.35894312e-04 9.99947635e-01 -5.28931472e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.003201008 meters Centerline goodness [0,1] 0.7359455212152959 Centerline is valid? [False, False] Translation: X:0.35, Y:0.29, Z:-0.06 [[ 0.99920638 -0.03927876 -0.0066179 0.34689039] [ 0.03925171 0.99922066 -0.00416924 0.29274621] [ 0.0067765 0.00390617 0.99996941 -0.05569301] [ 0. 0. 0. 1. ]] SLAMing on 1.033201008 meters Centerline goodness [0,1] 0.738578786482978 Centerline is valid? [False, False] Translation: X:0.35, Y:0.29, Z:-0.06 [[ 0.99917785 -0.03990826 -0.00713886 0.35172903] [ 0.03987643 0.99919427 -0.00454661 0.294534 ] [ 0.00731455 0.0042582 0.99996418 -0.05934742] [ 0. 0. 0. 1. ]] SLAMing on 1.063201008 meters Centerline goodness [0,1] 0.7483524581534898 Centerline is valid? [False, False] Translation: X:0.36, Y:0.30, Z:-0.06 [[ 0.99917595 -0.03981765 -0.00787297 0.35618172] [ 0.03978548 0.99919941 -0.00420165 0.29680496] [ 0.00803397 0.00388496 0.99996018 -0.06218271] [ 0. 0. 0. 1. ]] SLAMing on 1.093201008 meters Centerline goodness [0,1] 0.7589789878041101 Centerline is valid? [False, False] Translation: X:0.36, Y:0.30, Z:-0.07 [[ 0.99923249 -0.03816066 -0.00884234 0.3617991 ] [ 0.03814515 0.99927037 -0.0019163 0.29888128] [ 0.00890902 0.00157754 0.99995907 -0.06564155] [ 0. 0. 0. 1. ]] SLAMing on 1.123201008 meters Centerline goodness [0,1] 0.771330627352836 Centerline is valid? [False, False] Translation: X:0.37, Y:0.30, Z:-0.07 [[ 9.99297463e-01 -3.62205159e-02 -9.62569775e-03 3.66781237e-01] [ 3.62246582e-02 9.99343639e-01 2.56289123e-04 3.01353629e-01] [ 9.61009689e-03 -6.04796682e-04 9.99953639e-01 -6.85454384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.153201008 meters Centerline goodness [0,1] 0.7676286443071864 Centerline is valid? [False, False] Translation: X:0.39, Y:0.31, Z:-0.07 [[ 0.99950914 -0.0308646 -0.00537233 0.38850137] [ 0.03089176 0.99950999 0.00504852 0.30758106] [ 0.00521388 -0.005212 0.99997282 -0.07173792] [ 0. 0. 0. 1. ]] SLAMing on 1.183201008 meters Centerline goodness [0,1] 0.7654605889949824 Centerline is valid? [False, False] Translation: X:0.39, Y:0.31, Z:-0.08 [[ 0.99961555 -0.02701515 -0.00623913 0.39402188] [ 0.0270696 0.9995947 0.00881345 0.31015465] [ 0.0059985 -0.00897895 0.9999417 -0.07520745] [ 0. 0. 0. 1. ]] SLAMing on 1.213201008 meters Centerline goodness [0,1] 0.7608414445363361 Centerline is valid? [False, False] Translation: X:0.40, Y:0.31, Z:-0.08 [[ 0.99970156 -0.02332179 -0.00727206 0.40016674] [ 0.02341118 0.99964828 0.01245927 0.3118929 ] [ 0.00697893 -0.0126258 0.99989594 -0.07938734] [ 0. 0. 0. 1. ]] SLAMing on 1.243201008 meters Centerline goodness [0,1] 0.736839905544062 Centerline is valid? [False, False] Translation: X:0.43, Y:0.31, Z:-0.08 [[ 0.99987125 -0.0143616 -0.00715761 0.42838129] [ 0.01441957 0.9998631 0.00811514 0.31336103] [ 0.00704008 -0.00821731 0.99994145 -0.08421851] [ 0. 0. 0. 1. ]] SLAMing on 1.273201008 meters Centerline goodness [0,1] 0.7221037668798862 Centerline is valid? [False, False] Translation: X:0.43, Y:0.31, Z:-0.09 [[ 0.9998681 -0.01417366 -0.00792973 0.4340983 ] [ 0.01424108 0.99986237 0.00851078 0.31216812] [ 0.00780801 -0.00862259 0.99993234 -0.08811846] [ 0. 0. 0. 1. ]] SLAMing on 1.303201008 meters Centerline goodness [0,1] 0.7078077765037006 Centerline is valid? [False, False] Translation: X:0.44, Y:0.31, Z:-0.09 [[ 0.99983711 -0.01580764 -0.00871 0.43913625] [ 0.01587147 0.99984733 0.0073087 0.3099844 ] [ 0.00859314 -0.00744575 0.99993536 -0.09112569] [ 0. 0. 0. 1. ]] SLAMing on 1.3332010079999999 meters Centerline goodness [0,1] 0.6981573071224358 Centerline is valid? [False, False] Translation: X:0.44, Y:0.31, Z:-0.09 [[ 0.99979075 -0.018205 -0.00932916 0.44328876] [ 0.01825928 0.99981665 0.00576673 0.30689712] [ 0.00922247 -0.00593587 0.99993985 -0.09337356] [ 0. 0. 0. 1. ]] SLAMing on 1.3632010079999999 meters Centerline goodness [0,1] 0.6784545814491425 Centerline is valid? [False, False] Translation: X:0.45, Y:0.30, Z:-0.09 [[ 0.99972828 -0.02043831 -0.01120857 0.45434078] [ 0.02048287 0.99978269 0.00387505 0.29739015] [ 0.01112693 -0.00410358 0.99992967 -0.09456081] [ 0. 0. 0. 1. ]] SLAMing on 1.393201008 meters Centerline goodness [0,1] 0.622425059641116 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:-0.10 [[ 0.99968148 -0.02249652 -0.01143904 0.45769733] [ 0.022536 0.99974047 0.0033342 0.29307549] [ 0.01136107 -0.00359092 0.99992901 -0.09634038] [ 0. 0. 0. 1. ]] SLAMing on 1.423201008 meters Centerline goodness [0,1] 0.6029262218532738 Centerline is valid? [False, False] Translation: X:0.46, Y:0.29, Z:-0.10 [[ 0.9996765 -0.02258231 -0.01170225 0.46094578] [ 0.02264167 0.99973132 0.00496496 0.28732384] [ 0.01158698 -0.00522832 0.9999192 -0.09809133] [ 0. 0. 0. 1. ]] SLAMing on 1.453201008 meters Centerline goodness [0,1] 0.628344561062657 Centerline is valid? [False, False] Translation: X:0.46, Y:0.28, Z:-0.10 [[ 0.99967727 -0.02230915 -0.01215117 0.46340041] [ 0.02239431 0.99972528 0.00691848 0.28165435] [ 0.01199349 -0.00718837 0.99990224 -0.09907848] [ 0. 0. 0. 1. ]] SLAMing on 1.483201008 meters Centerline goodness [0,1] 0.6274876282309964 Centerline is valid? [False, False] Translation: X:0.47, Y:0.27, Z:-0.10 [[ 0.99968084 -0.02081903 -0.01431006 0.47448092] [ 0.02092149 0.99975628 0.0070479 0.27026722] [ 0.01415984 -0.00734504 0.99987277 -0.10000187] [ 0. 0. 0. 1. ]] SLAMing on 1.513201008 meters Centerline goodness [0,1] 0.6134505271609373 Centerline is valid? [False, False] Translation: X:0.48, Y:0.27, Z:-0.10 [[ 0.99979053 -0.01855006 -0.00864826 0.48466418] [ 0.01856601 0.99982607 0.00176752 0.26533566] [ 0.00861396 -0.00192772 0.99996104 -0.10228093] [ 0. 0. 0. 1. ]] SLAMing on 1.543201008 meters Centerline goodness [0,1] 0.6050681932985351 Centerline is valid? [False, False] Translation: X:0.49, Y:0.26, Z:-0.10 [[ 0.99975341 -0.02029366 -0.00901635 0.48810602] [ 0.02030599 0.99979299 0.0012783 0.26040856] [ 0.00898854 -0.00146107 0.99995853 -0.10406879] [ 0. 0. 0. 1. ]] SLAMing on 1.573201008 meters Centerline goodness [0,1] 0.6223185904048165 Centerline is valid? [False, False] Translation: X:0.49, Y:0.25, Z:-0.11 [[ 0.99975225 -0.02046083 -0.00876318 0.49051853] [ 0.02048874 0.99978525 0.00310753 0.25418369] [ 0.00869771 -0.0032863 0.99995677 -0.10587582] [ 0. 0. 0. 1. ]] SLAMing on 1.6032010079999999 meters Centerline goodness [0,1] 0.6440293924570655 Centerline is valid? [False, False] Translation: X:0.49, Y:0.25, Z:-0.11 [[ 0.99968029 -0.02372427 -0.00874564 0.492136 ] [ 0.0237356 0.99971756 0.00119425 0.24978069] [ 0.00871483 -0.00140146 0.99996104 -0.1066188 ] [ 0. 0. 0. 1. ]] SLAMing on 1.633201008 meters Centerline goodness [0,1] 0.6539627726775036 Centerline is valid? [False, False] Translation: X:0.51, Y:0.24, Z:-0.11 [[ 0.99958325 -0.02874405 -0.0026661 0.50883937] [ 0.02876029 0.99956669 0.00626699 0.2388383 ] [ 0.00248481 -0.00634106 0.99997681 -0.11252824] [ 0. 0. 0. 1. ]] SLAMing on 1.663201008 meters Centerline goodness [0,1] 0.6565094042240202 Centerline is valid? [False, False] Translation: X:0.51, Y:0.23, Z:-0.12 [[ 0.99953181 -0.03038378 -0.00360236 0.51415868] [ 0.03040469 0.99952027 0.00589808 0.23495412] [ 0.00342143 -0.00600484 0.99997612 -0.11607288] [ 0. 0. 0. 1. ]] SLAMing on 1.693201008 meters Centerline goodness [0,1] 0.6551905442920838 Centerline is valid? [False, False] Translation: X:0.52, Y:0.23, Z:-0.12 [[ 0.99945163 -0.03280707 -0.00448669 0.51871753] [ 0.03282668 0.99945151 0.00436899 0.23105137] [ 0.0043409 -0.00451387 0.99998039 -0.11900585] [ 0. 0. 0. 1. ]] SLAMing on 1.723201008 meters Centerline goodness [0,1] 0.6482121535851191 Centerline is valid? [False, False] Translation: X:0.54, Y:0.22, Z:-0.13 [[ 9.99395651e-01 -3.47054775e-02 -1.96546076e-03 5.36361006e-01] [ 3.47040389e-02 9.99397343e-01 -7.61348764e-04 2.18885535e-01] [ 1.99069924e-03 6.92679217e-04 9.99997779e-01 -1.26762915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.753201008 meters Centerline goodness [0,1] 0.6662878070341605 Centerline is valid? [False, False] Translation: X:0.54, Y:0.21, Z:-0.13 [[ 0.99931259 -0.0369622 -0.00285417 0.54049145] [ 0.03695634 0.99931472 -0.00207987 0.2129294 ] [ 0.00292909 0.00197296 0.99999376 -0.12917435] [ 0. 0. 0. 1. ]] SLAMing on 1.783201008 meters Centerline goodness [0,1] 0.6767380525371874 Centerline is valid? [False, False] Translation: X:0.55, Y:0.21, Z:-0.13 [[ 0.99927818 -0.03779514 -0.00382578 0.54532725] [ 0.03778796 0.99928391 -0.00193239 0.20769094] [ 0.00389608 0.00178643 0.99999081 -0.13226987] [ 0. 0. 0. 1. ]] SLAMing on 1.8132010079999998 meters Centerline goodness [0,1] 0.6776147757255937 Centerline is valid? [False, False] Translation: X:0.55, Y:0.20, Z:-0.13 [[ 9.99300583e-01 -3.71056549e-02 -4.63851505e-03 5.49188922e-01] [ 3.71062070e-02 9.99311327e-01 3.29981305e-05 2.02887807e-01] [ 4.63409621e-03 -2.05092751e-04 9.99989241e-01 -1.34630822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8432010079999999 meters Centerline goodness [0,1] 0.6720543108159234 Centerline is valid? [False, False] Translation: X:0.57, Y:0.19, Z:-0.14 [[ 0.99929563 -0.03726133 -0.00445476 0.5733458 ] [ 0.03727825 0.99929778 0.00377827 0.19377996] [ 0.00431084 -0.00394168 0.99998294 -0.13940099] [ 0. 0. 0. 1. ]] SLAMing on 1.873201008 meters Centerline goodness [0,1] 0.6550852811118131 Centerline is valid? [False, False] Translation: X:0.58, Y:0.19, Z:-0.14 [[ 0.99932144 -0.03640995 -0.00556478 0.57921398] [ 0.03643915 0.99932213 0.0052402 0.18887013] [ 0.00537021 -0.00543942 0.99997079 -0.14367928] [ 0. 0. 0. 1. ]] SLAMing on 1.903201008 meters Centerline goodness [0,1] 0.6788948515847728 Centerline is valid? [False, False] Translation: X:0.59, Y:0.18, Z:-0.15 [[ 0.9994406 -0.03202538 -0.00963695 0.592262 ] [ 0.03207731 0.99947143 0.00528357 0.18235955] [ 0.00946264 -0.00558974 0.9999396 -0.14599344] [ 0. 0. 0. 1. ]] SLAMing on 1.933201008 meters Centerline goodness [0,1] 0.6961446950076853 Centerline is valid? [False, False] Translation: X:0.60, Y:0.18, Z:-0.15 [[ 0.99945732 -0.03114983 -0.01071267 0.59772027] [ 0.03121916 0.99949229 0.00636675 0.17663145] [ 0.01050891 -0.00669774 0.99992235 -0.14961303] [ 0. 0. 0. 1. ]] SLAMing on 1.963201008 meters Centerline goodness [0,1] 0.6399404374908244 Centerline is valid? [False, False] Translation: X:0.61, Y:0.17, Z:-0.15 [[ 0.99953753 -0.02652592 -0.01486947 0.61033992] [ 0.02661441 0.99962903 0.00578548 0.16917118] [ 0.01471049 -0.00617855 0.99987271 -0.15040542] [ 0. 0. 0. 1. ]] SLAMing on 1.993201008 meters Centerline goodness [0,1] 0.7056323507753162 Centerline is valid? [False, False] Translation: X:0.62, Y:0.16, Z:-0.15 [[ 0.99957257 -0.02226918 -0.01894079 0.62172111] [ 0.02236748 0.99973734 0.00499427 0.16255443] [ 0.01882459 -0.00541579 0.99980813 -0.15068443] [ 0. 0. 0. 1. ]] SLAMing on 2.0232010079999996 meters Centerline goodness [0,1] 0.7027781274917118 Centerline is valid? [False, False] Translation: X:0.64, Y:0.15, Z:-0.16 [[ 0.9998034 -0.01629685 -0.01129446 0.63548806] [ 0.01633835 0.99986007 0.00359144 0.15361837] [ 0.01123435 -0.00377526 0.99992977 -0.15691768] [ 0. 0. 0. 1. ]] SLAMing on 2.053201008 meters Centerline goodness [0,1] 0.7010298466765945 Centerline is valid? [False, False] Translation: X:0.65, Y:0.15, Z:-0.16 [[ 0.99981078 -0.01182079 -0.015449 0.64662276] [ 0.01187585 0.99992343 0.00347708 0.14819065] [ 0.01540672 -0.00365989 0.99987461 -0.15751665] [ 0. 0. 0. 1. ]] SLAMing on 2.0832010079999996 meters Centerline goodness [0,1] 0.7057355039019888 Centerline is valid? [False, False] Translation: X:0.65, Y:0.14, Z:-0.16 [[ 0.99981432 -0.01086078 -0.01591746 0.65040796] [ 0.01094482 0.99992657 0.00520197 0.14136487] [ 0.01585979 -0.00537521 0.99985978 -0.16055866] [ 0. 0. 0. 1. ]] SLAMing on 2.113201008 meters Centerline goodness [0,1] 0.6906071570493381 Centerline is valid? [False, False] Translation: X:0.66, Y:0.13, Z:-0.17 [[ 0.99992625 -0.01149372 -0.00392199 0.65633688] [ 0.01150647 0.99992853 0.00324552 0.13289977] [ 0.00388441 -0.00329041 0.99998704 -0.16608359] [ 0. 0. 0. 1. ]] SLAMing on 2.1432010079999997 meters Centerline goodness [0,1] 0.712038045755468 Centerline is valid? [False, False] Translation: X:0.66, Y:0.11, Z:-0.17 [[ 0.99991496 -0.01252663 -0.0036272 0.66241427] [ 0.01254186 0.99991249 0.00420913 0.11395546] [ 0.00357416 -0.00425426 0.99998456 -0.17030215] [ 0. 0. 0. 1. ]] SLAMing on 2.173201008 meters Centerline goodness [0,1] 0.7046235193704853 Centerline is valid? [False, False] Translation: X:0.67, Y:0.11, Z:-0.17 [[ 0.99988484 -0.01458581 -0.0041911 0.66592745] [ 0.0146007 0.99988712 0.00354424 0.10725642] [ 0.00413893 -0.00360503 0.99998494 -0.17281802] [ 0. 0. 0. 1. ]] SLAMing on 2.2032010079999997 meters Centerline goodness [0,1] 0.7116141527312105 Centerline is valid? [False, False] Translation: X:0.67, Y:0.10, Z:-0.17 [[ 0.99984491 -0.01695789 -0.00475167 0.66902118] [ 0.01696983 0.99985292 0.00248389 0.10087192] [ 0.00470885 -0.00256414 0.99998563 -0.17479265] [ 0. 0. 0. 1. ]] SLAMing on 2.2332010079999995 meters Centerline goodness [0,1] 0.7320458155672602 Centerline is valid? [False, False] Translation: X:0.67, Y:0.09, Z:-0.18 [[ 0.9998018 -0.01920081 -0.0052615 0.67199023] [ 0.01920934 0.99981424 0.0015746 0.09371923] [ 0.00523028 -0.00167536 0.99998492 -0.17671327] [ 0. 0. 0. 1. ]] SLAMing on 2.263201008 meters Centerline goodness [0,1] 0.7398926056705877 Centerline is valid? [False, False] Translation: X:0.69, Y:0.08, Z:-0.18 [[ 0.9997621 -0.01963339 -0.00950125 0.68617626] [ 0.01961304 0.99980516 -0.00222974 0.07768471] [ 0.00954318 0.00204286 0.99995238 -0.17873464] [ 0. 0. 0. 1. ]] SLAMing on 2.2932010079999996 meters Centerline goodness [0,1] 0.7392316647264261 Centerline is valid? [False, False] Translation: X:0.70, Y:0.07, Z:-0.18 [[ 0.99976129 -0.0168104 -0.01395623 0.69729762] [ 0.01676205 0.99985312 -0.00357401 0.06899576] [ 0.01401426 0.00333922 0.99989622 -0.1786938 ] [ 0. 0. 0. 1. ]] SLAMing on 2.323201008 meters Centerline goodness [0,1] 0.7319775508936153 Centerline is valid? [False, False] Translation: X:0.70, Y:0.06, Z:-0.18 [[ 0.99975548 -0.01646306 -0.0147628 0.70177202] [ 0.01643344 0.9998627 -0.00212553 0.06099057] [ 0.01479577 0.0018824 0.99988876 -0.1815346 ] [ 0. 0. 0. 1. ]] SLAMing on 2.3532010079999996 meters Centerline goodness [0,1] 0.7490515579327073 Centerline is valid? [False, False] Translation: X:0.70, Y:0.05, Z:-0.18 [[ 9.99751561e-01 -1.61205661e-02 -1.53929611e-02 7.04809951e-01] [ 1.61097632e-02 9.99869889e-01 -8.25550637e-04 5.32012348e-02] [ 1.54042667e-02 5.77368579e-04 9.99881181e-01 -1.83197068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.383201008 meters Centerline goodness [0,1] 0.743064007095856 Centerline is valid? [False, False] Translation: X:0.72, Y:0.04, Z:-0.19 [[ 0.99985167 -0.01517107 -0.00815328 0.71923046] [ 0.01520419 0.99987634 0.0040159 0.03923221] [ 0.00809134 -0.00413927 0.9999587 -0.18702716] [ 0. 0. 0. 1. ]] SLAMing on 2.4132010079999997 meters Centerline goodness [0,1] 0.7350515251866632 Centerline is valid? [False, False] Translation: X:0.72, Y:0.03, Z:-0.19 [[ 0.99985791 -0.01435095 -0.00884403 0.72339309] [ 0.01439966 0.99988136 0.00546899 0.03474863] [ 0.0087645 -0.00559556 0.99994594 -0.19006215] [ 0. 0. 0. 1. ]] SLAMing on 2.4432010079999995 meters Centerline goodness [0,1] 0.7399469913446806 Centerline is valid? [False, False] Translation: X:0.73, Y:0.03, Z:-0.19 [[ 0.99986802 -0.01336297 -0.00924021 0.72587388] [ 0.01342986 0.99988379 0.00721493 0.02979544] [ 0.00914273 -0.00733807 0.99993128 -0.19195632] [ 0. 0. 0. 1. ]] SLAMing on 2.4732010079999998 meters Centerline goodness [0,1] 0.7236798679867986 Centerline is valid? [False, False] Translation: X:0.74, Y:0.02, Z:-0.19 [[ 0.99986546 -0.00884509 -0.01381395 0.73820857] [ 0.0089291 0.99994194 0.00603219 0.02421546] [ 0.01375979 -0.00615473 0.99988639 -0.19270775] [ 0. 0. 0. 1. ]] SLAMing on 2.5032010079999996 meters Centerline goodness [0,1] 0.7046351594304726 Centerline is valid? [False, False] Translation: X:0.74, Y:0.01, Z:-0.20 [[ 0.99985769 -0.00816762 -0.01476081 0.74429152] [ 0.00828388 0.99993501 0.00783277 0.01344289] [ 0.01469587 -0.00795393 0.99986037 -0.19706644] [ 0. 0. 0. 1. ]] SLAMing on 2.533201008 meters Centerline goodness [0,1] 0.7276489209823922 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.20 [[ 0.99983045 -0.01006304 -0.01542107 0.74723219] [ 0.01016378 0.99992743 0.00646783 0.0084952 ] [ 0.01535487 -0.00662347 0.99986017 -0.19881576] [ 0. 0. 0. 1. ]] SLAMing on 2.5632010079999996 meters Centerline goodness [0,1] 0.7350893502737321 Centerline is valid? [False, False] Translation: X:0.76, Y:0.00, Z:-0.20 [[ 9.99875548e-01 -1.31255134e-02 -8.75271624e-03 7.58483137e-01] [ 1.32317416e-02 9.99838135e-01 1.21911922e-02 8.96569062e-04] [ 8.59128382e-03 -1.23054887e-02 9.99887376e-01 -2.02679985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.593201008 meters Centerline goodness [0,1] 0.7926520009071604 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.01, Z:-0.20 [[ 0.99983612 -0.01192347 -0.01362226 0.77006549] [ 0.01202682 0.99989932 0.00753015 -0.00545576] [ 0.0135311 -0.00769275 0.99987886 -0.20170165] [ 0. 0. 0. 1. ]] SLAMing on 2.6232010079999997 meters Centerline goodness [0,1] 0.808674311169774 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.02, Z:-0.20 [[ 0.99979884 -0.01465863 -0.01368957 0.77344727] [ 0.01475839 0.99986506 0.00721479 -0.01746569] [ 0.01358197 -0.00741537 0.99988026 -0.20360705] [ 0. 0. 0. 1. ]] SLAMing on 2.6532010079999995 meters Centerline goodness [0,1] 0.808017918053672 Centerline is valid? [False, False] Translation: X:0.78, Y:-0.02, Z:-0.21 [[ 9.99875245e-01 -1.47320700e-02 -5.69739487e-03 7.84370992e-01] [ 1.47306447e-02 9.99891456e-01 -2.92039169e-04 -2.08476133e-02] [ 5.70107879e-03 2.08076436e-04 9.99983727e-01 -2.07476515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6832010079999997 meters Centerline goodness [0,1] 0.8200859291084854 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.21 [[ 0.99988289 -0.01396716 -0.00625552 0.7854564 ] [ 0.01397947 0.99990042 0.00192914 -0.02824154] [ 0.00622795 -0.00201636 0.99997857 -0.2068606 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7132010079999995 meters Centerline goodness [0,1] 0.8211830568476516 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.21 [[ 9.99836872e-01 -1.67165004e-02 -6.84010800e-03 7.87404959e-01] [ 1.67159973e-02 9.99860269e-01 -1.30717907e-04 -3.33073457e-02] [ 6.84133738e-03 1.63573562e-05 9.99976598e-01 -2.07455958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7432010079999998 meters Centerline goodness [0,1] 0.8275819621681506 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.21 [[ 9.99777033e-01 -1.97137080e-02 -7.56658413e-03 7.91740434e-01] [ 1.97067540e-02 9.99805310e-01 -9.92510141e-04 -4.44701273e-02] [ 7.58467706e-03 8.43176032e-04 9.99970880e-01 -2.09646932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7732010079999996 meters Centerline goodness [0,1] 0.8331926805672766 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.05, Z:-0.21 [[ 9.99761212e-01 -2.02358034e-02 -8.24815757e-03 7.94666826e-01] [ 2.02331036e-02 9.99795205e-01 -4.10642847e-04 -4.94589645e-02] [ 8.25477808e-03 2.43658964e-04 9.99965899e-01 -2.11144958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.803201008 meters Centerline goodness [0,1] 0.8438588177116602 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.21 [[ 9.99738280e-01 -2.10424795e-02 -8.97689136e-03 7.97942350e-01] [ 2.10425888e-02 9.99778577e-01 -8.22804544e-05 -5.36806419e-02] [ 8.97663506e-03 -1.06638114e-04 9.99959704e-01 -2.12978025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8332010079999996 meters Centerline goodness [0,1] 0.8475683921908178 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.21 [[ 9.99710935e-01 -2.19613473e-02 -9.78495438e-03 8.01474528e-01] [ 2.19631337e-02 9.99758778e-01 7.51288823e-05 -5.75556478e-02] [ 9.78094410e-03 -2.90015426e-04 9.99952123e-01 -2.14981930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.863201008 meters Centerline goodness [0,1] 0.8475683921908178 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.06, Z:-0.21 [[ 9.99710935e-01 -2.19613473e-02 -9.78495438e-03 8.01474528e-01] [ 2.19631337e-02 9.99758778e-01 7.51288823e-05 -5.75556478e-02] [ 9.78094410e-03 -2.90015426e-04 9.99952123e-01 -2.14981930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8932010079999997 meters Centerline goodness [0,1] 0.8506850726280004 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.06, Z:-0.22 [[ 9.99676286e-01 -2.31591906e-02 -1.05344646e-02 8.05056864e-01] [ 2.31598132e-02 9.99731774e-01 -6.28994800e-05 -6.14648823e-02] [ 1.05330957e-02 -1.81097115e-04 9.99944509e-01 -2.17069002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9232010079999995 meters Centerline goodness [0,1] 0.856608119781169 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:-0.22 [[ 0.99947415 -0.03031912 -0.01149695 0.81020063] [ 0.03025247 0.99952471 -0.00592775 -0.0670971 ] [ 0.01167121 0.00557682 0.99991634 -0.22004934] [ 0. 0. 0. 1. ]] SLAMing on 2.9532010079999997 meters Centerline goodness [0,1] 0.8586479727790759 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.07, Z:-0.22 [[ 0.99933794 -0.03436034 -0.01196016 0.81230494] [ 0.03424775 0.99936827 -0.00949479 -0.06937678] [ 0.01227885 0.0090789 0.99988339 -0.22105279] [ 0. 0. 0. 1. ]] SLAMing on 2.9832010079999995 meters Centerline goodness [0,1] 0.8640505705607093 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.07, Z:-0.22 [[ 0.99929281 -0.03539042 -0.01270413 0.81556113] [ 0.03526904 0.99933122 -0.0096546 -0.07300206] [ 0.01303732 0.00919971 0.99987269 -0.22277443] [ 0. 0. 0. 1. ]] SLAMing on 3.013201008 meters Centerline goodness [0,1] 0.8735292305796833 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.22 [[ 0.99925607 -0.03619992 -0.0132992 0.81867492] [ 0.03607469 0.99930357 -0.0095392 -0.07653116] [ 0.01363526 0.00905234 0.99986606 -0.22454344] [ 0. 0. 0. 1. ]] SLAMing on 3.0432010079999996 meters Centerline goodness [0,1] 0.8767145790554415 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.22 [[ 0.99937361 -0.03256912 -0.01384356 0.8199905 ] [ 0.03249898 0.99945792 -0.00526137 -0.07807237] [ 0.01400741 0.00480817 0.99989033 -0.22477711] [ 0. 0. 0. 1. ]] SLAMing on 3.073201008 meters Centerline goodness [0,1] 0.8762776569106359 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.22 [[ 9.99480665e-01 -2.87554693e-02 -1.45438128e-02 8.21550003e-01] [ 2.87435351e-02 9.99586290e-01 -1.02897672e-03 -7.90395503e-02] [ 1.45673846e-02 6.10401745e-04 9.99893704e-01 -2.24997838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1032010079999996 meters Centerline goodness [0,1] 0.8790274554900712 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.08, Z:-0.23 [[ 0.9995545 -0.02555629 -0.01541671 0.82423143] [ 0.02559482 0.99966974 0.0023067 -0.07938177] [ 0.01535267 -0.00270026 0.99987849 -0.2261146 ] [ 0. 0. 0. 1. ]] SLAMing on 3.133201008 meters Centerline goodness [0,1] 0.875457498869104 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.08, Z:-0.23 [[ 9.99591621e-01 -1.84555711e-02 -2.18170449e-02 8.37121079e-01] [ 1.84751908e-02 9.99829075e-01 6.98044386e-04 -7.85228676e-02] [ 2.18004330e-02 -1.10083339e-03 9.99761736e-01 -2.25173703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1632010079999997 meters Centerline goodness [0,1] 0.8726783918566708 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.08, Z:-0.23 [[ 0.99973969 -0.01446444 -0.01764467 0.85088749] [ 0.01435634 0.99987748 -0.00623826 -0.07552702] [ 0.01773274 0.00598332 0.99982486 -0.23005068] [ 0. 0. 0. 1. ]] SLAMing on 3.1932010079999995 meters Centerline goodness [0,1] 0.8685515263265724 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.08, Z:-0.23 [[ 0.99977423 -0.01073434 -0.01833754 0.85342358] [ 0.01069024 0.99993973 -0.0025012 -0.07609879] [ 0.01836329 0.0023046 0.99982872 -0.23137379] [ 0. 0. 0. 1. ]] SLAMing on 3.2232010079999998 meters Centerline goodness [0,1] 0.8711718395779234 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.08, Z:-0.23 [[ 0.99979974 -0.00674747 -0.01883995 0.85487859] [ 0.00677936 0.99997569 0.00162955 -0.07696789] [ 0.01882849 -0.00175695 0.99982118 -0.23184247] [ 0. 0. 0. 1. ]] SLAMing on 3.2532010079999996 meters Centerline goodness [0,1] 0.8684888055858788 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.24 [[ 0.99989984 -0.00355057 -0.01370076 0.8680209 ] [ 0.00347272 0.99997771 -0.00570185 -0.07357611] [ 0.0137207 0.0056537 0.99988988 -0.23660877] [ 0. 0. 0. 1. ]] SLAMing on 3.283201008 meters Centerline goodness [0,1] 0.8652033755620804 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.24 [[ 9.99892294e-01 -3.24180523e-04 -1.46729787e-02 8.71385287e-01] [ 2.85517115e-04 9.99996482e-01 -2.63702549e-03 -7.28493442e-02] [ 1.46737820e-02 2.63255207e-03 9.99888869e-01 -2.38100368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3132010079999996 meters Centerline goodness [0,1] 0.869137279986794 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.24 [[ 9.99887509e-01 -6.52850161e-05 -1.49988444e-02 8.71948269e-01] [ 2.74438202e-05 9.99996817e-01 -2.52313273e-03 -7.23268539e-02] [ 1.49989614e-02 2.52243727e-03 9.99884328e-01 -2.37970713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.343201008 meters Centerline goodness [0,1] 0.8676743897906083 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.07, Z:-0.24 [[ 9.99884257e-01 -5.45888493e-06 -1.52142229e-02 8.72619707e-01] [-3.65861772e-05 9.99996182e-01 -2.76325692e-03 -7.07847493e-02] [ 1.52141799e-02 2.76349372e-03 9.99880439e-01 -2.38255823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3732010079999997 meters Centerline goodness [0,1] 0.867553878647446 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.24 [[ 9.99868798e-01 2.16234177e-03 -1.60534011e-02 8.76021288e-01] [-2.16378526e-03 9.99997656e-01 -7.25495985e-05 -7.06433882e-02] [ 1.60532066e-02 1.07276192e-04 9.99871133e-01 -2.39943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4032010079999995 meters Centerline goodness [0,1] 0.871209933583598 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.24 [[ 9.99863575e-01 1.54984846e-03 -1.64447378e-02 8.77514748e-01] [-1.56266544e-03 9.99998485e-01 -7.66575804e-04 -6.87889767e-02] [ 1.64435248e-02 7.92168847e-04 9.99864482e-01 -2.40796362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4332010079999997 meters Centerline goodness [0,1] 0.8767497790293737 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.24 [[ 0.99984345 -0.00222398 -0.0175537 0.88321326] [ 0.00215299 0.99998943 -0.00406214 -0.06588933] [ 0.01756255 0.00402371 0.99983767 -0.24450591] [ 0. 0. 0. 1. ]] SLAMing on 3.4632010079999995 meters Centerline goodness [0,1] 0.8784896316929743 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.07, Z:-0.25 [[ 0.99983037 -0.00368486 -0.01804608 0.88493879] [ 0.00359616 0.99998131 -0.00494542 -0.06574337] [ 0.01806397 0.00487969 0.99982493 -0.24510502] [ 0. 0. 0. 1. ]] SLAMing on 3.4932010079999998 meters Centerline goodness [0,1] 0.8814356435643564 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.07, Z:-0.25 [[ 0.99981877 -0.00485213 -0.01840907 0.88592511] [ 0.0047536 0.99997416 -0.00539199 -0.06662181] [ 0.01843476 0.0053035 0.999816 -0.24500051] [ 0. 0. 0. 1. ]] SLAMing on 3.5232010079999996 meters Centerline goodness [0,1] 0.8749332895439057 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:-0.25 [[ 0.99975076 -0.01161833 -0.01906405 0.88825847] [ 0.0113934 0.9998647 -0.01186498 -0.0642737 ] [ 0.01919932 0.01164482 0.99974786 -0.24562763] [ 0. 0. 0. 1. ]] SLAMing on 3.553201008 meters Centerline goodness [0,1] 0.8737010064642827 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:-0.25 [[ 0.99971189 -0.01346396 -0.01987126 0.89114996] [ 0.01319873 0.99982285 -0.0134188 -0.06310018] [ 0.02004841 0.01315266 0.99971249 -0.24681346] [ 0. 0. 0. 1. ]] SLAMing on 3.5832010079999996 meters Centerline goodness [0,1] 0.8705350724042313 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:-0.25 [[ 0.99969249 -0.01437792 -0.02020417 0.89236184] [ 0.01409056 0.99979854 -0.01429427 -0.06111287] [ 0.02040563 0.01400518 0.99969369 -0.24733682] [ 0. 0. 0. 1. ]] SLAMing on 3.6132010079999994 meters Centerline goodness [0,1] 0.8679703082269241 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.06, Z:-0.25 [[ 0.99966679 -0.01562681 -0.0205454 0.89399964] [ 0.01530485 0.99975905 -0.01573541 -0.05743925] [ 0.02078635 0.01541572 0.99966509 -0.24834698] [ 0. 0. 0. 1. ]] SLAMing on 3.6432010079999997 meters Centerline goodness [0,1] 0.8584231987249809 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:-0.25 [[ 0.99962261 -0.01802648 -0.02072878 0.89501854] [ 0.01764523 0.99967443 -0.01843043 -0.05004916] [ 0.02105427 0.01805771 0.99961524 -0.24878209] [ 0. 0. 0. 1. ]] SLAMing on 3.6732010079999995 meters Centerline goodness [0,1] 0.8356675811142509 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:-0.25 [[ 0.99958802 -0.0191965 -0.02133725 0.89744163] [ 0.01877718 0.99962995 -0.01968177 -0.0480862 ] [ 0.02170718 0.01927301 0.99957859 -0.2500895 ] [ 0. 0. 0. 1. ]] SLAMing on 3.7032010079999997 meters Centerline goodness [0,1] 0.8084912498705602 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:-0.25 [[ 0.99956155 -0.01997261 -0.02185887 0.89965734] [ 0.01952836 0.99960214 -0.02035186 -0.04772166] [ 0.02225666 0.01991607 0.9995539 -0.25142536] [ 0. 0. 0. 1. ]] SLAMing on 3.7332010079999995 meters Centerline goodness [0,1] 0.7833991273633908 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.05, Z:-0.25 [[ 0.99953611 -0.02061731 -0.02241648 0.90178434] [ 0.0201496 0.99957862 -0.02089423 -0.04770398] [ 0.02283781 0.02043286 0.99953036 -0.25257828] [ 0. 0. 0. 1. ]] SLAMing on 3.763201008 meters Centerline goodness [0,1] 0.7667442730636511 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.26 [[ 0.99952287 -0.02029217 -0.02328636 0.90675777] [ 0.01980194 0.99958139 -0.02109309 -0.04358268] [ 0.02370464 0.02062191 0.99950629 -0.25637522] [ 0. 0. 0. 1. ]] SLAMing on 3.7932010079999996 meters Centerline goodness [0,1] 0.771716035495563 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.26 [[ 0.99957928 -0.01661613 -0.0237734 0.90769495] [ 0.01619499 0.99971042 -0.01779874 -0.0412188 ] [ 0.02406226 0.01740624 0.99955892 -0.25638839] [ 0. 0. 0. 1. ]] SLAMing on 3.823201008 meters Centerline goodness [0,1] 0.7953796747125246 Centerline is valid? [False, False] Translation: X:0.91, Y:-0.04, Z:-0.26 [[ 0.99964432 -0.01026067 -0.02461618 0.9100676 ] [ 0.00997994 0.99988407 -0.01149993 -0.03958717] [ 0.02473132 0.01125017 0.99963083 -0.25696891] [ 0. 0. 0. 1. ]] SLAMing on 3.8532010079999996 meters Centerline goodness [0,1] 0.8238516558481829 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:-0.26 [[ 0.99981011 -0.00479656 -0.01888753 0.92416087] [ 0.00452876 0.99988898 -0.01419595 -0.0345967 ] [ 0.01895352 0.01410772 0.99972083 -0.25972634] [ 0. 0. 0. 1. ]] SLAMing on 3.8832010079999995 meters Centerline goodness [0,1] 0.8849342392320638 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.03, Z:-0.26 [[ 9.99818675e-01 -4.47238680e-05 -1.90424754e-02 9.22457388e-01] [-1.40978830e-04 9.99952452e-01 -9.75057099e-03 -3.35739989e-02] [ 1.90420061e-02 9.75148755e-03 9.99771129e-01 -2.57052842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9132010079999997 meters Centerline goodness [0,1] 0.8920059582919563 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.25 [[ 0.99989944 0.0060151 -0.01284229 0.93379438] [-0.00611417 0.99995175 -0.00768925 -0.03046323] [ 0.01279542 0.00776699 0.99988797 -0.25233464] [ 0. 0. 0. 1. ]] SLAMing on 3.9432010079999995 meters Centerline goodness [0,1] 0.8878824062255528 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.25 [[ 0.99986219 0.00996232 -0.01328006 0.93392545] [-0.0100123 0.99994302 -0.00370228 -0.03037579] [ 0.01324242 0.00383473 0.99990496 -0.25107808] [ 0. 0. 0. 1. ]] SLAMing on 3.9732010079999998 meters Centerline goodness [0,1] 0.8960076006361402 Centerline is valid? [False, False] Translation: X:0.93, Y:-0.03, Z:-0.25 [[ 0.99984896 0.01141207 -0.01310833 0.93197863] [-0.0114518 0.99993004 -0.00296012 -0.02827914] [ 0.01307363 0.00310979 0.9999097 -0.24912583] [ 0. 0. 0. 1. ]] SLAMing on 4.003201008 meters Centerline goodness [0,1] 0.8985161741131983 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.03, Z:-0.25 [[ 0.99985117 0.01583987 -0.00683661 0.94476362] [-0.01589472 0.99984131 -0.00804429 -0.02538503] [ 0.0067081 0.00815176 0.99994427 -0.25345953] [ 0. 0. 0. 1. ]] SLAMing on 4.033201008 meters Centerline goodness [0,1] 0.901139589418686 Centerline is valid? [False, False] Translation: X:0.94, Y:-0.02, Z:-0.25 [[ 0.99974906 0.02129034 -0.00696763 0.94478514] [-0.02131762 0.99976528 -0.00386555 -0.02337266] [ 0.0068837 0.00401311 0.99996825 -0.25301135] [ 0. 0. 0. 1. ]] SLAMing on 4.063201008 meters Centerline goodness [0,1] 0.9055574988168967 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.25 [[ 0.99972719 0.02217644 -0.00733153 0.94603523] [-0.02220657 0.99974518 -0.00405463 -0.02107848] [ 0.00723974 0.00421633 0.9999649 -0.25382137] [ 0. 0. 0. 1. ]] SLAMing on 4.093201008 meters Centerline goodness [0,1] 0.907659137577002 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.25 [[ 0.99970739 0.02291274 -0.00775513 0.94755548] [-0.0229445 0.99972861 -0.0040314 -0.0196994 ] [ 0.00766065 0.00420816 0.9999618 -0.25475327] [ 0. 0. 0. 1. ]] SLAMing on 4.123201008 meters Centerline goodness [0,1] 0.906903142275838 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.25 [[ 0.99969594 0.02338518 -0.00782037 0.94768992] [-0.02341614 0.99971823 -0.00389144 -0.01917709] [ 0.00772716 0.00407338 0.99996185 -0.25473464] [ 0. 0. 0. 1. ]] SLAMing on 4.153201008 meters Centerline goodness [0,1] 0.9051763250154671 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.25 [[ 0.99969642 0.02327865 -0.00807318 0.9484026 ] [-0.02330923 0.9997214 -0.00371449 -0.02009178] [ 0.00798446 0.00390155 0.99996051 -0.25496593] [ 0. 0. 0. 1. ]] SLAMing on 4.183201008 meters Centerline goodness [0,1] 0.901595744680851 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.26 [[ 0.99970557 0.0226215 -0.00877743 0.95099338] [-0.02265669 0.99973558 -0.00393067 -0.02208685] [ 0.00868619 0.00412838 0.99995375 -0.25630689] [ 0. 0. 0. 1. ]] SLAMing on 4.213201008 meters Centerline goodness [0,1] 0.9003581295405709 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.02, Z:-0.26 [[ 0.99976864 0.01945106 -0.00918269 0.95188075] [-0.01951595 0.99978482 -0.0070309 -0.02438374] [ 0.00904396 0.00720849 0.99993312 -0.25664075] [ 0. 0. 0. 1. ]] SLAMing on 4.243201008 meters Centerline goodness [0,1] 0.892359117381675 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.03, Z:-0.26 [[ 0.99980762 0.01724477 -0.00934595 0.95184103] [-0.0173223 0.99981568 -0.00827923 -0.03195831] [ 0.00920146 0.00843953 0.99992205 -0.25635737] [ 0. 0. 0. 1. ]] SLAMing on 4.273201008 meters Centerline goodness [0,1] 0.8924490758784795 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.03, Z:-0.26 [[ 0.99979657 0.0176886 -0.00969214 0.95284201] [-0.01775992 0.99981546 -0.00732333 -0.03475322] [ 0.00956081 0.00749398 0.99992621 -0.25673569] [ 0. 0. 0. 1. ]] SLAMing on 4.303201008 meters Centerline goodness [0,1] 0.8933210028771065 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:-0.26 [[ 0.99978657 0.01817253 -0.0098269 0.95357723] [-0.01823694 0.99981253 -0.00650571 -0.03690694] [ 0.00970683 0.00668353 0.99993055 -0.2573206 ] [ 0. 0. 0. 1. ]] SLAMing on 4.3332010080000005 meters Centerline goodness [0,1] 0.8909467552711461 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:-0.26 [[ 0.99977538 0.01864472 -0.0100776 0.95467827] [-0.01870283 0.99980882 -0.00570278 -0.03930824] [ 0.00996935 0.00588998 0.99993296 -0.25807781] [ 0. 0. 0. 1. ]] SLAMing on 4.363201008 meters Centerline goodness [0,1] 0.906848693572003 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.04, Z:-0.26 [[ 0.99974968 0.02003035 -0.00996842 0.95445146] [-0.02006692 0.99979222 -0.00358189 -0.04493128] [ 0.00989461 0.00378103 0.9999439 -0.25804088] [ 0. 0. 0. 1. ]] SLAMing on 4.393201008 meters Centerline goodness [0,1] 0.9074066424322538 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:-0.26 [[ 0.99973895 0.02054607 -0.00999493 0.95423479] [-0.02057338 0.99978487 -0.00263711 -0.04783197] [ 0.0099386 0.00284205 0.99994657 -0.25761453] [ 0. 0. 0. 1. ]] SLAMing on 4.423201008 meters Centerline goodness [0,1] 0.9085342046318559 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.05, Z:-0.26 [[ 0.99972934 0.02087079 -0.01027943 0.95461062] [-0.02088873 0.99978046 -0.00164016 -0.05120925] [ 0.01024294 0.00185444 0.99994582 -0.2571793 ] [ 0. 0. 0. 1. ]] SLAMing on 4.453201008 meters Centerline goodness [0,1] 0.9117154725247474 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.06, Z:-0.26 [[ 0.99978748 0.01787393 -0.01027176 0.95349082] [-0.0179098 0.99983379 -0.00341068 -0.05740853] [ 0.01020909 0.00359392 0.99994143 -0.25575152] [ 0. 0. 0. 1. ]] SLAMing on 4.483201008 meters Centerline goodness [0,1] 0.9090308188052549 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:-0.26 [[ 0.99979491 0.01715936 -0.01075618 0.95563148] [-0.01719408 0.99984723 -0.00314325 -0.0610856 ] [ 0.0107006 0.00332755 0.99993721 -0.25699052] [ 0. 0. 0. 1. ]] SLAMing on 4.513201008 meters Centerline goodness [0,1] 0.9063477270373822 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.06, Z:-0.26 [[ 0.99984888 0.01359731 -0.0108317 0.95578395] [-0.01366641 0.99988656 -0.00633143 -0.06311007] [ 0.01074438 0.00647851 0.99992129 -0.25717656] [ 0. 0. 0. 1. ]] SLAMing on 4.5432010080000005 meters Centerline goodness [0,1] 0.8992332055342557 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.26 [[ 0.99988777 0.01015821 -0.01101216 0.95608918] [-0.01026129 0.99990368 -0.00934503 -0.06574573] [ 0.01091617 0.00945698 0.9998957 -0.25727345] [ 0. 0. 0. 1. ]] SLAMing on 4.573201008 meters Centerline goodness [0,1] 0.9180618024321172 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.07, Z:-0.26 [[ 0.99991223 0.00644317 -0.01157674 0.95918252] [-0.0065791 0.99990941 -0.01174215 -0.07216022] [ 0.01150004 0.01181728 0.99986404 -0.25973537] [ 0. 0. 0. 1. ]] SLAMing on 4.603201008 meters Centerline goodness [0,1] 0.9143503622361073 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.26 [[ 0.9999076 0.00585748 -0.01226733 0.96230049] [-0.00600034 0.99991423 -0.01164134 -0.07563266] [ 0.01219809 0.01171387 0.99985699 -0.26181854] [ 0. 0. 0. 1. ]] SLAMing on 4.633201008 meters Centerline goodness [0,1] 0.878844438914121 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.08, Z:-0.26 [[ 0.99990096 0.00617105 -0.01264849 0.963554 ] [-0.00630247 0.99992629 -0.01037709 -0.08033494] [ 0.01258352 0.01045578 0.99986616 -0.26230441] [ 0. 0. 0. 1. ]] SLAMing on 4.663201008 meters Centerline goodness [0,1] 0.9106019579254322 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.26 [[ 0.99989801 0.00657889 -0.01267619 0.96327638] [-0.00669222 0.99993783 -0.00891946 -0.08533617] [ 0.01261672 0.00900339 0.99987987 -0.2616338 ] [ 0. 0. 0. 1. ]] SLAMing on 4.693201008 meters Centerline goodness [0,1] 0.9136544097777962 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.26 [[ 0.99989177 0.00731194 -0.01276624 0.96238036] [-0.00740258 0.99994763 -0.00706684 -0.09035426] [ 0.0127139 0.00716058 0.99989354 -0.25989638] [ 0. 0. 0. 1. ]] SLAMing on 4.723201008 meters Centerline goodness [0,1] 0.9162011173184358 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.09, Z:-0.26 [[ 0.99991287 0.00552562 -0.01198847 0.95769899] [-0.00561887 0.99995411 -0.00775899 -0.09498152] [ 0.01194505 0.00782567 0.99989803 -0.2554478 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7532010080000004 meters Centerline goodness [0,1] 0.9158933077516631 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.26 [[ 0.99991292 0.00556855 -0.01196451 0.95750273] [-0.00565365 0.99995888 -0.0070904 -0.09660184] [ 0.01192453 0.00715743 0.99990328 -0.25509713] [ 0. 0. 0. 1. ]] SLAMing on 4.783201008 meters Centerline goodness [0,1] 0.9158933077516631 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.26 [[ 0.99991292 0.00556855 -0.01196451 0.95750273] [-0.00565365 0.99995888 -0.0070904 -0.09660184] [ 0.01192453 0.00715743 0.99990328 -0.25509713] [ 0. 0. 0. 1. ]] SLAMing on 4.813201008 meters Centerline goodness [0,1] 0.9124013884506154 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.25 [[ 0.99991075 0.00572013 -0.01207328 0.95766589] [-0.00579671 0.99996324 -0.00631796 -0.09884368] [ 0.0120367 0.00638738 0.99990716 -0.2549604 ] [ 0. 0. 0. 1. ]] SLAMing on 4.843201008 meters Centerline goodness [0,1] 0.9124020478528889 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.10, Z:-0.26 [[ 0.99990561 0.00587463 -0.01242034 0.95863898] [-0.00594458 0.99996664 -0.00560238 -0.10160852] [ 0.01238702 0.00567568 0.99990717 -0.25525183] [ 0. 0. 0. 1. ]] SLAMing on 4.873201008 meters Centerline goodness [0,1] 0.9169944760629394 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.25 [[ 0.99989746 0.00765048 -0.01210569 0.95662187] [-0.00769016 0.9999652 -0.00323458 -0.10730846] [ 0.01208052 0.00332734 0.99992149 -0.25336035] [ 0. 0. 0. 1. ]] SLAMing on 4.903201008 meters Centerline goodness [0,1] 0.9190272414153011 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.25 [[ 0.99988869 0.00846901 -0.01228323 0.95666212] [-0.00850183 0.99996042 -0.0026223 -0.10849412] [ 0.01226053 0.00272643 0.99992112 -0.25300755] [ 0. 0. 0. 1. ]] SLAMing on 4.933201008 meters Centerline goodness [0,1] 0.9160847958734353 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.25 [[ 0.99987853 0.00978387 -0.01213266 0.95593303] [-0.00980635 0.99995031 -0.00179515 -0.10863117] [ 0.0121145 0.00191391 0.99992479 -0.25263101] [ 0. 0. 0. 1. ]] SLAMing on 4.963201008 meters Centerline goodness [0,1] 0.9217608008209253 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.25 [[ 0.99980343 0.01554304 -0.01230918 0.95611439] [-0.01550651 0.99987509 0.0030572 -0.1085759 ] [ 0.01235517 -0.00286573 0.99991957 -0.2527699 ] [ 0. 0. 0. 1. ]] SLAMing on 4.993201008 meters Centerline goodness [0,1] 0.9253162436122979 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.11, Z:-0.25 [[ 0.99978845 0.01648142 -0.01230501 0.95565463] [-0.01643869 0.99985852 0.00356562 -0.10887612] [ 0.01236204 -0.00336259 0.99991793 -0.25232627] [ 0. 0. 0. 1. ]] SLAMing on 5.023201008 meters Centerline goodness [0,1] 0.9237268542844532 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.25 [[ 0.99977648 0.01727015 -0.01219582 0.95460102] [-0.01721762 0.99984209 0.00439938 -0.11050697] [ 0.01226987 -0.00418841 0.99991595 -0.25120645] [ 0. 0. 0. 1. ]] SLAMing on 5.053201008 meters Centerline goodness [0,1] 0.9241052719805548 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.11, Z:-0.25 [[ 9.99821260e-01 1.44068178e-02 -1.22430240e-02 9.53674931e-01] [-1.43935859e-02 9.99895725e-01 1.16819947e-03 -1.10904534e-01] [ 1.22585773e-02 -9.91769649e-04 9.99924369e-01 -2.50241770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.083201008 meters Centerline goodness [0,1] 0.9254909349746682 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 9.99864831e-01 1.14610119e-02 -1.17883486e-02 9.51765549e-01] [-1.14692625e-02 9.99934026e-01 -6.32528882e-04 -1.16622129e-01] [ 1.17803215e-02 7.67647048e-04 9.99930315e-01 -2.48826118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.113201008 meters Centerline goodness [0,1] 0.9254759860084201 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99990118 0.00787247 -0.01164706 0.95137566] [-0.0079157 0.99996194 -0.0036698 -0.11944806] [ 0.01161772 0.00376164 0.99992544 -0.24876948] [ 0. 0. 0. 1. ]] SLAMing on 5.143201008 meters Centerline goodness [0,1] 0.9255156528112239 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.12, Z:-0.25 [[ 0.99992271 0.00428323 -0.0116713 0.95128873] [-0.00435894 0.99996957 -0.00646933 -0.12314008] [ 0.01164323 0.0065197 0.99991096 -0.24860537] [ 0. 0. 0. 1. ]] SLAMing on 5.173201008 meters Centerline goodness [0,1] 0.9230236946949046 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.13, Z:-0.25 [[ 9.99930701e-01 6.28728225e-04 -1.17557236e-02 9.51662652e-01] [-7.39007341e-04 9.99955744e-01 -9.37889770e-03 -1.26749430e-01] [ 1.17493065e-02 9.38693532e-03 9.99886913e-01 -2.48905511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.203201008 meters Centerline goodness [0,1] 0.9188312367875756 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.14, Z:-0.25 [[ 0.99991683 -0.00377754 -0.01233122 0.9552152 ] [ 0.0036311 0.99992288 -0.01187622 -0.13512801] [ 0.01237514 0.01183045 0.99985344 -0.25173364] [ 0. 0. 0. 1. ]] SLAMing on 5.233201008 meters Centerline goodness [0,1] 0.9171013646037641 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.14, Z:-0.25 [[ 0.9999083 -0.00448686 -0.012777 0.95742379] [ 0.00434092 0.99992528 -0.01142734 -0.13992021] [ 0.01282732 0.01137083 0.99985307 -0.25310987] [ 0. 0. 0. 1. ]] SLAMing on 5.263201008 meters Centerline goodness [0,1] 0.9200242667670808 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.14, Z:-0.25 [[ 0.99990597 -0.00435212 -0.01300445 0.95811163] [ 0.00422026 0.99993958 -0.01015011 -0.14483088] [ 0.01304784 0.01009427 0.99986392 -0.2531402 ] [ 0. 0. 0. 1. ]] SLAMing on 5.293201008 meters Centerline goodness [0,1] 0.9207661712371782 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.15, Z:-0.25 [[ 0.99990589 -0.00396406 -0.01313383 0.95839211] [ 0.00384836 0.99995367 -0.0088227 -0.14926995] [ 0.0131682 0.00877133 0.99987482 -0.25296296] [ 0. 0. 0. 1. ]] SLAMing on 5.323201008 meters Centerline goodness [0,1] 0.9207579492750595 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.15, Z:-0.25 [[ 0.9999053 -0.00338744 -0.01333845 0.95855242] [ 0.00328757 0.99996645 -0.00750285 -0.15322731] [ 0.01336342 0.00745829 0.99988289 -0.25246676] [ 0. 0. 0. 1. ]] SLAMing on 5.353201008 meters Centerline goodness [0,1] 0.9195011574315447 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.16, Z:-0.25 [[ 0.99990843 -0.00197494 -0.01338766 0.95799373] [ 0.00190588 0.99998482 -0.00516984 -0.15919862] [ 0.01339767 0.00514385 0.99989702 -0.25149016] [ 0. 0. 0. 1. ]] SLAMing on 5.383201008 meters Centerline goodness [0,1] 0.9209811541515189 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.16, Z:-0.25 [[ 0.9999106 -0.00120573 -0.01331672 0.95761786] [ 0.0011516 0.99999105 -0.00407178 -0.16156182] [ 0.01332151 0.00405608 0.99990304 -0.25113962] [ 0. 0. 0. 1. ]] SLAMing on 5.413201008 meters Centerline goodness [0,1] 0.9211069203359104 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.16, Z:-0.25 [[ 9.99908477e-01 -7.27714255e-04 -1.35095907e-02 9.57926739e-01] [ 6.83554921e-04 9.99994410e-01 -3.27306935e-03 -1.63674881e-01] [ 1.35118971e-02 3.26353524e-03 9.99903384e-01 -2.51023213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.443201008 meters Centerline goodness [0,1] 0.9311597986591199 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.17, Z:-0.25 [[ 9.99911932e-01 3.93277497e-04 -1.32654703e-02 9.56314533e-01] [-4.05032204e-04 9.99999528e-01 -8.83438165e-04 -1.70121714e-01] [ 1.32651165e-02 8.88733305e-04 9.99911620e-01 -2.49190394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.473201008 meters Centerline goodness [0,1] 0.9306591455134232 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.17, Z:-0.25 [[ 9.99910781e-01 7.48237393e-04 -1.33368326e-02 9.56082502e-01] [-7.43873857e-04 9.99999668e-01 3.32137068e-04 -1.74054319e-01] [ 1.33370767e-02 -3.22186514e-04 9.99911005e-01 -2.48445244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5032010080000004 meters Centerline goodness [0,1] 0.9321057246649129 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.25 [[ 9.99909168e-01 6.53724207e-04 -1.34620841e-02 9.56503226e-01] [-6.37818458e-04 9.99999094e-01 1.18578156e-03 -1.77775167e-01] [ 1.34628471e-02 -1.17708749e-03 9.99908679e-01 -2.48317185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.533201008 meters Centerline goodness [0,1] 0.9305912596401028 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.18, Z:-0.25 [[ 9.99906612e-01 5.08743817e-04 -1.36568359e-02 9.57188823e-01] [-4.80930195e-04 9.99997804e-01 2.03981497e-03 -1.81684840e-01] [ 1.36578437e-02 -2.03305649e-03 9.99904660e-01 -2.48379049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.563201008 meters Centerline goodness [0,1] 0.9308003737153535 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.25 [[ 9.99893369e-01 -4.02056171e-03 -1.40387136e-02 9.58680701e-01] [ 4.00738594e-03 9.99991503e-01 -9.66535529e-04 -1.87351394e-01] [ 1.40424804e-02 9.10173923e-04 9.99900985e-01 -2.48849389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.593201008 meters Centerline goodness [0,1] 0.9294429265647486 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.25 [[ 9.99891520e-01 -4.24023656e-03 -1.41056280e-02 9.58982216e-01] [ 4.24093184e-03 9.99991007e-01 1.93787613e-05 -1.91108356e-01] [ 1.41054190e-02 -7.91976659e-05 9.99900510e-01 -2.48554016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.623201008 meters Centerline goodness [0,1] 0.9252057934771283 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.19, Z:-0.25 [[ 9.99891101e-01 -4.40343438e-03 -1.40853231e-02 9.59166973e-01] [ 4.41409274e-03 9.99989995e-01 7.25700621e-04 -1.94148251e-01] [ 1.40819866e-02 -7.87795515e-04 9.99900534e-01 -2.48456329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.653201008 meters Centerline goodness [0,1] 0.9245881788003424 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.25 [[ 0.99989203 -0.00426554 -0.01406209 0.9588078 ] [ 0.00429118 0.99998918 0.00179352 -0.19746919] [ 0.01405429 -0.00185367 0.99989952 -0.24765983] [ 0. 0. 0. 1. ]] SLAMing on 5.683201008 meters Centerline goodness [0,1] 0.9350801312187885 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.25 [[ 9.99882560e-01 -7.07032846e-03 -1.35968993e-02 9.56434617e-01] [ 7.06745257e-03 9.99974992e-01 -2.59549546e-04 -2.01827556e-01] [ 1.35983943e-02 1.63423624e-04 9.99907524e-01 -2.45508539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.713201008 meters Centerline goodness [0,1] 0.9365976145637163 Centerline is valid? [False, False] Translation: X:0.96, Y:-0.20, Z:-0.25 [[ 9.99885220e-01 -6.68877782e-03 -1.35943979e-02 9.56333151e-01] [ 6.69358709e-03 9.99977550e-01 3.08298800e-04 -2.03107881e-01] [ 1.35920306e-02 -3.99258699e-04 9.99907544e-01 -2.45348108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.743201008 meters Centerline goodness [0,1] 0.936359470044163 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.25 [[ 0.99995706 -0.00342868 -0.00860943 0.97107258] [ 0.00337542 0.99997512 -0.00619352 -0.20135072] [ 0.00863046 0.00616419 0.99994376 -0.25121949] [ 0. 0. 0. 1. ]] SLAMing on 5.773201008 meters Centerline goodness [0,1] 0.9363075958625013 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.25 [[ 9.99961256e-01 3.26271269e-04 -8.79656953e-03 9.72415579e-01] [-3.46372034e-04 9.99997332e-01 -2.28364202e-03 -2.01373554e-01] [ 8.79580098e-03 2.28660043e-03 9.99958702e-01 -2.52491748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.803201008 meters Centerline goodness [0,1] 0.9367914304768257 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.25 [[ 9.99957417e-01 1.17007161e-04 -9.22773255e-03 9.74008450e-01] [-1.42855750e-04 9.99996068e-01 -2.80057601e-03 -2.00495983e-01] [ 9.22736859e-03 2.80177498e-03 9.99953502e-01 -2.53623871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.833201008 meters Centerline goodness [0,1] 0.9381300403225806 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.20, Z:-0.25 [[ 9.99955468e-01 4.13378914e-04 -9.42816585e-03 9.74444690e-01] [-4.36947564e-04 9.99996785e-01 -2.49788997e-03 -2.01262304e-01] [ 9.42710296e-03 2.50189835e-03 9.99952434e-01 -2.53759525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.863201008 meters Centerline goodness [0,1] 0.9346114487396362 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.25 [[ 9.99951728e-01 3.41708812e-04 -9.81958034e-03 9.75488745e-01] [-3.66071756e-04 9.99996859e-01 -2.47936729e-03 -2.02346851e-01] [ 9.81870228e-03 2.48284227e-03 9.99948713e-01 -2.54082419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.893201008 meters Centerline goodness [0,1] 0.9394154192553058 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.25 [[ 9.99951005e-01 9.90370093e-04 -9.84925083e-03 9.75496744e-01] [-1.00912003e-03 9.99997688e-01 -1.89890388e-03 -2.03661017e-01] [ 9.84734744e-03 1.90874992e-03 9.99949692e-01 -2.54136644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.923201008 meters Centerline goodness [0,1] 0.9366566088341296 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.25 [[ 0.99995056 0.00150686 -0.00982862 0.97540523] [-0.001524 0.99999733 -0.00173603 -0.2028729 ] [ 0.00982598 0.00175092 0.99995019 -0.25431323] [ 0. 0. 0. 1. ]] SLAMing on 5.953201008 meters Centerline goodness [0,1] 0.9423734467517305 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.26 [[ 0.99993475 0.00472102 -0.01040185 0.97770366] [-0.0047041 0.99998757 0.0016506 -0.2034378 ] [ 0.01040951 -0.00160156 0.99994454 -0.25565727] [ 0. 0. 0. 1. ]] SLAMing on 5.983201008 meters Centerline goodness [0,1] 0.9391516720243811 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.26 [[ 0.99993265 0.00516144 -0.0103951 0.97763341] [-0.00514385 0.99998529 0.001718 -0.2027532 ] [ 0.01040381 -0.00166441 0.99994449 -0.25577719] [ 0. 0. 0. 1. ]] SLAMing on 6.013201008 meters Centerline goodness [0,1] 0.9404593492552218 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.26 [[ 0.99992957 0.00540173 -0.01056746 0.97780943] [-0.00538401 0.99998405 0.00170509 -0.20250697] [ 0.01057651 -0.00164807 0.99994271 -0.25568285] [ 0. 0. 0. 1. ]] SLAMing on 6.043201008 meters Centerline goodness [0,1] 0.9403220451527224 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.20, Z:-0.26 [[ 0.99992734 0.00549763 -0.01072783 0.9780503 ] [-0.00547728 0.99998314 0.001926 -0.2036882 ] [ 0.01073823 -0.0018671 0.9999406 -0.25551379] [ 0. 0. 0. 1. ]] SLAMing on 6.073201008 meters Centerline goodness [0,1] 0.9420259697020144 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.25 [[ 9.99941732e-01 2.63561584e-03 -1.04683435e-02 9.75982801e-01] [-2.64164224e-03 9.99996353e-01 -5.61893290e-04 -2.06676908e-01] [ 1.04668244e-02 5.89514168e-04 9.99945048e-01 -2.53495003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.103201008 meters Centerline goodness [0,1] 0.9438792528352234 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.25 [[ 9.99942007e-01 2.60970650e-03 -1.04485299e-02 9.75709643e-01] [-2.60987720e-03 9.99996594e-01 -2.70243635e-06 -2.08605432e-01] [ 1.04484872e-02 2.99716595e-05 9.99945413e-01 -2.52912084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.133201008 meters Centerline goodness [0,1] 0.9429647509259644 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.25 [[ 9.99940150e-01 1.97096543e-03 -1.07615760e-02 9.76910909e-01] [-1.97246795e-03 9.99998046e-01 -1.29006647e-04 -2.09884540e-01] [ 1.07613007e-02 1.50225789e-04 9.99942084e-01 -2.53451717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.163201008 meters Centerline goodness [0,1] 0.9430179241350563 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.21, Z:-0.25 [[ 0.99994081 -0.00179343 -0.01073127 0.97627039] [ 0.00176131 0.99999395 -0.00300116 -0.21348499] [ 0.01073658 0.00298208 0.99993791 -0.25239138] [ 0. 0. 0. 1. ]] SLAMing on 6.193201008 meters Centerline goodness [0,1] 0.9385620099415569 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 0.99994015 -0.00168243 -0.01081071 0.97607992] [ 0.00165986 0.99999643 -0.00209583 -0.21681202] [ 0.0108142 0.00207776 0.99993937 -0.2515677 ] [ 0. 0. 0. 1. ]] SLAMing on 6.223201008 meters Centerline goodness [0,1] 0.9442519619302053 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 0.99993929 -0.00151159 -0.01091431 0.97595706] [ 0.00149672 0.99999794 -0.0013705 -0.21894139] [ 0.01091636 0.00135408 0.9999395 -0.25091966] [ 0. 0. 0. 1. ]] SLAMing on 6.2532010080000004 meters Centerline goodness [0,1] 0.944129672291057 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 0.99993452 -0.00202565 -0.01126269 0.97760483] [ 0.00200596 0.99999644 -0.00175883 -0.21894529] [ 0.01126621 0.00173612 0.99993503 -0.25216205] [ 0. 0. 0. 1. ]] SLAMing on 6.283201008 meters Centerline goodness [0,1] 0.9419982537108644 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 0.99993183 -0.00193805 -0.01151421 0.97910164] [ 0.0019217 0.99999713 -0.00143044 -0.22017268] [ 0.01151695 0.00140821 0.99993269 -0.25365488] [ 0. 0. 0. 1. ]] SLAMing on 6.313201008 meters Centerline goodness [0,1] 0.9398173249363974 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 9.99929541e-01 -1.65972417e-03 -1.17540707e-02 9.79909448e-01] [ 1.65043888e-03 9.99998318e-01 -7.99620352e-04 -2.22392827e-01] [ 1.17553781e-02 7.80164637e-04 9.99930599e-01 -2.54090426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.343201008 meters Centerline goodness [0,1] 0.9414171781702785 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.22, Z:-0.25 [[ 9.99927938e-01 -1.36423240e-03 -1.19271889e-02 9.80486887e-01] [ 1.36126442e-03 9.99999040e-01 -2.56956506e-04 -2.24366847e-01] [ 1.19275280e-02 2.40701931e-04 9.99928836e-01 -2.54408829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.373201008 meters Centerline goodness [0,1] 0.9402379608138344 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.25 [[ 9.99927295e-01 -9.75367649e-04 -1.20188672e-02 9.80747232e-01] [ 9.78984769e-04 9.99999477e-01 2.95073829e-04 -2.25694038e-01] [ 1.20185731e-02 -3.06818663e-04 9.99927727e-01 -2.54592751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.403201008 meters Centerline goodness [0,1] 0.9411593115806143 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.26 [[ 9.99924690e-01 -7.97368675e-04 -1.22465958e-02 9.81573808e-01] [ 8.03064753e-04 9.99999572e-01 4.60204728e-04 -2.26386515e-01] [ 1.22462236e-02 -4.70004879e-04 9.99924902e-01 -2.55252383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.433201008 meters Centerline goodness [0,1] 0.940914972659348 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.26 [[ 9.99924687e-01 -4.86208466e-04 -1.22631157e-02 9.81514900e-01] [ 4.95472187e-04 9.99999594e-01 7.52386518e-04 -2.26828189e-01] [ 1.22627449e-02 -7.58405886e-04 9.99924522e-01 -2.55169553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.463201008 meters Centerline goodness [0,1] 0.9402538587780709 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99999194e-01 -1.20557147e-03 -3.98361187e-04 9.87397314e-01] [ 1.20600182e-03 9.99998688e-01 1.08185145e-03 -2.26707673e-01] [ 3.97056415e-04 -1.08233101e-03 9.99999335e-01 -2.61450009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.493201008 meters Centerline goodness [0,1] 0.9409038722471559 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99999909e-01 -3.88486202e-04 -1.77062142e-04 9.85586520e-01] [ 3.88852075e-04 9.99997780e-01 2.07102699e-03 -2.27901928e-01] [ 1.76257183e-04 -2.07109565e-03 9.99997840e-01 -2.59457652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.523201008 meters Centerline goodness [0,1] 0.9417688723595412 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.26 [[ 9.99999989e-01 -1.17467914e-04 -8.85040269e-05 9.84211484e-01] [ 1.17717456e-04 9.99996003e-01 2.82484615e-03 -2.30439014e-01] [ 8.81718444e-05 -2.82485654e-03 9.99996006e-01 -2.57267417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.553201008 meters Centerline goodness [0,1] 0.9418803418803419 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.23, Z:-0.26 [[ 9.99999917e-01 -2.72758989e-04 -3.02204177e-04 9.84482491e-01] [ 2.73693970e-04 9.99995163e-01 3.09816124e-03 -2.32245814e-01] [ 3.01357664e-04 -3.09824369e-03 9.99995155e-01 -2.56764038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.583201008 meters Centerline goodness [0,1] 0.942601270436322 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99999213e-01 -1.03204973e-03 -7.13650620e-04 9.86165466e-01] [ 1.03390378e-03 9.99996079e-01 2.60250783e-03 -2.32825889e-01] [ 7.10961905e-04 -2.60324363e-03 9.99996359e-01 -2.57750734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.613201008 meters Centerline goodness [0,1] 0.943413535715775 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99998464e-01 -1.51328692e-03 -8.84250462e-04 9.87420375e-01] [ 1.51522990e-03 9.99996430e-01 2.20079655e-03 -2.32543394e-01] [ 8.80916869e-04 -2.20213302e-03 9.99997187e-01 -2.58945859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.643201008 meters Centerline goodness [0,1] 0.9433629054040016 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.9999967 -0.00218587 -0.00135011 0.98981859] [ 0.00218776 0.99999662 0.00140371 -0.23182206] [ 0.00134704 -0.00140666 0.9999981 -0.26101084] [ 0. 0. 0. 1. ]] SLAMing on 6.673201008 meters Centerline goodness [0,1] 0.938127159928384 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999753 -0.0017392 -0.00138522 0.99021802] [ 0.00174158 0.999997 0.00171988 -0.23270629] [ 0.00138222 -0.00172229 0.99999756 -0.26168998] [ 0. 0. 0. 1. ]] SLAMing on 6.703201008 meters Centerline goodness [0,1] 0.938127159928384 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999753 -0.0017392 -0.00138522 0.99021802] [ 0.00174158 0.999997 0.00171988 -0.23270629] [ 0.00138222 -0.00172229 0.99999756 -0.26168998] [ 0. 0. 0. 1. ]] SLAMing on 6.733201008 meters Centerline goodness [0,1] 0.9434280362160474 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999744 -0.00159654 -0.00160249 0.99093042] [ 0.0015992 0.99999734 0.00166497 -0.23293528] [ 0.00159983 -0.00166753 0.99999733 -0.26219232] [ 0. 0. 0. 1. ]] SLAMing on 6.763201008 meters Centerline goodness [0,1] 0.945002191563524 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.9999978 -0.0012409 -0.00169147 0.99115915] [ 0.00124404 0.99999749 0.00186183 -0.2333459 ] [ 0.00168916 -0.00186393 0.99999684 -0.2623931 ] [ 0. 0. 0. 1. ]] SLAMing on 6.793201008 meters Centerline goodness [0,1] 0.9416988014590932 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999768 -0.00108639 -0.00185828 0.99181982] [ 0.00108968 0.99999785 0.00176629 -0.23310159] [ 0.00185636 -0.00176831 0.99999671 -0.26300875] [ 0. 0. 0. 1. ]] SLAMing on 6.823201008 meters Centerline goodness [0,1] 0.9390669761411873 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99997444e-01 3.19395437e-04 -2.23834852e-03 9.92238703e-01] [-3.14737587e-04 9.99997785e-01 2.08097502e-03 -2.31811771e-01] [ 2.23900822e-03 -2.08026521e-03 9.99995330e-01 -2.63659792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.853201008 meters Centerline goodness [0,1] 0.937909522912349 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99996770e-01 7.93129587e-04 -2.41483577e-03 9.92841574e-01] [-7.88385431e-04 9.99997759e-01 1.96490617e-03 -2.31111281e-01] [ 2.41638878e-03 -1.96299601e-03 9.99995154e-01 -2.64384604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.883201008 meters Centerline goodness [0,1] 0.9378283896087585 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999297 0.00261778 -0.00268592 0.99237232] [-0.00260962 0.99999199 0.00303536 -0.23241996] [ 0.00269384 -0.00302833 0.99999179 -0.26381113] [ 0. 0. 0. 1. ]] SLAMing on 6.913201008 meters Centerline goodness [0,1] 0.9358380296389063 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 0.99999098 0.00329642 -0.00267764 0.99163259] [-0.00328643 0.99998766 0.0037244 -0.23392047] [ 0.00268989 -0.00371557 0.99998948 -0.26282392] [ 0. 0. 0. 1. ]] SLAMing on 6.943201008 meters Centerline goodness [0,1] 0.9347184734166092 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.23, Z:-0.26 [[ 9.99996084e-01 1.19781160e-03 -2.52944884e-03 9.89578327e-01] [-1.19563880e-03 9.99998915e-01 8.60337379e-04 -2.33357362e-01] [ 2.53047661e-03 -8.57309703e-04 9.99996431e-01 -2.61200121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.973201008 meters Centerline goodness [0,1] 0.9384621855808867 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:-0.26 [[ 0.99999572 0.00158303 -0.0024601 0.988879 ] [-0.00157914 0.9999975 0.0015806 -0.23511942] [ 0.0024626 -0.00157671 0.99999572 -0.26027548] [ 0. 0. 0. 1. ]] SLAMing on 7.003201008 meters Centerline goodness [0,1] 0.9371915751454191 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:-0.26 [[ 0.99999533 0.00151316 -0.00265366 0.9893879 ] [-0.00150767 0.99999672 0.00206993 -0.2375752 ] [ 0.00265678 -0.00206592 0.99999434 -0.26015339] [ 0. 0. 0. 1. ]] SLAMing on 7.033201008 meters Centerline goodness [0,1] 0.9411117226197028 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.24, Z:-0.26 [[ 9.99994022e-01 -2.09325294e-03 -2.75219250e-03 9.89428909e-01] [ 2.09154033e-03 9.99997617e-01 -6.25004246e-04 -2.42846038e-01] [ 2.75349424e-03 6.19244188e-04 9.99996017e-01 -2.59753339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.063201008 meters Centerline goodness [0,1] 0.9400445528800254 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:-0.26 [[ 9.99992765e-01 -2.25764178e-03 -3.06168842e-03 9.90243708e-01] [ 2.25843967e-03 9.99997417e-01 2.57170362e-04 -2.46980395e-01] [ 3.06109991e-03 -2.64083139e-04 9.99995280e-01 -2.59489792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.093201008 meters Centerline goodness [0,1] 0.9393126928396638 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.25, Z:-0.26 [[ 9.99990417e-01 -2.69810357e-03 -3.44751430e-03 9.91764291e-01] [ 2.70100600e-03 9.99996002e-01 8.37513298e-04 -2.51381645e-01] [ 3.44524081e-03 -8.46817030e-04 9.99993707e-01 -2.59968613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.123201008 meters Centerline goodness [0,1] 0.9415641570597454 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.26, Z:-0.26 [[ 0.99996589 -0.00728115 -0.00389932 0.99415743] [ 0.00727296 0.99997132 -0.00211094 -0.25792055] [ 0.00391458 0.00208251 0.99999017 -0.26125197] [ 0. 0. 0. 1. ]] SLAMing on 7.153201008 meters Centerline goodness [0,1] 0.9423052101708042 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.26, Z:-0.26 [[ 0.99995709 -0.00818482 -0.00433903 0.99642096] [ 0.00817798 0.99996529 -0.00159124 -0.26261856] [ 0.0043519 0.00155569 0.99998932 -0.26234683] [ 0. 0. 0. 1. ]] SLAMing on 7.183201008 meters Centerline goodness [0,1] 0.9410310351558264 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.26 [[ 0.99994619 -0.00925771 -0.00468001 0.99858256] [ 0.00925238 0.99995652 -0.00116034 -0.26727232] [ 0.00469055 0.00111698 0.99998838 -0.26345918] [ 0. 0. 0. 1. ]] SLAMing on 7.2132010079999995 meters Centerline goodness [0,1] 0.9378133310083264 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.27, Z:-0.27 [[ 0.99984221 -0.01697512 -0.00523396 1.00357613] [ 0.01693646 0.99982959 -0.00734483 -0.2746116 ] [ 0.00535775 0.00725503 0.99995933 -0.26774107] [ 0. 0. 0. 1. ]] SLAMing on 7.243201008 meters Centerline goodness [0,1] 0.9368163912057924 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.28, Z:-0.27 [[ 0.99982021 -0.01805715 -0.00578733 1.00657342] [ 0.01801583 0.9998124 -0.00711324 -0.28001573] [ 0.00591469 0.0070077 0.99995795 -0.26956208] [ 0. 0. 0. 1. ]] SLAMing on 7.273201008 meters Centerline goodness [0,1] 0.9341748129840899 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.28, Z:-0.27 [[ 0.99980238 -0.01874066 -0.00663207 1.01010342] [ 0.01869557 0.99980212 -0.00679674 -0.2844452 ] [ 0.00675813 0.00667141 0.99995491 -0.27158111] [ 0. 0. 0. 1. ]] SLAMing on 7.303201008 meters Centerline goodness [0,1] 0.9311730999866744 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.29, Z:-0.27 [[ 0.99979232 -0.01902612 -0.00730198 1.01261743] [ 0.01898093 0.99980057 -0.00620852 -0.28840633] [ 0.00741865 0.00606863 0.99995407 -0.27280196] [ 0. 0. 0. 1. ]] SLAMing on 7.333201008 meters Centerline goodness [0,1] 0.9274038676253852 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.29, Z:-0.28 [[ 0.99978375 -0.01919312 -0.00800529 1.01591655] [ 0.01914984 0.99980178 -0.0054485 -0.29331581] [ 0.00810828 0.00529402 0.99995311 -0.27504024] [ 0. 0. 0. 1. ]] SLAMing on 7.363201008 meters Centerline goodness [0,1] 0.9292407253443589 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.30, Z:-0.27 [[ 9.99838296e-01 -1.58981255e-02 -8.40420909e-03 1.01734925e+00] [ 1.58922738e-02 9.99873419e-01 -7.62613940e-04 -2.97650377e-01] [ 8.41526940e-03 6.28928631e-04 9.99964393e-01 -2.74942406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.393201008 meters Centerline goodness [0,1] 0.9285247232305923 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.30, Z:-0.27 [[ 9.99842785e-01 -1.55443866e-02 -8.53096747e-03 1.01718326e+00] [ 1.55452538e-02 9.99879165e-01 3.53534985e-05 -2.99274853e-01] [ 8.52938708e-03 -1.67963995e-04 9.99963610e-01 -2.74134070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.423201008 meters Centerline goodness [0,1] 0.9259099866361639 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.30, Z:-0.28 [[ 0.9998932 -0.0144612 -0.00211256 1.02796244] [ 0.01444262 0.99985908 -0.0085575 -0.30181361] [ 0.00223602 0.00852608 0.99996115 -0.27730636] [ 0. 0. 0. 1. ]] SLAMing on 7.453201008 meters Centerline goodness [0,1] 0.9280325410171341 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.31, Z:-0.28 [[ 0.99990186 -0.01384219 -0.00216107 1.02707704] [ 0.01382721 0.99988128 -0.0067998 -0.30627033] [ 0.00225493 0.00676925 0.99997455 -0.27527215] [ 0. 0. 0. 1. ]] SLAMing on 7.483201008 meters Centerline goodness [0,1] 0.9264474314794952 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.31, Z:-0.27 [[ 0.99990915 -0.01329967 -0.00219293 1.0261125 ] [ 0.01328813 0.99989821 -0.0051961 -0.31013454] [ 0.00226181 0.00516649 0.9999841 -0.27317805] [ 0. 0. 0. 1. ]] SLAMing on 7.513201008 meters Centerline goodness [0,1] 0.9277571762120588 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.31, Z:-0.27 [[ 0.99991381 -0.01293289 -0.00225997 1.02572148] [ 0.0129235 0.99990799 -0.00412244 -0.31279843] [ 0.00231308 0.00409288 0.99998895 -0.27205821] [ 0. 0. 0. 1. ]] SLAMing on 7.543201008 meters Centerline goodness [0,1] 0.926559633027523 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.27 [[ 0.99991759 -0.0125999 -0.00246078 1.02604051] [ 0.01259283 0.99991659 -0.00286869 -0.31631121] [ 0.00249672 0.00283747 0.99999286 -0.27144587] [ 0. 0. 0. 1. ]] SLAMing on 7.573201008 meters Centerline goodness [0,1] 0.9263267189663129 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.27 [[ 0.99991981 -0.01239171 -0.00261092 1.02655338] [ 0.01238567 0.99992061 -0.0023158 -0.31791532] [ 0.00263941 0.00228328 0.99999391 -0.27162736] [ 0. 0. 0. 1. ]] SLAMing on 7.603201008 meters Centerline goodness [0,1] 0.9238328104816387 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.27 [[ 0.99995167 -0.00929859 -0.00319415 1.02893138] [ 0.00930466 0.99995492 0.00189188 -0.32150837] [ 0.00317641 -0.00192151 0.99999311 -0.27249318] [ 0. 0. 0. 1. ]] SLAMing on 7.633201008 meters Centerline goodness [0,1] 0.9236355226641998 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.32, Z:-0.27 [[ 0.99995146 -0.00924451 -0.00340737 1.02992631] [ 0.00925137 0.9999552 0.00200486 -0.32220192] [ 0.00338868 -0.00203629 0.99999219 -0.27332893] [ 0. 0. 0. 1. ]] SLAMing on 7.663201008 meters Centerline goodness [0,1] 0.9202012437984767 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99995725 -0.00857437 -0.00346057 1.03036402] [ 0.00858444 0.99995894 0.00290383 -0.32592181] [ 0.00343552 -0.00293341 0.9999898 -0.27394313] [ 0. 0. 0. 1. ]] SLAMing on 7.693201008 meters Centerline goodness [0,1] 0.9179076693968726 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99995588 -0.00855156 -0.00388713 1.0316697 ] [ 0.00856356 0.99995859 0.00308063 -0.32781074] [ 0.00386062 -0.00311378 0.9999877 -0.27452928] [ 0. 0. 0. 1. ]] SLAMing on 7.723201008 meters Centerline goodness [0,1] 0.9171248742366457 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99996168 -0.00791419 -0.00374219 1.03104133] [ 0.00792869 0.99996106 0.00387592 -0.3297915 ] [ 0.00371137 -0.00390544 0.99998549 -0.2740816 ] [ 0. 0. 0. 1. ]] SLAMing on 7.753201008 meters Centerline goodness [0,1] 0.9163190701598163 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99996519 -0.00752448 -0.00360548 1.03067429] [ 0.00753942 0.99996297 0.00414822 -0.33036765] [ 0.00357413 -0.00417526 0.9999849 -0.27409822] [ 0. 0. 0. 1. ]] SLAMing on 7.783201008 meters Centerline goodness [0,1] 0.9118950998099974 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99998381 -0.00478063 -0.00308539 1.02755502] [ 0.00479789 0.99997274 0.00561246 -0.33043717] [ 0.00305848 -0.00562717 0.99997949 -0.27279727] [ 0. 0. 0. 1. ]] SLAMing on 7.813201008 meters Centerline goodness [0,1] 0.9090565770528949 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.33, Z:-0.27 [[ 0.99999078 -0.00336154 -0.0026703 1.02547644] [ 0.0033788 0.99997324 0.00648795 -0.33126765] [ 0.00264842 -0.00649691 0.99997539 -0.27159079] [ 0. 0. 0. 1. ]] SLAMing on 7.843201008 meters Centerline goodness [0,1] 0.9057071374622356 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.33, Z:-0.27 [[ 0.99999459 -0.00215817 -0.00248346 1.02391349] [ 0.00217666 0.99996977 0.00746527 -0.33304599] [ 0.00246728 -0.00747064 0.99996905 -0.27029105] [ 0. 0. 0. 1. ]] SLAMing on 7.873201008 meters Centerline goodness [0,1] 0.9052891697951813 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.33, Z:-0.27 [[ 0.99999046 -0.00389286 -0.00197968 1.02131093] [ 0.00390164 0.99998248 0.00445099 -0.33275118] [ 0.00196232 -0.00445867 0.99998813 -0.26955191] [ 0. 0. 0. 1. ]] SLAMing on 7.903201008 meters Centerline goodness [0,1] 0.9004465458366168 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:-0.27 [[ 0.99999514 -0.00264834 -0.00164505 1.02018288] [ 0.00265774 0.99998003 0.00573364 -0.33610905] [ 0.00162984 -0.00573798 0.99998221 -0.26924197] [ 0. 0. 0. 1. ]] SLAMing on 7.933201008 meters Centerline goodness [0,1] 0.9022395001073242 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:-0.27 [[ 0.99999455 -0.00270701 -0.00188796 1.02144659] [ 0.00271767 0.99998025 0.00566646 -0.33696785] [ 0.00187258 -0.00567156 0.99998216 -0.27042727] [ 0. 0. 0. 1. ]] SLAMing on 7.9632010079999995 meters Centerline goodness [0,1] 0.9016220619594125 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:-0.27 [[ 0.99999464 -0.00270912 -0.00183636 1.0222408 ] [ 0.00271936 0.99998066 0.00559396 -0.33784952] [ 0.00182117 -0.00559892 0.99998267 -0.27182757] [ 0. 0. 0. 1. ]] SLAMing on 7.993201008 meters Centerline goodness [0,1] 0.9005499651768775 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:-0.27 [[ 0.99999422 -0.00268757 -0.00208142 1.02320389] [ 0.00269982 0.99997891 0.00590631 -0.33980701] [ 0.0020655 -0.00591189 0.99998039 -0.2723642 ] [ 0. 0. 0. 1. ]] SLAMing on 8.023201008 meters Centerline goodness [0,1] 0.9001860487592722 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.34, Z:-0.27 [[ 0.99999249 -0.00293419 -0.00253088 1.02463822] [ 0.00294999 0.99997604 0.00626159 -0.34296758] [ 0.00251244 -0.00626901 0.99997719 -0.27271697] [ 0. 0. 0. 1. ]] SLAMing on 8.053201007999998 meters Centerline goodness [0,1] 0.900529307022465 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:-0.27 [[ 0.99997569 -0.00636986 -0.00283546 1.02479139] [ 0.00638073 0.99997226 0.0038413 -0.35000713] [ 0.00281092 -0.0038593 0.9999886 -0.27159625] [ 0. 0. 0. 1. ]] SLAMing on 8.083201008 meters Centerline goodness [0,1] 0.9019281181860499 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.35, Z:-0.27 [[ 0.99997688 -0.00611676 -0.00297156 1.02460841] [ 0.0061319 0.99996813 0.00511295 -0.3544388 ] [ 0.00294019 -0.00513106 0.99998251 -0.2702824 ] [ 0. 0. 0. 1. ]] SLAMing on 8.113201007999999 meters Centerline goodness [0,1] 0.9018285629906726 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.36, Z:-0.27 [[ 0.99997649 -0.00610816 -0.00311529 1.02478656] [ 0.00612658 0.9999636 0.00593876 -0.35762925] [ 0.0030789 -0.00595771 0.99997751 -0.26954802] [ 0. 0. 0. 1. ]] SLAMing on 8.143201007999998 meters Centerline goodness [0,1] 0.8990802945040779 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.36, Z:-0.27 [[ 0.99997108 -0.00683129 -0.00334261 1.02636057] [ 0.00685321 0.99995481 0.00658944 -0.36233345] [ 0.00329744 -0.00661215 0.9999727 -0.26996837] [ 0. 0. 0. 1. ]] SLAMing on 8.173201008 meters Centerline goodness [0,1] 0.9006496082515124 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.36, Z:-0.27 [[ 0.99996393 -0.00750029 -0.00398676 1.0288219 ] [ 0.00752634 0.99995017 0.00655889 -0.36448515] [ 0.00393737 -0.00658866 0.99997054 -0.2711086 ] [ 0. 0. 0. 1. ]] SLAMing on 8.203201007999999 meters Centerline goodness [0,1] 0.8995694053811882 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.37, Z:-0.27 [[ 0.99996076 -0.00772156 -0.00434195 1.03011289] [ 0.00775225 0.99994477 0.00709615 -0.3675493 ] [ 0.00428692 -0.00712953 0.9999654 -0.27141399] [ 0. 0. 0. 1. ]] SLAMing on 8.233201007999998 meters Centerline goodness [0,1] 0.8976145872361684 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.37, Z:-0.27 [[ 0.99995171 -0.00851562 -0.00490553 1.03240997] [ 0.00855054 0.99993794 0.00714165 -0.37039573] [ 0.00484441 -0.00718325 0.99996247 -0.27229986] [ 0. 0. 0. 1. ]] SLAMing on 8.263201008 meters Centerline goodness [0,1] 0.8989337738399159 Centerline is valid? [False, False] Translation: X:1.03, Y:-0.37, Z:-0.27 [[ 0.99989648 -0.01336497 -0.00532985 1.03492699] [ 0.01338196 0.99990545 0.00316466 -0.37425172] [ 0.00528705 -0.00323566 0.99998079 -0.27388907] [ 0. 0. 0. 1. ]] SLAMing on 8.293201007999999 meters Centerline goodness [0,1] 0.8971281611658808 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.38, Z:-0.27 [[ 0.99988967 -0.01368845 -0.0057683 1.03615208] [ 0.01371202 0.99989771 0.00406698 -0.37766818] [ 0.00571204 -0.00414563 0.99997509 -0.27334676] [ 0. 0. 0. 1. ]] SLAMing on 8.323201008 meters Centerline goodness [0,1] 0.8952780374422071 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.38, Z:-0.27 [[ 0.99987503 -0.01446819 -0.00637134 1.03831144] [ 0.01449535 0.99988595 0.00423815 -0.38014681] [ 0.00630929 -0.00432997 0.99997072 -0.27375228] [ 0. 0. 0. 1. ]] SLAMing on 8.353201008 meters Centerline goodness [0,1] 0.8982142857142857 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.38, Z:-0.27 [[ 9.99790546e-01 -1.92474826e-02 -6.95695162e-03 1.04081900e+00] [ 1.92494742e-02 9.99814688e-01 2.19420061e-04 -3.82302128e-01] [ 6.95143913e-03 -3.53291763e-04 9.99975776e-01 -2.74850402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.383201007999999 meters Centerline goodness [0,1] 0.9016188336227148 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.38, Z:-0.28 [[ 9.99766844e-01 -2.00934316e-02 -7.90638026e-03 1.04367614e+00] [ 2.00963448e-02 9.99798006e-01 2.89182976e-04 -3.83957291e-01] [ 7.89897254e-03 -4.48004895e-04 9.99968702e-01 -2.75279822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.413201008 meters Centerline goodness [0,1] 0.906299373120636 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99741345e-01 -2.09502200e-02 -8.85053361e-03 1.04664051e+00] [ 2.09528545e-02 9.99780444e-01 2.05035933e-04 -3.85256166e-01] [ 8.84429488e-03 -3.90426842e-04 9.99960812e-01 -2.75920156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.443201007999999 meters Centerline goodness [0,1] 0.9066118025915608 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99727173e-01 -2.13765701e-02 -9.41393462e-03 1.04858193e+00] [ 2.13807370e-02 9.99771347e-01 3.42201065e-04 -3.86658915e-01] [ 9.40446702e-03 -5.43384564e-04 9.99955629e-01 -2.76527464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.473201007999998 meters Centerline goodness [0,1] 0.9120601088706586 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99710270e-01 -2.18365225e-02 -1.01263373e-02 1.05130463e+00] [ 2.18408178e-02 9.99761412e-01 3.13766987e-04 -3.88321109e-01] [ 1.01170697e-02 -5.34843566e-04 9.99948678e-01 -2.77964447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.503201008 meters Centerline goodness [0,1] 0.9125559397884458 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99700827e-01 -2.20632813e-02 -1.05578710e-02 1.05260550e+00] [ 2.20670841e-02 9.99756463e-01 2.43809040e-04 -3.88296763e-01] [ 1.05499205e-02 -4.76717526e-04 9.99944234e-01 -2.78371707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.533201007999999 meters Centerline goodness [0,1] 0.9105659992867696 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99701003e-01 -2.19941276e-02 -1.06846598e-02 1.05273811e+00] [ 2.19996000e-02 9.99757902e-01 3.94893152e-04 -3.87833948e-01] [ 1.06733877e-02 -6.29833321e-04 9.99942839e-01 -2.78075797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.563201007999998 meters Centerline goodness [0,1] 0.9105659992867696 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 9.99701003e-01 -2.19941276e-02 -1.06846598e-02 1.05273811e+00] [ 2.19996000e-02 9.99757902e-01 3.94893152e-04 -3.87833948e-01] [ 1.06733877e-02 -6.29833321e-04 9.99942839e-01 -2.78075797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.593201008 meters Centerline goodness [0,1] 0.9129584476277558 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 0.99977232 -0.01803755 -0.01140004 1.05336873] [ 0.01809691 0.9998231 0.00512542 -0.38930882] [ 0.01130557 -0.00533056 0.99992188 -0.27625139] [ 0. 0. 0. 1. ]] SLAMing on 8.623201007999999 meters Centerline goodness [0,1] 0.9131396886763659 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 0.99976876 -0.01801784 -0.01173823 1.05392044] [ 0.01807807 0.99982385 0.005045 -0.38892702] [ 0.01164526 -0.00525604 0.99991838 -0.27609997] [ 0. 0. 0. 1. ]] SLAMing on 8.653201008 meters Centerline goodness [0,1] 0.9131674046928284 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.39, Z:-0.28 [[ 0.99976371 -0.01808128 -0.01206612 1.05442417] [ 0.01814367 0.99982248 0.00508127 -0.38899881] [ 0.0119721 -0.00529899 0.99991429 -0.27569787] [ 0. 0. 0. 1. ]] SLAMing on 8.683201008 meters Centerline goodness [0,1] 0.9122329603255341 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.39, Z:-0.28 [[ 0.99983214 -0.01731583 -0.00598831 1.0664977 ] [ 0.01728753 0.9998393 -0.00474498 -0.3872323 ] [ 0.00606951 0.00464066 0.99997081 -0.28028876] [ 0. 0. 0. 1. ]] SLAMing on 8.713201007999999 meters Centerline goodness [0,1] 0.9145031561800041 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.39, Z:-0.28 [[ 0.99982719 -0.01747615 -0.00633887 1.06691195] [ 0.01745113 0.99983979 -0.00398035 -0.38889109] [ 0.00640741 0.00386904 0.99997199 -0.27900132] [ 0. 0. 0. 1. ]] SLAMing on 8.743201008 meters Centerline goodness [0,1] 0.9165194233182249 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.39, Z:-0.28 [[ 0.99981668 -0.01792654 -0.00672692 1.0675496 ] [ 0.01790601 0.99983487 -0.00309996 -0.39103892] [ 0.00678138 0.00297894 0.99997257 -0.27748702] [ 0. 0. 0. 1. ]] SLAMing on 8.773201008 meters Centerline goodness [0,1] 0.9202697138151122 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.39, Z:-0.28 [[ 0.99980808 -0.01833128 -0.00691117 1.06771282] [ 0.01831752 0.99983012 -0.00204886 -0.39353185] [ 0.00694755 0.00192187 0.99997402 -0.27573261] [ 0. 0. 0. 1. ]] SLAMing on 8.803201007999998 meters Centerline goodness [0,1] 0.9240509606919053 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.40, Z:-0.27 [[ 0.99970499 -0.02323729 -0.00706863 1.06841418] [ 0.02320165 0.99971788 -0.00508335 -0.39650375] [ 0.00718476 0.00491785 0.9999621 -0.27408871] [ 0. 0. 0. 1. ]] SLAMing on 8.833201008 meters Centerline goodness [0,1] 0.9259691732835124 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.40, Z:-0.27 [[ 0.99966909 -0.02452725 -0.00775444 1.0711375 ] [ 0.02449107 0.99968888 -0.00472595 -0.399721 ] [ 0.00786794 0.00453448 0.99995877 -0.27419373] [ 0. 0. 0. 1. ]] SLAMing on 8.863201007999999 meters Centerline goodness [0,1] 0.9276717309440332 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.40, Z:-0.27 [[ 0.99962856 -0.02587965 -0.00854345 1.07433122] [ 0.02584124 0.99965559 -0.00457527 -0.40262295] [ 0.00865892 0.0043528 0.99995304 -0.27484319] [ 0. 0. 0. 1. ]] SLAMing on 8.893201007999998 meters Centerline goodness [0,1] 0.9239788888022256 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.40, Z:-0.28 [[ 0.99958843 -0.02712579 -0.00933607 1.07743761] [ 0.02708389 0.99962264 -0.00458601 -0.40451082] [ 0.00945694 0.00433126 0.9999459 -0.27559218] [ 0. 0. 0. 1. ]] SLAMing on 8.923201008 meters Centerline goodness [0,1] 0.9097804909728536 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.40, Z:-0.28 [[ 0.99952473 -0.02915805 -0.01000609 1.08123169] [ 0.02910145 0.99955989 -0.00575642 -0.40321879] [ 0.01016953 0.00546249 0.99993337 -0.27760841] [ 0. 0. 0. 1. ]] SLAMing on 8.953201007999999 meters Centerline goodness [0,1] 0.9167270844122216 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.40, Z:-0.28 [[ 0.99958836 -0.02653461 -0.01090993 1.08373856] [ 0.02651735 0.99964687 -0.00172316 -0.40431429] [ 0.0109518 0.00143315 0.999939 -0.27698979] [ 0. 0. 0. 1. ]] SLAMing on 8.983201007999998 meters Centerline goodness [0,1] 0.8508204358403644 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.41, Z:-0.28 [[ 0.99965798 -0.02331343 -0.01184903 1.08566555] [ 0.02334497 0.99972427 0.00253097 -0.40529932] [ 0.01178675 -0.00280672 0.99992659 -0.27595645] [ 0. 0. 0. 1. ]] SLAMing on 9.013201008 meters Centerline goodness [0,1] 0.9243921850530153 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.40, Z:-0.28 [[ 0.99973034 -0.01956362 -0.01251052 1.08638051] [ 0.01963303 0.9997924 0.00544922 -0.40107381] [ 0.01240132 -0.00569337 0.99990689 -0.27558698] [ 0. 0. 0. 1. ]] SLAMing on 9.043201007999999 meters Centerline goodness [0,1] 0.9230553929925447 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.40, Z:-0.28 [[ 0.99978446 -0.01615268 -0.01304297 1.08766139] [ 0.01626409 0.99983176 0.00848091 -0.39806923] [ 0.01290379 -0.00869121 0.99987897 -0.2759489 ] [ 0. 0. 0. 1. ]] SLAMing on 9.073201008 meters Centerline goodness [0,1] 0.9255391429074713 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.39, Z:-0.28 [[ 0.99982743 -0.01273954 -0.01352073 1.08865156] [ 0.01289601 0.99985014 0.01154943 -0.39451728] [ 0.01337157 -0.0117218 0.99984189 -0.27592403] [ 0. 0. 0. 1. ]] SLAMing on 9.103201008 meters Centerline goodness [0,1] 0.9271659908957488 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.39, Z:-0.28 [[ 9.99915556e-01 -9.38931189e-03 -8.98455974e-03 1.10102961e+00] [ 9.39816004e-03 9.99955392e-01 9.43103973e-04 -3.85621303e-01] [ 8.97530386e-03 -1.02746266e-03 9.99959193e-01 -2.83376674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.133201007999999 meters Centerline goodness [0,1] 0.9267112181219597 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.38, Z:-0.28 [[ 0.99994178 -0.00567247 -0.00917983 1.10217678] [ 0.00570445 0.99997774 0.00346118 -0.37620232] [ 0.00915999 -0.00351334 0.99995187 -0.28473304] [ 0. 0. 0. 1. ]] SLAMing on 9.163201008 meters Centerline goodness [0,1] 0.9263873988101043 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.37, Z:-0.28 [[ 0.99994268 -0.0053214 -0.00929071 1.10203102] [ 0.00534737 0.99998186 0.00277337 -0.37136798] [ 0.00927578 -0.00282289 0.99995299 -0.28496168] [ 0. 0. 0. 1. ]] SLAMing on 9.193201007999999 meters Centerline goodness [0,1] 0.9251607873708829 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.37, Z:-0.28 [[ 0.99994619 -0.00485082 -0.0091699 1.1011356 ] [ 0.0048711 0.99998574 0.00219042 -0.36663383] [ 0.00915914 -0.00223497 0.99995556 -0.28470051] [ 0. 0. 0. 1. ]] SLAMing on 9.223201007999998 meters Centerline goodness [0,1] 0.9267537493952588 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.36, Z:-0.29 [[ 0.99995144 -0.00150631 -0.00973883 1.10273569] [ 0.0015571 0.99998522 0.00520963 -0.3641892 ] [ 0.00973084 -0.00522454 0.99993901 -0.28518519] [ 0. 0. 0. 1. ]] SLAMing on 9.253201008 meters Centerline goodness [0,1] 0.9221178602078764 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.36, Z:-0.29 [[ 0.9999478 0.00278745 -0.00982955 1.10242323] [-0.002715 0.99996911 0.00737632 -0.35583729] [ 0.00984981 -0.00734924 0.99992448 -0.28587323] [ 0. 0. 0. 1. ]] SLAMing on 9.283201007999999 meters Centerline goodness [0,1] 0.9203792144842826 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.35, Z:-0.29 [[ 0.99994622 0.00303785 -0.00991598 1.10242446] [-0.00297816 0.99997739 0.00602871 -0.35052496] [ 0.00993407 -0.00599885 0.99993266 -0.28672777] [ 0. 0. 0. 1. ]] SLAMing on 9.313201007999998 meters Centerline goodness [0,1] 0.9185576035775974 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.35, Z:-0.29 [[ 0.99994531 0.00330046 -0.00992344 1.10202325] [-0.00325037 0.99998192 0.00505954 -0.34619154] [ 0.00993996 -0.00502701 0.99993796 -0.28688505] [ 0. 0. 0. 1. ]] SLAMing on 9.343201008 meters Centerline goodness [0,1] 0.9157822905146246 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.29 [[ 0.99993866 0.00428362 -0.01021372 1.10077481] [-0.00423488 0.99997956 0.00478944 -0.34254771] [ 0.01023403 -0.00474589 0.99993637 -0.28515841] [ 0. 0. 0. 1. ]] SLAMing on 9.373201007999999 meters Centerline goodness [0,1] 0.9158016419741436 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.28 [[ 0.99993669 0.00437768 -0.01036636 1.10054873] [-0.00433068 0.99998026 0.00455194 -0.34156985] [ 0.01038608 -0.00450676 0.99993591 -0.28452202] [ 0. 0. 0. 1. ]] SLAMing on 9.403201007999998 meters Centerline goodness [0,1] 0.9145952836201402 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.28 [[ 0.99993617 0.0042037 -0.01048726 1.10082249] [-0.00416167 0.99998323 0.00402629 -0.34034967] [ 0.01050401 -0.00398239 0.9999369 -0.28469062] [ 0. 0. 0. 1. ]] SLAMing on 9.433201008 meters Centerline goodness [0,1] 0.9149585593200441 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.29 [[ 0.99993539 0.0037514 -0.01073025 1.10194535] [-0.00371752 0.99998805 0.00317561 -0.33850072] [ 0.01074204 -0.00313551 0.99993739 -0.28574205] [ 0. 0. 0. 1. ]] SLAMing on 9.463201007999999 meters Centerline goodness [0,1] 0.9135907027077893 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.29 [[ 0.99993557 0.00329672 -0.01086214 1.10302074] [-0.00326998 0.99999158 0.00247862 -0.33667664] [ 0.01087022 -0.00244294 0.99993793 -0.28695075] [ 0. 0. 0. 1. ]] SLAMing on 9.493201008 meters Centerline goodness [0,1] 0.9170605526161082 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.34, Z:-0.29 [[ 0.99993893 0.00221637 -0.01082729 1.10449594] [-0.00219812 0.99999614 0.0016973 -0.33566715] [ 0.01083101 -0.00167339 0.99993994 -0.28870553] [ 0. 0. 0. 1. ]] SLAMing on 9.523201008 meters Centerline goodness [0,1] 0.9166842983755319 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 0.9999355 0.00162865 -0.01124016 1.10577907] [-0.00161062 0.9999974 0.00161273 -0.33683614] [ 0.01124276 -0.00159452 0.99993553 -0.28885654] [ 0. 0. 0. 1. ]] SLAMing on 9.553201007999998 meters Centerline goodness [0,1] 0.9179841198784252 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 0.99993234 0.00120518 -0.01157013 1.10676591] [-0.00118658 0.99999799 0.00161465 -0.33809747] [ 0.01157206 -0.00160081 0.99993176 -0.2889542 ] [ 0. 0. 0. 1. ]] SLAMing on 9.583201008 meters Centerline goodness [0,1] 0.9203091496029595 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 9.99928513e-01 8.98943116e-04 -1.19231469e-02 1.10772112e+00] [-8.79274339e-04 9.99998244e-01 1.65476916e-03 -3.38822211e-01] [ 1.19246135e-02 -1.64416715e-03 9.99927548e-01 -2.88980739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.613201007999999 meters Centerline goodness [0,1] 0.9230533992001881 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 9.99925069e-01 1.80305814e-04 -1.22402541e-02 1.10859866e+00] [-1.61529160e-04 9.99998809e-01 1.53497984e-03 -3.39426334e-01] [ 1.22405163e-02 -1.53288766e-03 9.99923907e-01 -2.88608166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.643201007999998 meters Centerline goodness [0,1] 0.9229939501946255 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 9.99918382e-01 -7.89400396e-04 -1.27517465e-02 1.11054615e+00] [ 8.00774878e-04 9.99999286e-01 8.86912799e-04 -3.39396683e-01] [ 1.27510373e-02 -8.97051689e-04 9.99918300e-01 -2.89448844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.673201008 meters Centerline goodness [0,1] 0.925843224820778 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 9.99910841e-01 -1.48408147e-03 -1.32705446e-02 1.11200678e+00] [ 1.49562396e-03 9.99998512e-01 8.59901185e-04 -3.40187882e-01] [ 1.32692486e-02 -8.79672262e-04 9.99911573e-01 -2.89462934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.703201007999999 meters Centerline goodness [0,1] 0.9240786530083598 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.34, Z:-0.29 [[ 9.99902291e-01 -2.46395086e-03 -1.37600013e-02 1.11370893e+00] [ 2.47291603e-03 9.99996741e-01 6.34562047e-04 -3.40816725e-01] [ 1.37583929e-02 -6.68527372e-04 9.99905125e-01 -2.89781974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.733201007999998 meters Centerline goodness [0,1] 0.9192122846090728 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.34, Z:-0.29 [[ 9.99889385e-01 -4.65010803e-03 -1.41277822e-02 1.11638586e+00] [ 4.64566775e-03 9.99989149e-01 -3.47095891e-04 -3.40715527e-01] [ 1.41292429e-02 2.81424515e-04 9.99900138e-01 -2.91019772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.763201008 meters Centerline goodness [0,1] 0.9114128905150577 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.34, Z:-0.29 [[ 9.99873888e-01 -5.47553279e-03 -1.49072959e-02 1.11873490e+00] [ 5.46859613e-03 9.99984919e-01 -5.06043294e-04 -3.41622541e-01] [ 1.49098420e-02 4.24457495e-04 9.99888752e-01 -2.91591469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.793201007999999 meters Centerline goodness [0,1] 0.8979127045619967 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.34, Z:-0.29 [[ 9.99856180e-01 -6.43358943e-03 -1.56916633e-02 1.12139327e+00] [ 6.42513771e-03 9.99979185e-01 -5.88967229e-04 -3.43874759e-01] [ 1.56951258e-02 4.88061426e-04 9.99876705e-01 -2.92414150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.823201008 meters Centerline goodness [0,1] 0.855598473785859 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.29 [[ 0.99978705 -0.01196674 -0.01681239 1.12578012] [ 0.01187402 0.9999138 -0.00560355 -0.34526459] [ 0.016878 0.00540273 0.99984296 -0.29499274] [ 0. 0. 0. 1. ]] SLAMing on 9.853201008 meters Centerline goodness [0,1] 0.843919460555477 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.30 [[ 0.9997625 -0.01290825 -0.01755919 1.12885377] [ 0.01280107 0.99989883 -0.00620234 -0.34516343] [ 0.01763748 0.00597609 0.99982659 -0.29685522] [ 0. 0. 0. 1. ]] SLAMing on 9.883201007999999 meters Centerline goodness [0,1] 0.8290441608498437 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.30 [[ 0.99978154 -0.010397 -0.01813213 1.13171328] [ 0.01035492 0.99994347 -0.00241327 -0.34677591] [ 0.01815619 0.00222499 0.99983269 -0.29793534] [ 0. 0. 0. 1. ]] SLAMing on 9.913201008 meters Centerline goodness [0,1] 0.8149301623254058 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.30 [[ 0.99977042 -0.01089471 -0.01845046 1.13245327] [ 0.01085443 0.99993849 -0.00228203 -0.34671624] [ 0.01847419 0.00208123 0.99982717 -0.29752037] [ 0. 0. 0. 1. ]] SLAMing on 9.943201007999999 meters Centerline goodness [0,1] 0.8040797075816531 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.30 [[ 0.99976072 -0.01101796 -0.01889732 1.13289694] [ 0.01098821 0.99993822 -0.00167723 -0.34831343] [ 0.01891463 0.00146918 0.99982002 -0.29632584] [ 0. 0. 0. 1. ]] SLAMing on 9.973201007999998 meters Centerline goodness [0,1] 0.7953275654777341 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.29 [[ 9.99757563e-01 -1.09870378e-02 -1.90814104e-02 1.13257390e+00] [ 1.09695062e-02 9.99939310e-01 -1.02320505e-03 -3.49637423e-01] [ 1.90914944e-02 8.13643333e-04 9.99817410e-01 -2.94858192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.003201008 meters Centerline goodness [0,1] 0.8379868523361844 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.29 [[ 9.99756792e-01 -1.13267233e-02 -1.89225304e-02 1.13131989e+00] [ 1.13219188e-02 9.99935840e-01 -3.61016398e-04 -3.50567621e-01] [ 1.89254054e-02 1.46689243e-04 9.99820888e-01 -2.92296141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.033201007999999 meters Centerline goodness [0,1] 0.8492104521101607 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.29 [[ 9.99755545e-01 -1.13522126e-02 -1.89730684e-02 1.13087032e+00] [ 1.13477108e-02 9.99935553e-01 -3.44918360e-04 -3.49655190e-01] [ 1.89757612e-02 1.29533150e-04 9.99819936e-01 -2.91353057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.063201007999998 meters Centerline goodness [0,1] 0.8229964832196008 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.35, Z:-0.29 [[ 0.99976822 -0.00857388 -0.01974854 1.13316011] [ 0.00863801 0.99995769 0.00316394 -0.34971453] [ 0.01972058 -0.0033338 0.99979997 -0.29150274] [ 0. 0. 0. 1. ]] SLAMing on 10.093201008 meters Centerline goodness [0,1] 0.8065896943473935 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.34, Z:-0.29 [[ 0.9997879 -0.00721994 -0.01928802 1.13216614] [ 0.00730198 0.99996458 0.00418638 -0.34326753] [ 0.01925711 -0.00432634 0.9998052 -0.29099199] [ 0. 0. 0. 1. ]] SLAMing on 10.123201007999999 meters Centerline goodness [0,1] 0.8079583590165057 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.34, Z:-0.29 [[ 0.99979481 -0.00430679 -0.01979347 1.13323963] [ 0.00443701 0.99996877 0.00653975 -0.33823673] [ 0.01976469 -0.00662623 0.9997827 -0.2909047 ] [ 0. 0. 0. 1. ]] SLAMing on 10.153201007999998 meters Centerline goodness [0,1] 0.8201018505888237 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.33, Z:-0.29 [[ 0.99979407 -0.00414753 -0.01986504 1.13272793] [ 0.00426436 0.99997384 0.00584246 -0.33418427] [ 0.01984029 -0.00592597 0.9997856 -0.29040557] [ 0. 0. 0. 1. ]] SLAMing on 10.183201008 meters Centerline goodness [0,1] 0.8246617755939961 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.33, Z:-0.30 [[ 9.99872098e-01 -6.68755088e-04 -1.59793671e-02 1.14838413e+00] [ 6.49005221e-04 9.99999019e-01 -1.24111421e-03 -3.29218410e-01] [ 1.59801815e-02 1.23058478e-03 9.99871551e-01 -2.95313466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.213201007999999 meters Centerline goodness [0,1] 0.8246617755939961 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.33, Z:-0.30 [[ 9.99872098e-01 -6.68755088e-04 -1.59793671e-02 1.14838413e+00] [ 6.49005221e-04 9.99999019e-01 -1.24111421e-03 -3.29218410e-01] [ 1.59801815e-02 1.23058478e-03 9.99871551e-01 -2.95313466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.243201008 meters Centerline goodness [0,1] 0.8260572536747691 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.32, Z:-0.30 [[ 0.9998447 0.00585286 -0.01662316 1.14982414] [-0.00578228 0.99997408 0.00429114 -0.32079425] [ 0.01664784 -0.00419435 0.99985262 -0.29531787] [ 0. 0. 0. 1. ]] SLAMing on 10.273201008 meters Centerline goodness [0,1] 0.8172384350986273 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.30 [[ 0.99984819 0.00592798 -0.0163848 1.14901964] [-0.0058761 0.99997758 0.00321247 -0.31456324] [ 0.01640348 -0.0031157 0.9998606 -0.29524973] [ 0. 0. 0. 1. ]] SLAMing on 10.303201007999998 meters Centerline goodness [0,1] 0.8155161881490531 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.29 [[ 0.99984977 0.0063405 -0.01613193 1.14766322] [-0.00629679 0.99997637 0.00275888 -0.30960787] [ 0.01614905 -0.00265689 0.99986607 -0.29435403] [ 0. 0. 0. 1. ]] SLAMing on 10.333201008 meters Centerline goodness [0,1] 0.86095002280576 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.31, Z:-0.29 [[ 0.99984882 0.00576774 -0.01640339 1.14847257] [-0.00574602 0.99998255 0.00137061 -0.30540415] [ 0.01641101 -0.00127615 0.99986452 -0.29494319] [ 0. 0. 0. 1. ]] SLAMing on 10.363201007999999 meters Centerline goodness [0,1] 0.8088174790498257 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.30, Z:-0.30 [[ 9.99847004e-01 5.40733644e-03 -1.66351685e-02 1.14896640e+00] [-5.40036851e-03 9.99985310e-01 4.63760209e-04 -3.02424642e-01] [ 1.66374319e-02 -3.73853216e-04 9.99861518e-01 -2.95088942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.393201007999998 meters Centerline goodness [0,1] 0.829894464785699 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.30, Z:-0.30 [[ 0.99984615 0.00427351 -0.01701223 1.15080239] [-0.00430023 0.99998958 -0.00153408 -0.29709162] [ 0.0170055 0.001607 0.9998541 -0.29678564] [ 0. 0. 0. 1. ]] SLAMing on 10.423201008 meters Centerline goodness [0,1] 0.824197329089697 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.29, Z:-0.30 [[ 0.99984198 0.00358118 -0.01741241 1.15250667] [-0.00362724 0.99999 -0.0026144 -0.29438283] [ 0.01740287 0.00267715 0.99984497 -0.29813466] [ 0. 0. 0. 1. ]] SLAMing on 10.453201007999999 meters Centerline goodness [0,1] 0.761368260972005 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.29, Z:-0.30 [[ 0.99983556 0.00278298 -0.01791969 1.15484339] [-0.00285194 0.99998862 -0.00382394 -0.29170472] [ 0.01790885 0.00387442 0.99983212 -0.30002049] [ 0. 0. 0. 1. ]] SLAMing on 10.483201007999998 meters Centerline goodness [0,1] 0.761368260972005 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.29, Z:-0.30 [[ 0.99983556 0.00278298 -0.01791969 1.15484339] [-0.00285194 0.99998862 -0.00382394 -0.29170472] [ 0.01790885 0.00387442 0.99983212 -0.30002049] [ 0. 0. 0. 1. ]] SLAMing on 10.513201008 meters Centerline goodness [0,1] 0.8088601930575976 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.29, Z:-0.30 [[ 0.99983211 0.0021581 -0.01819617 1.15568025] [-0.00225431 0.99998358 -0.00526858 -0.28626472] [ 0.0181845 0.00530872 0.99982055 -0.30062588] [ 0. 0. 0. 1. ]] SLAMing on 10.543201007999999 meters Centerline goodness [0,1] 0.8028192898781135 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.28, Z:-0.30 [[ 0.99983283 0.00263907 -0.01809265 1.15417905] [-0.00273534 0.99998222 -0.00529844 -0.28318346] [ 0.01807835 0.00534704 0.99982228 -0.29901289] [ 0. 0. 0. 1. ]] SLAMing on 10.573201007999998 meters Centerline goodness [0,1] 0.800114039533705 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.28, Z:-0.30 [[ 0.9998101 0.00628665 -0.01844569 1.15415647] [-0.00631259 0.99997917 -0.00134846 -0.28252237] [ 0.01843683 0.00146464 0.99982895 -0.29745061] [ 0. 0. 0. 1. ]] SLAMing on 10.603201008 meters Centerline goodness [0,1] 0.8045788699852972 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.28, Z:-0.30 [[ 0.99986877 0.01017327 -0.01260729 1.16513076] [-0.0102485 0.99992998 -0.00591661 -0.27754065] [ 0.01254622 0.00604503 0.99990302 -0.29614325] [ 0. 0. 0. 1. ]] SLAMing on 10.633201007999999 meters Centerline goodness [0,1] 0.8056192298794977 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.27, Z:-0.29 [[ 0.99986238 0.0109525 -0.01246077 1.16382226] [-0.01102522 0.9999225 -0.00578232 -0.27498513] [ 0.01239647 0.00591891 0.99990564 -0.29498948] [ 0. 0. 0. 1. ]] SLAMing on 10.663201008 meters Centerline goodness [0,1] 0.8032882657319312 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.27, Z:-0.30 [[ 0.99981559 0.01403075 -0.01311199 1.16615451] [-0.01406836 0.99989717 -0.00278017 -0.27362335] [ 0.01307163 0.00296412 0.99991017 -0.296029 ] [ 0. 0. 0. 1. ]] SLAMing on 10.693201007999999 meters Centerline goodness [0,1] 0.8065907377941546 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.27, Z:-0.30 [[ 0.99980784 0.01476045 -0.0128997 1.16509328] [-0.01479787 0.99988656 -0.00280978 -0.26969459] [ 0.01285676 0.00300013 0.99991285 -0.29541544] [ 0. 0. 0. 1. ]] SLAMing on 10.723201007999998 meters Centerline goodness [0,1] 0.8106732313854755 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.30 [[ 9.99749570e-01 1.81686114e-02 -1.30651490e-02 1.16552916e+00] [-1.81734938e-02 9.99834816e-01 -2.55053646e-04 -2.64774430e-01] [ 1.30583569e-02 4.92429177e-04 9.99914615e-01 -2.95351695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.753201008 meters Centerline goodness [0,1] 0.8001990132260873 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.30 [[ 9.99750855e-01 1.78155670e-02 -1.34474350e-02 1.16605824e+00] [-1.78309946e-02 9.99840486e-01 -1.02821930e-03 -2.62719927e-01] [ 1.34269717e-02 1.26774427e-03 9.99909050e-01 -2.95066313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.783201007999999 meters Centerline goodness [0,1] 0.7978025173430815 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.29 [[ 0.99975057 0.01761831 -0.01372541 1.16634898] [-0.01764027 0.9998433 -0.00148089 -0.26138595] [ 0.01369717 0.00172264 0.99990471 -0.29467989] [ 0. 0. 0. 1. ]] SLAMing on 10.813201007999998 meters Centerline goodness [0,1] 0.7887503128389088 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.30 [[ 0.99975466 0.0172156 -0.01393704 1.16696217] [-0.01725007 0.99984843 -0.00235643 -0.25918428] [ 0.01389436 0.00259626 0.9999001 -0.29501829] [ 0. 0. 0. 1. ]] SLAMing on 10.843201008 meters Centerline goodness [0,1] 0.7819113481086486 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.25, Z:-0.30 [[ 0.99976331 0.01636527 -0.01433513 1.16857583] [-0.01643202 0.99985463 -0.004551 -0.25164508] [ 0.01425857 0.00478547 0.99988689 -0.296448 ] [ 0. 0. 0. 1. ]] SLAMing on 10.873201007999999 meters Centerline goodness [0,1] 0.8335938965668188 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.25, Z:-0.30 [[ 0.99976682 0.01615489 -0.01432917 1.16857872] [-0.01623677 0.9998524 -0.00561605 -0.24731919] [ 0.01423633 0.0058474 0.99988156 -0.29654932] [ 0. 0. 0. 1. ]] SLAMing on 10.903201007999998 meters Centerline goodness [0,1] 0.8576551781655929 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.30 [[ 0.99976261 0.01642009 -0.01432148 1.16796537] [-0.01651263 0.99984338 -0.00636757 -0.24258027] [ 0.01421468 0.00660255 0.99987717 -0.29594501] [ 0. 0. 0. 1. ]] SLAMing on 10.933201008 meters Centerline goodness [0,1] 0.8719668409322864 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.29 [[ 0.99968406 0.02056598 -0.01445087 1.16712202] [-0.02061993 0.99978092 -0.00359463 -0.2376683 ] [ 0.01437378 0.00389147 0.99988912 -0.29436023] [ 0. 0. 0. 1. ]] SLAMing on 10.963201007999999 meters Centerline goodness [0,1] 0.872945191227267 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.29 [[ 0.99967337 0.02081733 -0.01482516 1.1671761 ] [-0.02088556 0.99977191 -0.00446281 -0.23439414] [ 0.01472888 0.00477098 0.99988014 -0.29373754] [ 0. 0. 0. 1. ]] SLAMing on 10.993201008 meters Centerline goodness [0,1] 0.9001310779601772 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.29 [[ 0.99966778 0.02100277 -0.01494051 1.16718638] [-0.02108723 0.99976241 -0.00551794 -0.23036705] [ 0.01482107 0.00583116 0.99987316 -0.29375697] [ 0. 0. 0. 1. ]] SLAMing on 11.023201008 meters Centerline goodness [0,1] 0.8816159177472058 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.29 [[ 0.99965388 0.02152642 -0.01512426 1.1670655 ] [-0.02162177 0.99974718 -0.00616975 -0.22595925] [ 0.01498763 0.00649463 0.99986659 -0.29345588] [ 0. 0. 0. 1. ]] SLAMing on 11.053201007999998 meters Centerline goodness [0,1] 0.9207326007326008 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.29 [[ 0.9995272 0.02708588 -0.01455087 1.16464569] [-0.02711558 0.9996306 -0.00184742 -0.22012746] [ 0.01449546 0.0022411 0.99989242 -0.29155887] [ 0. 0. 0. 1. ]] SLAMing on 11.083201008 meters Centerline goodness [0,1] 0.9234799966730434 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.29 [[ 0.99941406 0.03090324 -0.0147147 1.16534648] [-0.03088195 0.99952164 0.00167175 -0.2182652 ] [ 0.01475933 -0.00121635 0.99989034 -0.2916544 ] [ 0. 0. 0. 1. ]] SLAMing on 11.113201007999999 meters Centerline goodness [0,1] 0.928414304569166 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.22, Z:-0.29 [[ 9.99396341e-01 3.15889693e-02 -1.44599419e-02 1.16462120e+00] [-3.15717305e-02 9.99500481e-01 1.41896097e-03 -2.15324031e-01] [ 1.44975424e-02 -9.61579017e-04 9.99894443e-01 -2.91661217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.143201007999998 meters Centerline goodness [0,1] 0.9287662107870689 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.29 [[ 9.99391187e-01 3.16295807e-02 -1.47249890e-02 1.16545865e+00] [-3.16211664e-02 9.99499603e-01 8.03958794e-04 -2.13352759e-01] [ 1.47430496e-02 -3.37848005e-04 9.99891258e-01 -2.92372346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.173201008 meters Centerline goodness [0,1] 0.9356208808452767 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.29 [[ 9.99385588e-01 3.17845458e-02 -1.47712092e-02 1.16552391e+00] [-3.17755711e-02 9.99494674e-01 8.41935944e-04 -2.13742269e-01] [ 1.47905055e-02 -3.72055040e-04 9.99890545e-01 -2.92383088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.203201007999999 meters Centerline goodness [0,1] 0.9296324112321108 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.29 [[ 0.99949764 0.02773128 -0.01534386 1.16651209] [-0.02779138 0.99960683 -0.00371787 -0.21248319] [ 0.01523473 0.00414243 0.99987536 -0.29288219] [ 0. 0. 0. 1. ]] SLAMing on 11.233201007999998 meters Centerline goodness [0,1] 0.9343685906826839 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.29 [[ 0.99949806 0.02754358 -0.01565162 1.16739419] [-0.02760168 0.99961284 -0.00350838 -0.21421543] [ 0.01554893 0.00393863 0.99987135 -0.29320606] [ 0. 0. 0. 1. ]] SLAMing on 11.263201008 meters Centerline goodness [0,1] 0.9243308849687153 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.21, Z:-0.29 [[ 0.99958761 0.02395916 -0.01582911 1.1671763 ] [-0.02407784 0.99968307 -0.00734964 -0.21375211] [ 0.01564801 0.00772774 0.9998477 -0.29298051] [ 0. 0. 0. 1. ]] SLAMing on 11.293201007999999 meters Centerline goodness [0,1] 0.9176362266677827 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.29 [[ 0.99958313 0.02395842 -0.0161107 1.16768431] [-0.02406794 0.99968828 -0.00663905 -0.21643231] [ 0.01594662 0.00702403 0.99984817 -0.29275018] [ 0. 0. 0. 1. ]] SLAMing on 11.323201007999998 meters Centerline goodness [0,1] 0.912961191298199 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.29 [[ 0.99959241 0.02319141 -0.01664845 1.16997357] [-0.02330103 0.99970788 -0.00642077 -0.21997027] [ 0.01649468 0.00680607 0.99984079 -0.29412366] [ 0. 0. 0. 1. ]] SLAMing on 11.353201008 meters Centerline goodness [0,1] 0.9073492396979593 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.29 [[ 0.99958935 0.02323439 -0.01677197 1.17053924] [-0.02333909 0.99970915 -0.00607411 -0.22124653] [ 0.01662596 0.00646306 0.99984089 -0.29451645] [ 0. 0. 0. 1. ]] SLAMing on 11.383201007999999 meters Centerline goodness [0,1] 0.9271300682373073 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.29 [[ 0.99958162 0.02351477 -0.0168414 1.17070265] [-0.02361043 0.99970608 -0.00550412 -0.22272489] [ 0.01670702 0.00589945 0.99984302 -0.29454194] [ 0. 0. 0. 1. ]] SLAMing on 11.413201008 meters Centerline goodness [0,1] 0.9301972685887708 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.22, Z:-0.30 [[ 0.99956853 0.02377422 -0.01724934 1.17247748] [-0.02386415 0.99970258 -0.00502628 -0.22493944] [ 0.01712472 0.00543575 0.99983859 -0.29601116] [ 0. 0. 0. 1. ]] SLAMing on 11.443201007999999 meters Centerline goodness [0,1] 0.9273352077475789 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.30 [[ 0.99955967 0.02409334 -0.01731977 1.17298668] [-0.0241754 0.99969741 -0.00454405 -0.22690081] [ 0.01720505 0.00496076 0.99983968 -0.29656422] [ 0. 0. 0. 1. ]] SLAMing on 11.473201007999998 meters Centerline goodness [0,1] 0.9271538397259129 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.30 [[ 0.99954714 0.02451322 -0.01745307 1.17316419] [-0.02458217 0.99969079 -0.0037468 -0.2297677 ] [ 0.01735583 0.00417414 0.99984066 -0.29642738] [ 0. 0. 0. 1. ]] SLAMing on 11.503201008 meters Centerline goodness [0,1] 0.9340466804330142 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.23, Z:-0.30 [[ 0.9995384 0.02476115 -0.01760334 1.173693 ] [-0.02482119 0.99968678 -0.00320045 -0.23228432] [ 0.01751858 0.0036359 0.99983993 -0.29673896] [ 0. 0. 0. 1. ]] SLAMing on 11.533201007999999 meters Centerline goodness [0,1] 0.9367165301688116 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.30 [[ 0.99950772 0.02606709 -0.0174594 1.17244552] [-0.02610115 0.99965782 -0.00172568 -0.23546862] [ 0.01740844 0.00218054 0.99984608 -0.29558098] [ 0. 0. 0. 1. ]] SLAMing on 11.563201007999998 meters Centerline goodness [0,1] 0.9366222166572759 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.30 [[ 0.99949896 0.02640593 -0.01745179 1.17213701] [-0.02643608 0.99964938 -0.00149941 -0.23573947] [ 0.01740608 0.00196001 0.99984658 -0.29524228] [ 0. 0. 0. 1. ]] SLAMing on 11.593201008 meters Centerline goodness [0,1] 0.9388931671072075 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.29 [[ 9.99486818e-01 2.68731786e-02 -1.74336725e-02 1.17157353e+00] [-2.68975541e-02 9.99637516e-01 -1.16517601e-03 -2.35995491e-01] [ 1.73960411e-02 1.63350121e-03 9.99847343e-01 -2.94561409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.623201007999999 meters Centerline goodness [0,1] 0.9391317040620569 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.29 [[ 9.99466129e-01 2.77419389e-02 -1.72580837e-02 1.17020398e+00] [-2.77514181e-02 9.99614807e-01 -3.09970297e-04 -2.37194810e-01] [ 1.72428368e-02 7.88741108e-04 9.99851020e-01 -2.93223289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.653201007999998 meters Centerline goodness [0,1] 0.9389030027903877 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.29 [[ 0.99949163 0.02692681 -0.01707109 1.16719997] [-0.02695961 0.99963509 -0.00169382 -0.2407816 ] [ 0.01701926 0.00215319 0.99985284 -0.29091368] [ 0. 0. 0. 1. ]] SLAMing on 11.683201008 meters Centerline goodness [0,1] 0.940064603521934 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.24, Z:-0.29 [[ 0.9995602 0.024307 -0.01698726 1.16581234] [-0.02438559 0.99969279 -0.00443498 -0.24328538] [ 0.01687424 0.00484727 0.99984587 -0.28994619] [ 0. 0. 0. 1. ]] SLAMing on 11.713201007999999 meters Centerline goodness [0,1] 0.9409762819442125 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.25, Z:-0.29 [[ 0.9995489 0.024647 -0.01716149 1.16614131] [-0.02470855 0.99968897 -0.00338355 -0.24835073] [ 0.01707276 0.00380606 0.99984701 -0.28984441] [ 0. 0. 0. 1. ]] SLAMing on 11.743201008 meters Centerline goodness [0,1] 0.9396468362413286 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.26, Z:-0.29 [[ 0.99960595 0.0224396 -0.0168642 1.1649828 ] [-0.02252109 0.99973552 -0.0046581 -0.25500325] [ 0.01675521 0.00503606 0.99984694 -0.28936588] [ 0. 0. 0. 1. ]] SLAMing on 11.773201008 meters Centerline goodness [0,1] 0.9418962825435673 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.29 [[ 0.99960331 0.02235239 -0.01713443 1.16624642] [-0.02242218 0.99974102 -0.00389152 -0.25899163] [ 0.017043 0.00427417 0.99984562 -0.29015155] [ 0. 0. 0. 1. ]] SLAMing on 11.803201007999998 meters Centerline goodness [0,1] 0.9405523317378965 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.26, Z:-0.29 [[ 0.99960443 0.02179194 -0.01777884 1.1687327 ] [-0.02185792 0.99975487 -0.0035252 -0.26385503] [ 0.01769766 0.00391242 0.99983573 -0.2916293 ] [ 0. 0. 0. 1. ]] SLAMing on 11.833201008 meters Centerline goodness [0,1] 0.9408852340579248 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.27, Z:-0.29 [[ 0.99963755 0.01985561 -0.01818019 1.17046232] [-0.01994197 0.99979064 -0.00458151 -0.26951943] [ 0.01808541 0.0049424 0.99982423 -0.29281501] [ 0. 0. 0. 1. ]] SLAMing on 11.863201007999999 meters Centerline goodness [0,1] 0.9410212966736011 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.28, Z:-0.29 [[ 0.99967638 0.0167144 -0.01917719 1.17221323] [-0.01680828 0.99984747 -0.00474492 -0.28400146] [ 0.01909495 0.00506572 0.99980484 -0.29161344] [ 0. 0. 0. 1. ]] SLAMing on 11.893201007999998 meters Centerline goodness [0,1] 0.9386031402273958 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:-0.29 [[ 0.99972622 0.01334574 -0.01921907 1.17236102] [-0.01349025 0.99988155 -0.00740943 -0.28868683] [ 0.01911791 0.00766667 0.99978784 -0.29195233] [ 0. 0. 0. 1. ]] SLAMing on 11.923201008 meters Centerline goodness [0,1] 0.9389774120119069 Centerline is valid? [False, False] Translation: X:1.17, Y:-0.29, Z:-0.29 [[ 0.9997214 0.01318069 -0.01958048 1.17395782] [-0.01330827 0.99989096 -0.00640002 -0.29428005] [ 0.01949399 0.00665882 0.9997878 -0.29279975] [ 0. 0. 0. 1. ]] SLAMing on 11.953201007999999 meters Centerline goodness [0,1] 0.9297598267747851 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.30, Z:-0.30 [[ 0.99971118 0.01286667 -0.02029803 1.17863741] [-0.01297471 0.9999023 -0.00520008 -0.30269333] [ 0.02022914 0.00546194 0.99978045 -0.29673667] [ 0. 0. 0. 1. ]] SLAMing on 11.983201007999998 meters Centerline goodness [0,1] 0.9261900002221186 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.31, Z:-0.30 [[ 0.99970481 0.0125729 -0.02078998 1.18089426] [-0.01267419 0.99990841 -0.00474746 -0.30714123] [ 0.02072838 0.00500955 0.99977259 -0.29827839] [ 0. 0. 0. 1. ]] SLAMing on 12.013201008 meters Centerline goodness [0,1] 0.9225330051465652 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.31, Z:-0.30 [[ 0.99969314 0.01234493 -0.02147613 1.18309088] [-0.01243535 0.99991435 -0.00408205 -0.3129107 ] [ 0.0214239 0.00434786 0.99976103 -0.29918625] [ 0. 0. 0. 1. ]] SLAMing on 12.043201007999999 meters Centerline goodness [0,1] 0.9181999005469915 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.32, Z:-0.30 [[ 0.99972818 0.00913572 -0.02145002 1.18280967] [-0.00928744 0.99993248 -0.00698406 -0.3165652 ] [ 0.02138477 0.00718137 0.99974553 -0.29927734] [ 0. 0. 0. 1. ]] SLAMing on 12.073201007999998 meters Centerline goodness [0,1] 0.9151236684496868 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.33, Z:-0.30 [[ 0.99971358 0.00940567 -0.02200656 1.18391665] [-0.0095115 0.99994368 -0.00470932 -0.3267244 ] [ 0.02196103 0.00491728 0.99974673 -0.29840888] [ 0. 0. 0. 1. ]] SLAMing on 12.103201008 meters Centerline goodness [0,1] 0.9112462703695203 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.33, Z:-0.30 [[ 0.99971121 0.00995587 -0.02187176 1.18330383] [-0.01003594 0.99994332 -0.0035543 -0.32989937] [ 0.02183514 0.00377278 0.99975447 -0.29775141] [ 0. 0. 0. 1. ]] SLAMing on 12.133201007999999 meters Centerline goodness [0,1] 0.9092248543868131 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.33, Z:-0.30 [[ 0.9997056 0.0104893 -0.02187899 1.18294853] [-0.01054555 0.99994138 -0.0024572 -0.33302337] [ 0.02185193 0.00268721 0.99975761 -0.29711033] [ 0. 0. 0. 1. ]] SLAMing on 12.163201008 meters Centerline goodness [0,1] 0.9059922395966449 Centerline is valid? [False, False] Translation: X:1.18, Y:-0.34, Z:-0.30 [[ 0.99969903 0.01098464 -0.02193595 1.18248564] [-0.01101641 0.99993844 -0.00132839 -0.33673252] [ 0.02192001 0.00156964 0.9997585 -0.29612049] [ 0. 0. 0. 1. ]] SLAMing on 12.193201007999999 meters Centerline goodness [0,1] 0.9008055451479955 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.34, Z:-0.30 [[ 0.99980833 0.01171353 -0.0156873 1.19365939] [-0.01184659 0.99989441 -0.00841569 -0.34318931] [ 0.01558707 0.00859992 0.99984153 -0.29724198] [ 0. 0. 0. 1. ]] SLAMing on 12.223201007999998 meters Centerline goodness [0,1] 0.8984851697410889 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.35, Z:-0.30 [[ 0.99980499 0.01227664 -0.01546797 1.19309303] [-0.01239035 0.99989676 -0.00727697 -0.34657134] [ 0.01537704 0.0074672 0.99985388 -0.29695894] [ 0. 0. 0. 1. ]] SLAMing on 12.253201008 meters Centerline goodness [0,1] 0.8967681056853032 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.35, Z:-0.30 [[ 0.99980391 0.01218491 -0.01561022 1.19425018] [-0.01229458 0.99990027 -0.00694912 -0.34869128] [ 0.01552399 0.00713968 0.999854 -0.29805268] [ 0. 0. 0. 1. ]] SLAMing on 12.283201007999999 meters Centerline goodness [0,1] 0.8925747761478376 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.35, Z:-0.30 [[ 0.99982246 0.01037339 -0.01573046 1.19740185] [-0.01050181 0.99991202 -0.00810311 -0.35456366] [ 0.01564502 0.00826687 0.99984343 -0.30179431] [ 0. 0. 0. 1. ]] SLAMing on 12.313201007999998 meters Centerline goodness [0,1] 0.8914348849498006 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.36, Z:-0.30 [[ 0.99981724 0.00999959 -0.01629405 1.19936387] [-0.01012419 0.99992 -0.00758238 -0.35957181] [ 0.01621693 0.00774595 0.99983849 -0.30257423] [ 0. 0. 0. 1. ]] SLAMing on 12.343201008 meters Centerline goodness [0,1] 0.8886745128304071 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.36, Z:-0.30 [[ 0.99980849 0.00998601 -0.01683054 1.20061108] [-0.01009577 0.99992824 -0.00644922 -0.36497484] [ 0.01676493 0.0066179 0.99983756 -0.30222995] [ 0. 0. 0. 1. ]] SLAMing on 12.373201007999999 meters Centerline goodness [0,1] 0.8886745128304071 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.36, Z:-0.30 [[ 0.99980849 0.00998601 -0.01683054 1.20061108] [-0.01009577 0.99992824 -0.00644922 -0.36497484] [ 0.01676493 0.0066179 0.99983756 -0.30222995] [ 0. 0. 0. 1. ]] SLAMing on 12.403201007999998 meters Centerline goodness [0,1] 0.8858060747663552 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.37, Z:-0.30 [[ 0.99984225 0.00668434 -0.01645564 1.19929021] [-0.00684216 0.99993096 -0.00955276 -0.36726232] [ 0.01639065 0.00966385 0.99981896 -0.30177637] [ 0. 0. 0. 1. ]] SLAMing on 12.433201008 meters Centerline goodness [0,1] 0.886975955988899 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.38, Z:-0.30 [[ 0.99983877 0.00600289 -0.01692356 1.20097047] [-0.00613625 0.99995044 -0.00783959 -0.37530729] [ 0.01687566 0.00794217 0.99982605 -0.30093612] [ 0. 0. 0. 1. ]] SLAMing on 12.463201007999999 meters Centerline goodness [0,1] 0.8852397881808916 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.38, Z:-0.30 [[ 0.99983549 0.00612891 -0.01707145 1.20126031] [-0.00624241 0.99995871 -0.00660327 -0.37989556] [ 0.01703027 0.00670876 0.99983247 -0.3003167 ] [ 0. 0. 0. 1. ]] SLAMing on 12.493201008 meters Centerline goodness [0,1] 0.8865717065382792 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.38, Z:-0.30 [[ 0.99982959 0.00598947 -0.01746213 1.20219927] [-0.00608705 0.99996612 -0.00554049 -0.38436054] [ 0.01742835 0.00564584 0.99983217 -0.29977615] [ 0. 0. 0. 1. ]] SLAMing on 12.523201008 meters Centerline goodness [0,1] 0.8827910029535758 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.39, Z:-0.30 [[ 0.99984832 0.00302953 -0.01715132 1.2013795 ] [-0.00316386 0.9999645 -0.00780999 -0.39086081] [ 0.01712705 0.00786307 0.9998224 -0.29971241] [ 0. 0. 0. 1. ]] SLAMing on 12.553201007999998 meters Centerline goodness [0,1] 0.8819919874232973 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.39, Z:-0.30 [[ 0.99983962 0.00271439 -0.0177019 1.2033785 ] [-0.00284731 0.99996791 -0.00748834 -0.39366539] [ 0.017681 0.00753754 0.99981527 -0.30060783] [ 0. 0. 0. 1. ]] SLAMing on 12.583201008 meters Centerline goodness [0,1] 0.885664921998069 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.40, Z:-0.30 [[ 0.99983483 0.0026045 -0.01798704 1.20471121] [-0.00273348 0.9999707 -0.00715009 -0.39559999] [ 0.01796789 0.00719808 0.99981265 -0.30148929] [ 0. 0. 0. 1. ]] SLAMing on 12.613201007999999 meters Centerline goodness [0,1] 0.8847789007408162 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 0.99983318 0.00257926 -0.01808195 1.2055458 ] [-0.00270756 0.99997131 -0.00707417 -0.39612049] [ 0.01806319 0.00712195 0.99981148 -0.30240982] [ 0. 0. 0. 1. ]] SLAMing on 12.643201007999998 meters Centerline goodness [0,1] 0.8828690949903071 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 0.99980669 0.00632497 -0.01861672 1.20710829] [-0.00637146 0.99997673 -0.00243877 -0.39910254] [ 0.01860086 0.00255692 0.99982372 -0.3021968 ] [ 0. 0. 0. 1. ]] SLAMing on 12.673201008 meters Centerline goodness [0,1] 0.8782951087929227 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 0.99980565 0.00697106 -0.01844116 1.20559475] [-0.00700081 0.99997429 -0.00154919 -0.40084758] [ 0.01842988 0.00167799 0.99982875 -0.30047024] [ 0. 0. 0. 1. ]] SLAMing on 12.703201007999999 meters Centerline goodness [0,1] 0.8793594580029256 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.40, Z:-0.30 [[ 9.99800781e-01 7.37681179e-03 -1.85467346e-02 1.20439392e+00] [-7.38756054e-03 9.99972581e-01 -5.11102140e-04 -4.03004347e-01] [ 1.85424557e-02 6.48015444e-04 9.99827864e-01 -2.98030422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.733201007999998 meters Centerline goodness [0,1] 0.8791610842007627 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.41, Z:-0.30 [[ 9.99793064e-01 7.58126467e-03 -1.88773226e-02 1.20377465e+00] [-7.56388947e-03 9.99970902e-01 9.91657207e-04 -4.06359527e-01] [ 1.88842913e-02 -8.48666016e-04 9.99821316e-01 -2.95132022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.763201008 meters Centerline goodness [0,1] 0.8806904940604053 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.41, Z:-0.29 [[ 0.99981759 0.00354055 -0.01876836 1.20314176] [-0.00359537 0.99998937 -0.00288825 -0.40697866] [ 0.01875793 0.0029552 0.99981969 -0.29465168] [ 0. 0. 0. 1. ]] SLAMing on 12.793201007999999 meters Centerline goodness [0,1] 0.8843930635838151 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.41, Z:-0.30 [[ 0.99982047 -0.00181482 -0.01886089 1.20495751] [ 0.00168257 0.9999739 -0.00702577 -0.40920594] [ 0.01887315 0.00699278 0.99979743 -0.29589181] [ 0. 0. 0. 1. ]] SLAMing on 12.823201007999998 meters Centerline goodness [0,1] 0.8886289190453908 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 0.99980271 -0.00303066 -0.01963033 1.20814525] [ 0.00288555 0.99996834 -0.00741616 -0.40978247] [ 0.01965218 0.00735805 0.9997798 -0.29730387] [ 0. 0. 0. 1. ]] SLAMing on 12.853201008 meters Centerline goodness [0,1] 0.8887244593296466 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 0.99979424 -0.00369407 -0.01994559 1.20980692] [ 0.00354018 0.99996374 -0.00774503 -0.40957844] [ 0.01997348 0.00767282 0.99977107 -0.29833672] [ 0. 0. 0. 1. ]] SLAMing on 12.883201007999999 meters Centerline goodness [0,1] 0.8899758673482627 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 0.99978228 -0.00427964 -0.02042247 1.21166392] [ 0.00411211 0.99995761 -0.00823825 -0.40898308] [ 0.02045686 0.00815248 0.9997575 -0.29938098] [ 0. 0. 0. 1. ]] SLAMing on 12.913201008 meters Centerline goodness [0,1] 0.8918026868827519 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 9.99773839e-01 -6.87797658e-04 -2.12555447e-02 1.21347973e+00] [ 6.04104747e-04 9.99992041e-01 -3.94363276e-03 -4.10306900e-01] [ 2.12580879e-02 3.92990029e-03 9.99766297e-01 -2.98638261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.943201007999999 meters Centerline goodness [0,1] 0.8835854746011701 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 9.99778428e-01 1.69807009e-04 -2.10491491e-02 1.21173033e+00] [-2.49115768e-04 9.99992880e-01 -3.76522447e-03 -4.08478174e-01] [ 2.10483599e-02 3.76963388e-03 9.99771352e-01 -2.97349509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.973201007999998 meters Centerline goodness [0,1] 0.8810639612730456 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.41, Z:-0.30 [[ 0.99978229 0.00134638 -0.02082192 1.2094904 ] [-0.00142048 0.99999271 -0.00354426 -0.40576267] [ 0.02081699 0.00357306 0.99977692 -0.2957048 ] [ 0. 0. 0. 1. ]] SLAMing on 13.003201008 meters Centerline goodness [0,1] 0.8767266425403946 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.29 [[ 9.99766898e-01 6.05139668e-03 -2.07250949e-02 1.20812795e+00] [-6.04880305e-03 9.99981688e-01 1.87830039e-04 -4.02332887e-01] [ 2.07258520e-02 -6.24242377e-05 9.99785195e-01 -2.94429823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.033201007999999 meters Centerline goodness [0,1] 0.8745102030431021 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 9.99771324e-01 6.06625980e-03 -2.05061112e-02 1.20814144e+00] [-6.08045326e-03 9.99981315e-01 -6.29878137e-04 -3.99032006e-01] [ 2.05019070e-02 7.54420549e-04 9.99789529e-01 -2.95570523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.063201007999998 meters Centerline goodness [0,1] 0.8746057777217107 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 0.99973328 0.00874587 -0.02137475 1.2116409 ] [-0.00869375 0.99995901 0.00253018 -0.39828433] [ 0.021396 -0.00234368 0.99976833 -0.29699416] [ 0. 0. 0. 1. ]] SLAMing on 13.093201008 meters Centerline goodness [0,1] 0.8734903229066653 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.40, Z:-0.30 [[ 0.99973845 0.00847097 -0.02124342 1.2120539 ] [-0.00843374 0.99996274 0.0018415 -0.39628837] [ 0.02125823 -0.00166186 0.99977264 -0.29813432] [ 0. 0. 0. 1. ]] SLAMing on 13.123201007999999 meters Centerline goodness [0,1] 0.8735675607606095 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99738167e-01 7.52520808e-03 -2.16094645e-02 1.21412978e+00] [-7.51475098e-03 9.99971604e-01 5.65077329e-04 -3.93898141e-01] [ 2.16131032e-02 -4.02539628e-04 9.99766329e-01 -2.99993729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.153201007999998 meters Centerline goodness [0,1] 0.8748551272360796 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99737702e-01 7.18818426e-03 -2.17452993e-02 1.21485963e+00] [-7.18938445e-03 9.99974156e-01 2.29846126e-05 -3.92649519e-01] [ 2.17449025e-02 1.33356732e-04 9.99763543e-01 -3.00653362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.183201008 meters Centerline goodness [0,1] 0.8741723521562901 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99738925e-01 7.03357509e-03 -2.17396288e-02 1.21492365e+00] [-7.04179687e-03 9.99975161e-01 -3.01663490e-04 -3.91626243e-01] [ 2.17369670e-02 4.54670783e-04 9.99763621e-01 -3.00743865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.213201007999999 meters Centerline goodness [0,1] 0.8744410479246141 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99737245e-01 7.21626156e-03 -2.17569986e-02 1.21389169e+00] [-7.21198717e-03 9.99973955e-01 2.74920064e-04 -3.92450731e-01] [ 2.17584159e-02 -1.17936632e-04 9.99763251e-01 -2.98853039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.243201007999998 meters Centerline goodness [0,1] 0.8720232822978615 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99735315e-01 7.36722707e-03 -2.17950658e-02 1.21335727e+00] [-7.35520424e-03 9.99972751e-01 6.31743995e-04 -3.92935374e-01] [ 2.17991261e-02 -4.71269622e-04 9.99762260e-01 -2.97830017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.273201008 meters Centerline goodness [0,1] 0.8707752976566647 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99731549e-01 7.23856927e-03 -2.20098562e-02 1.21361816e+00] [-7.22452905e-03 9.99973645e-01 7.17355304e-04 -3.93253916e-01] [ 2.20144687e-02 -5.58151884e-04 9.99757496e-01 -2.97330013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.303201007999998 meters Centerline goodness [0,1] 0.8674383773766913 Centerline is valid? [False, False] Translation: X:1.21, Y:-0.39, Z:-0.30 [[ 9.99729340e-01 7.54837310e-03 -2.20060909e-02 1.21320055e+00] [-7.52495826e-03 9.99971030e-01 1.14663080e-03 -3.94198180e-01] [ 2.20141086e-02 -9.80725542e-04 9.99757179e-01 -2.96745477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.333201008 meters Centerline goodness [0,1] 0.8670972992218097 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.39, Z:-0.30 [[ 9.99725139e-01 7.53195161e-03 -2.22017018e-02 1.21507719e+00] [-7.52067112e-03 9.99971544e-01 5.91544703e-04 -3.94286200e-01] [ 2.22055255e-02 -4.24410413e-04 9.99753337e-01 -2.99410571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.363201007999999 meters Centerline goodness [0,1] 0.8640771756560695 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.39, Z:-0.30 [[ 9.99725231e-01 7.26548156e-03 -2.22861995e-02 1.21671512e+00] [-7.26955662e-03 9.99973571e-01 -1.01840399e-04 -3.94031378e-01] [ 2.22848706e-02 2.63823205e-04 9.99751627e-01 -3.01804887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.393201007999998 meters Centerline goodness [0,1] 0.8611217287159494 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.39, Z:-0.30 [[ 9.99725913e-01 7.22533494e-03 -2.22686572e-02 1.21777468e+00] [-7.24081689e-03 9.99973596e-01 -6.14680799e-04 -3.93612409e-01] [ 2.22636280e-02 7.75755592e-04 9.99751834e-01 -3.03702091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.423201008 meters Centerline goodness [0,1] 0.8581692661723345 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.39, Z:-0.31 [[ 9.99728831e-01 7.57623437e-03 -2.20196379e-02 1.21783861e+00] [-7.59709336e-03 9.99970769e-01 -8.63791185e-04 -3.93025226e-01] [ 2.20124499e-02 1.03084220e-03 9.99757165e-01 -3.05059415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.453201007999999 meters Centerline goodness [0,1] 0.8581866831326541 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.39, Z:-0.31 [[ 0.99979667 0.01096997 -0.01692005 1.23114007] [-0.01110375 0.99990767 -0.00783288 -0.3940598 ] [ 0.01683256 0.00801916 0.99982616 -0.30957083] [ 0. 0. 0. 1. ]] SLAMing on 13.483201007999998 meters Centerline goodness [0,1] 0.8579582138891041 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.40, Z:-0.31 [[ 0.99978623 0.01181738 -0.0169661 1.22958655] [-0.0119204 0.99991104 -0.00598385 -0.39816811] [ 0.01689388 0.00618482 0.99983816 -0.30669128] [ 0. 0. 0. 1. ]] SLAMing on 13.513201008 meters Centerline goodness [0,1] 0.8570353649360422 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.40, Z:-0.30 [[ 0.99977179 0.01263767 -0.01722366 1.22821327] [-0.01269767 0.99991367 -0.00337894 -0.40377384] [ 0.01717947 0.00359687 0.99984595 -0.30255791] [ 0. 0. 0. 1. ]] SLAMing on 13.543201007999999 meters Centerline goodness [0,1] 0.8594708939437465 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.41, Z:-0.30 [[ 0.99976176 0.01336432 -0.01725716 1.22691278] [-0.01333345 0.9999093 0.00190235 -0.41461564] [ 0.01728101 -0.0016718 0.99984927 -0.29527695] [ 0. 0. 0. 1. ]] SLAMing on 13.573201007999998 meters Centerline goodness [0,1] 0.8603830246832276 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.41, Z:-0.30 [[ 0.99981544 0.01044 -0.01612713 1.22653792] [-0.01046265 0.99994439 -0.00132108 -0.41478744] [ 0.01611244 0.00148957 0.99986908 -0.29787961] [ 0. 0. 0. 1. ]] SLAMing on 13.603201008 meters Centerline goodness [0,1] 0.8565086037041902 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.42, Z:-0.30 [[ 0.99981827 0.0096742 -0.01642686 1.22941089] [-0.00970672 0.99995108 -0.00190087 -0.41598866] [ 0.01640767 0.00205997 0.99986326 -0.30092349] [ 0. 0. 0. 1. ]] SLAMing on 13.633201007999999 meters Centerline goodness [0,1] 0.8538427013755049 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.42, Z:-0.30 [[ 0.99981902 0.00903476 -0.01674192 1.23221333] [-0.00907332 0.99995635 -0.00222903 -0.41788396] [ 0.01672105 0.00238053 0.99985736 -0.30378824] [ 0. 0. 0. 1. ]] SLAMing on 13.663201008 meters Centerline goodness [0,1] 0.8596855295713943 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.42, Z:-0.31 [[ 0.999835 0.00691538 -0.01679738 1.23508082] [-0.00698094 0.99996823 -0.00384751 -0.42478285] [ 0.01677024 0.00396414 0.99985151 -0.30745353] [ 0. 0. 0. 1. ]] SLAMing on 13.693201007999999 meters Centerline goodness [0,1] 0.8563977092463636 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.31 [[ 0.99986165 0.00439168 -0.0160433 1.23197089] [-0.00449573 0.99996906 -0.00645524 -0.42840936] [ 0.01601446 0.00652648 0.99985046 -0.3060924 ] [ 0. 0. 0. 1. ]] SLAMing on 13.723201007999998 meters Centerline goodness [0,1] 0.8584113920623748 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.43, Z:-0.30 [[ 0.99985213 0.00485945 -0.01649582 1.2320442 ] [-0.00493863 0.99997646 -0.00476242 -0.43431336] [ 0.01647229 0.00484319 0.99985259 -0.30415887] [ 0. 0. 0. 1. ]] SLAMing on 13.753201008 meters Centerline goodness [0,1] 0.8640056517131756 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.44, Z:-0.30 [[ 0.99984307 0.00512989 -0.01695624 1.23277216] [-0.0051911 0.99998016 -0.00356817 -0.43901533] [ 0.0169376 0.00365563 0.99984987 -0.30329522] [ 0. 0. 0. 1. ]] SLAMing on 13.783201007999999 meters Centerline goodness [0,1] 0.8630249794125721 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.45, Z:-0.30 [[ 0.99983967 0.0058325 -0.0169296 1.23308492] [-0.00586986 0.99998044 -0.00215814 -0.44569267] [ 0.01691668 0.00225717 0.99985435 -0.30375625] [ 0. 0. 0. 1. ]] SLAMing on 13.813201007999998 meters Centerline goodness [0,1] 0.8628037075632096 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.45, Z:-0.31 [[ 0.99983783 0.00570012 -0.01708307 1.23431986] [-0.00573585 0.99998146 -0.00204304 -0.44761872] [ 0.01707111 0.00214069 0.99985199 -0.30500209] [ 0. 0. 0. 1. ]] SLAMing on 13.843201008 meters Centerline goodness [0,1] 0.8606062285270974 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.45, Z:-0.31 [[ 0.99984595 0.00548481 -0.01667301 1.23552032] [-0.00550705 0.99998401 -0.00128821 -0.45275783] [ 0.01666567 0.00137983 0.99986017 -0.30726878] [ 0. 0. 0. 1. ]] SLAMing on 13.873201007999999 meters Centerline goodness [0,1] 0.8574312738536424 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.46, Z:-0.31 [[ 9.99840941e-01 4.94527520e-03 -1.71358324e-02 1.23720881e+00] [-4.95109960e-03 9.99987699e-01 -2.97488221e-04 -4.56755284e-01] [ 1.71341504e-02 3.82282116e-04 9.99853127e-01 -3.06806644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.903201007999998 meters Centerline goodness [0,1] 0.8551868377021752 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.46, Z:-0.31 [[ 0.99986092 0.00137267 -0.01662112 1.23570393] [-0.00143031 0.999993 -0.00345626 -0.45980625] [ 0.01661626 0.00347955 0.99985589 -0.30626613] [ 0. 0. 0. 1. ]] SLAMing on 13.933201008 meters Centerline goodness [0,1] 0.8592294486815073 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.46, Z:-0.30 [[ 0.99986101 -0.00208602 -0.0165409 1.23427199] [ 0.00199269 0.99998201 -0.00565677 -0.464855 ] [ 0.0165524 0.00562302 0.99984719 -0.30371892] [ 0. 0. 0. 1. ]] SLAMing on 13.963201007999999 meters Centerline goodness [0,1] 0.858241571120445 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.47, Z:-0.30 [[ 0.99985112 -0.00533752 -0.01640899 1.23246807] [ 0.00521372 0.99995769 -0.00757851 -0.47035077] [ 0.01644875 0.00749183 0.99983664 -0.30067868] [ 0. 0. 0. 1. ]] SLAMing on 13.993201007999998 meters Centerline goodness [0,1] 0.8654744504628435 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.48, Z:-0.30 [[ 0.99982635 -0.00870246 -0.01647865 1.23127841] [ 0.0085586 0.99992482 -0.00878072 -0.47787385] [ 0.01655383 0.00863816 0.99982566 -0.2968773 ] [ 0. 0. 0. 1. ]] SLAMing on 14.023201008 meters Centerline goodness [0,1] 0.8688548086570159 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.48, Z:-0.30 [[ 0.99984095 -0.00561533 -0.01692776 1.23319613] [ 0.00555159 0.99997733 -0.00381028 -0.48216883] [ 0.01694877 0.00371569 0.99984946 -0.29599564] [ 0. 0. 0. 1. ]] SLAMing on 14.053201007999998 meters Centerline goodness [0,1] 0.8676041010367146 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.48, Z:-0.30 [[ 9.99839645e-01 -2.54271034e-03 -1.77262194e-02 1.23646950e+00] [ 2.54715772e-03 9.99996730e-01 2.28320061e-04 -4.84238905e-01] [ 1.77255809e-02 -2.73434926e-04 9.99842852e-01 -2.97040875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.083201008 meters Centerline goodness [0,1] 0.8671090643860302 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.48, Z:-0.30 [[ 9.99847269e-01 -2.27695993e-03 -1.73278424e-02 1.23655409e+00] [ 2.27032748e-03 9.99997342e-01 -4.02424754e-04 -4.82541491e-01] [ 1.73287126e-02 3.63023414e-04 9.99849781e-01 -2.99279143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.113201007999999 meters Centerline goodness [0,1] 0.8649181451958515 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.48, Z:-0.30 [[ 9.99858614e-01 -1.51723712e-03 -1.67466187e-02 1.23568073e+00] [ 1.50523795e-03 9.99998601e-01 -7.29094870e-04 -4.81357707e-01] [ 1.67477015e-02 7.03784141e-04 9.99859500e-01 -3.01021354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.143201007999998 meters Centerline goodness [0,1] 0.8622740856695603 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.31 [[ 0.99990918 0.00574809 -0.01219008 1.24842825] [-0.00583346 0.99995863 -0.00697957 -0.47994118] [ 0.01214945 0.00705005 0.99990134 -0.30894171] [ 0. 0. 0. 1. ]] SLAMing on 14.173201008 meters Centerline goodness [0,1] 0.8672221590262769 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.48, Z:-0.31 [[ 0.99990696 0.0071986 -0.01158657 1.24598793] [-0.00727536 0.99995178 -0.00659663 -0.47928814] [ 0.01153853 0.00668031 0.99991111 -0.30868071] [ 0. 0. 0. 1. ]] SLAMing on 14.203201007999999 meters Centerline goodness [0,1] 0.870255230957045 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.48, Z:-0.31 [[ 0.99990013 0.00851291 -0.01128133 1.24407642] [-0.00858435 0.99994331 -0.00629899 -0.47831271] [ 0.01122707 0.00639521 0.99991652 -0.30820536] [ 0. 0. 0. 1. ]] SLAMing on 14.233201007999998 meters Centerline goodness [0,1] 0.8723513037550418 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.48, Z:-0.31 [[ 0.99986638 0.01272778 -0.01025837 1.23729032] [-0.01277715 0.99990703 -0.00476203 -0.47894755] [ 0.01019681 0.00489246 0.99993604 -0.30602189] [ 0. 0. 0. 1. ]] SLAMing on 14.263201008 meters Centerline goodness [0,1] 0.8814478353442158 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.48, Z:-0.30 [[ 0.99985031 0.01416708 -0.0099325 1.23443966] [-0.01420203 0.99989317 -0.00345759 -0.48122394] [ 0.00988246 0.00359814 0.99994469 -0.30351733] [ 0. 0. 0. 1. ]] SLAMing on 14.293201007999999 meters Centerline goodness [0,1] 0.8814478353442158 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.48, Z:-0.30 [[ 0.99985031 0.01416708 -0.0099325 1.23443966] [-0.01420203 0.99989317 -0.00345759 -0.48122394] [ 0.00988246 0.00359814 0.99994469 -0.30351733] [ 0. 0. 0. 1. ]] SLAMing on 14.323201007999998 meters Centerline goodness [0,1] 0.8912101692982957 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.48, Z:-0.30 [[ 0.99983588 0.01540266 -0.00953737 1.2318007 ] [-0.0154228 0.99987898 -0.00204117 -0.4841608 ] [ 0.00950477 0.00218793 0.99995243 -0.30115294] [ 0. 0. 0. 1. ]] SLAMing on 14.353201008 meters Centerline goodness [0,1] 0.890678449258837 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.49, Z:-0.30 [[ 9.99829075e-01 1.60221946e-02 -9.22547997e-03 1.23045321e+00] [-1.60334433e-02 9.99870799e-01 -1.14663582e-03 -4.86548775e-01] [ 9.20591640e-03 1.29435605e-03 9.99956787e-01 -3.00158095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.383201007999999 meters Centerline goodness [0,1] 0.8791271892047086 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.49, Z:-0.30 [[ 9.99838135e-01 1.56949345e-02 -8.79615829e-03 1.23088522e+00] [-1.56991140e-02 9.99876679e-01 -4.06305698e-04 -4.90195079e-01] [ 8.78869660e-03 5.44331824e-04 9.99961231e-01 -3.01022128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.413201007999998 meters Centerline goodness [0,1] 0.8723037100949094 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.49, Z:-0.30 [[ 9.99845896e-01 1.50243739e-02 -9.08037511e-03 1.23286613e+00] [-1.50276778e-02 9.99887034e-01 -2.95727767e-04 -4.92228544e-01] [ 9.07490622e-03 4.32139145e-04 9.99958729e-01 -3.02196089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.443201007999999 meters Centerline goodness [0,1] 0.8693783354968989 Centerline is valid? [False, False] Translation: X:1.23, Y:-0.49, Z:-0.30 [[ 0.99990371 0.01090985 -0.00857536 1.23288111] [-0.01095203 0.99992808 -0.00488691 -0.49199475] [ 0.00852143 0.00498036 0.99995129 -0.30452044] [ 0. 0. 0. 1. ]] SLAMing on 14.473201007999998 meters Centerline goodness [0,1] 0.868460691732808 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.50, Z:-0.31 [[ 0.99991018 0.00963091 -0.00932078 1.2362688 ] [-0.00967725 0.99994098 -0.00493839 -0.49517016] [ 0.00927267 0.00502815 0.99994437 -0.30575525] [ 0. 0. 0. 1. ]] SLAMing on 14.503201008 meters Centerline goodness [0,1] 0.8700292397660818 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.50, Z:-0.31 [[ 0.99994656 0.00224106 -0.01009212 1.24123314] [-0.00235255 0.99993619 -0.01104889 -0.50081083] [ 0.01006671 0.01107205 0.99988803 -0.30908269] [ 0. 0. 0. 1. ]] SLAMing on 14.533201007999999 meters Centerline goodness [0,1] 0.8731193580742227 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.50, Z:-0.31 [[ 0.99994433 -0.00194295 -0.01037105 1.24207186] [ 0.0017905 0.99989052 -0.01468836 -0.5036022 ] [ 0.01039845 0.01466897 0.99983833 -0.30921294] [ 0. 0. 0. 1. ]] SLAMing on 14.563201007999998 meters Centerline goodness [0,1] 0.8756973758006907 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.51, Z:-0.31 [[ 0.99993453 -0.0029709 -0.01105015 1.2446081 ] [ 0.00282054 0.99990358 -0.01359725 -0.50862768] [ 0.01108948 0.01356519 0.99984649 -0.30833131] [ 0. 0. 0. 1. ]] SLAMing on 14.593201008 meters Centerline goodness [0,1] 0.8792264835067654 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.51, Z:-0.31 [[ 0.999922 -0.00417622 -0.01177058 1.24764641] [ 0.00402499 0.99990943 -0.01284259 -0.5122866 ] [ 0.01182315 0.01279422 0.99984825 -0.3080607 ] [ 0. 0. 0. 1. ]] SLAMing on 14.623201007999999 meters Centerline goodness [0,1] 0.8855283876526338 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.51, Z:-0.31 [[ 0.99986788 -0.01051023 -0.01240013 1.25304592] [ 0.01028894 0.99978905 -0.01777632 -0.51436715] [ 0.01258435 0.01764639 0.99976509 -0.31181762] [ 0. 0. 0. 1. ]] SLAMing on 14.653201007999998 meters Centerline goodness [0,1] 0.8864943813526484 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.99984485 -0.01154257 -0.01330579 1.2564649 ] [ 0.01131013 0.9997844 -0.01741364 -0.51706904] [ 0.01350392 0.01726045 0.99975983 -0.3123629 ] [ 0. 0. 0. 1. ]] SLAMing on 14.683201008 meters Centerline goodness [0,1] 0.8884214922879561 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.99982521 -0.01235298 -0.0140338 1.25918905] [ 0.01211156 0.9997794 -0.01716005 -0.51893263] [ 0.01424268 0.01698708 0.99975426 -0.31279955] [ 0. 0. 0. 1. ]] SLAMing on 14.713201007999999 meters Centerline goodness [0,1] 0.8919984468803202 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.9998417 -0.01008803 -0.01465627 1.2618663 ] [ 0.0099373 0.99989736 -0.01032058 -0.52470434] [ 0.01475888 0.01017331 0.99983933 -0.30800842] [ 0. 0. 0. 1. ]] SLAMing on 14.743201007999998 meters Centerline goodness [0,1] 0.8938689851596462 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 0.99984022 -0.00993628 -0.01485942 1.26096455] [ 0.00984105 0.99993065 -0.00646846 -0.53086563] [ 0.01492267 0.00632119 0.99986867 -0.30113869] [ 0. 0. 0. 1. ]] SLAMing on 14.773201008 meters Centerline goodness [0,1] 0.8992264331974095 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 0.99984048 -0.00973212 -0.01497655 1.2607532 ] [ 0.00964616 0.99993665 -0.00580114 -0.53215658] [ 0.01503206 0.00565575 0.99987102 -0.30004235] [ 0. 0. 0. 1. ]] SLAMing on 14.803201007999998 meters Centerline goodness [0,1] 0.8992145812099047 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.54, Z:-0.30 [[ 9.99858488e-01 -5.93322309e-03 -1.57416971e-02 1.26220703e+00] [ 5.92501874e-03 9.99982286e-01 -5.67773185e-04 -5.35220416e-01] [ 1.57447870e-02 4.74422988e-04 9.99875931e-01 -2.98214014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.833201008 meters Centerline goodness [0,1] 0.8896822563370225 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 0.99987465 -0.00163467 -0.01574815 1.26252771] [ 0.00167906 0.99999465 0.00280637 -0.53312552] [ 0.01574348 -0.00283246 0.99987205 -0.29965884] [ 0. 0. 0. 1. ]] SLAMing on 14.863201007999999 meters Centerline goodness [0,1] 0.8919343834356738 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99884772e-01 -9.32807208e-04 -1.51516605e-02 1.26103683e+00] [ 9.60697822e-04 9.99997858e-01 1.83358867e-03 -5.29865529e-01] [ 1.51499177e-02 -1.84793356e-03 9.99883526e-01 -3.01275854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.893201007999998 meters Centerline goodness [0,1] 0.8899334811529933 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99888778e-01 -1.96814656e-04 -1.49128562e-02 1.25999212e+00] [ 2.11429835e-04 9.99999499e-01 9.78468590e-04 -5.26800437e-01] [ 1.49126562e-02 -9.81512785e-04 9.99888318e-01 -3.02412831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.923201008 meters Centerline goodness [0,1] 0.8863152918931695 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.30 [[ 9.99898929e-01 8.24922728e-04 -1.41933745e-02 1.25786482e+00] [-8.19139864e-04 9.99999579e-01 4.13242695e-04 -5.24273493e-01] [ 1.41937094e-02 -4.01574569e-04 9.99899184e-01 -3.03449168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.953201007999999 meters Centerline goodness [0,1] 0.8802481477125721 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.30 [[ 0.99988414 0.00573126 -0.01410177 1.25670138] [-0.0056664 0.9999732 0.00463501 -0.52372881] [ 0.01412796 -0.00455457 0.99988982 -0.3028729 ] [ 0. 0. 0. 1. ]] SLAMing on 14.983201007999998 meters Centerline goodness [0,1] 0.8830259713520986 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.30 [[ 0.99988529 0.00590656 -0.01394682 1.25646699] [-0.00585205 0.99997509 0.0039453 -0.52225841] [ 0.01396978 -0.00386323 0.99989495 -0.30396998] [ 0. 0. 0. 1. ]] SLAMing on 15.013201008 meters Centerline goodness [0,1] 0.8826514151635138 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.30 [[ 0.99988661 0.00601066 -0.01380753 1.25643066] [-0.00596363 0.99997628 0.00344489 -0.52137177] [ 0.0138279 -0.00336215 0.99989874 -0.3049489 ] [ 0. 0. 0. 1. ]] SLAMing on 15.043201007999999 meters Centerline goodness [0,1] 0.8835323732584006 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.99988568 0.00591876 -0.01391378 1.25677104] [-0.00587678 0.99997806 0.00305576 -0.52104692] [ 0.01393156 -0.00297364 0.99989853 -0.3053988 ] [ 0. 0. 0. 1. ]] SLAMing on 15.073201007999998 meters Centerline goodness [0,1] 0.8859966469602047 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.99988473 0.00566789 -0.01408544 1.25752469] [-0.00562893 0.99998023 0.00280396 -0.52114442] [ 0.01410105 -0.00272435 0.99989686 -0.30593187] [ 0. 0. 0. 1. ]] SLAMing on 15.103201008 meters Centerline goodness [0,1] 0.888006120527307 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.31 [[ 0.99988177 0.00546056 -0.01437453 1.25823915] [-0.00541912 0.99998105 0.00292018 -0.52198332] [ 0.0143902 -0.00284194 0.99989242 -0.30570796] [ 0. 0. 0. 1. ]] SLAMing on 15.133201007999999 meters Centerline goodness [0,1] 0.8877162986764142 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.52, Z:-0.30 [[ 0.99987996 0.00549681 -0.01448651 1.25820045] [-0.00544783 0.99997932 0.00341798 -0.52360624] [ 0.014505 -0.00333865 0.99988922 -0.30486831] [ 0. 0. 0. 1. ]] SLAMing on 15.163201007999998 meters Centerline goodness [0,1] 0.8911060097710283 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 0.99987622 0.00552984 -0.01472966 1.25823271] [-0.00546876 0.9999763 0.00418329 -0.52576197] [ 0.01475244 -0.00410221 0.99988276 -0.30349866] [ 0. 0. 0. 1. ]] SLAMing on 15.193201007999999 meters Centerline goodness [0,1] 0.8851900160075887 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99901111e-01 2.11759669e-03 -1.39026699e-02 1.25541224e+00] [-2.10939796e-03 9.99997593e-01 6.04360859e-04 -5.26668088e-01] [ 1.39039162e-02 -5.74974831e-04 9.99903171e-01 -3.02524904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.223201007999998 meters Centerline goodness [0,1] 0.8834714918144814 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99898378e-01 1.73297216e-03 -1.41503156e-02 1.25637591e+00] [-1.72337121e-03 9.99998276e-01 6.90663392e-04 -5.27371294e-01] [ 1.41514881e-02 -6.66206959e-04 9.99899641e-01 -3.02568411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.253201008 meters Centerline goodness [0,1] 0.8828807415770397 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99896326e-01 1.32729267e-03 -1.43378731e-02 1.25752054e+00] [-1.32215900e-03 9.99999058e-01 3.67522932e-04 -5.27105727e-01] [ 1.43383474e-02 -3.48527881e-04 9.99897140e-01 -3.03426164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.283201007999999 meters Centerline goodness [0,1] 0.8909900549205878 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99889860e-01 5.02261062e-04 -1.48329367e-02 1.25986112e+00] [-5.05795805e-04 9.99999845e-01 -2.34553212e-04 -5.27004326e-01] [ 1.48328166e-02 2.42029816e-04 9.99889958e-01 -3.04824600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.313201007999998 meters Centerline goodness [0,1] 0.8964473332739739 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.31 [[ 9.99878777e-01 -1.46433169e-04 -1.55694873e-02 1.26206460e+00] [ 1.41424928e-04 9.99999938e-01 -3.22770801e-04 -5.28119898e-01] [ 1.55695336e-02 3.20529761e-04 9.99878736e-01 -3.05022741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.343201008 meters Centerline goodness [0,1] 0.8996276991809382 Centerline is valid? [False, False] Translation: X:1.26, Y:-0.53, Z:-0.30 [[ 9.99870251e-01 -4.72815456e-04 -1.61014620e-02 1.26355132e+00] [ 4.73493558e-04 9.99999887e-01 3.83021567e-05 -5.29749683e-01] [ 1.61014421e-02 -4.59211256e-05 9.99870362e-01 -3.04789443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.373201007999999 meters Centerline goodness [0,1] 0.8979043524986566 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.53, Z:-0.31 [[ 9.99863381e-01 -9.56838741e-04 -1.65016376e-02 1.26524400e+00] [ 9.55008106e-04 9.99999537e-01 -1.18816332e-04 -5.30179972e-01] [ 1.65017436e-02 1.03040901e-04 9.99863832e-01 -3.05537721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.403201007999998 meters Centerline goodness [0,1] 0.8959957000806235 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.53, Z:-0.31 [[ 9.99855266e-01 -1.75819381e-03 -1.69220602e-02 1.26753649e+00] [ 1.74600933e-03 9.99998206e-01 -7.34782305e-04 -5.29611364e-01] [ 1.69233217e-02 7.05129882e-04 9.99856542e-01 -3.07073659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.433201008 meters Centerline goodness [0,1] 0.9047917225750663 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.53, Z:-0.31 [[ 0.99983683 -0.00334431 -0.01775198 1.27150592] [ 0.00331785 0.99999334 -0.00152004 -0.52939483] [ 0.01775694 0.00146089 0.99984127 -0.30883813] [ 0. 0. 0. 1. ]] SLAMing on 15.463201007999999 meters Centerline goodness [0,1] 0.9024739195230999 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.53, Z:-0.31 [[ 9.99826297e-01 -3.87266890e-03 -1.82312389e-02 1.27299084e+00] [ 3.84926927e-03 9.99991722e-01 -1.31840760e-03 -5.30331697e-01] [ 1.82361938e-02 1.24800164e-03 9.99832928e-01 -3.08535956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.493201007999998 meters Centerline goodness [0,1] 0.900972617088134 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.53, Z:-0.31 [[ 9.99814598e-01 -4.29321579e-03 -1.87706534e-02 1.27428676e+00] [ 4.27881351e-03 9.99990520e-01 -8.07370949e-04 -5.31677792e-01] [ 1.87739417e-02 7.26905136e-04 9.99823490e-01 -3.07601308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.523201008 meters Centerline goodness [0,1] 0.9052111410601976 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.31 [[ 9.99791659e-01 -6.04878963e-03 -1.94948708e-02 1.27684810e+00] [ 6.04829953e-03 9.99981705e-01 -8.41013089e-05 -5.33918405e-01] [ 1.94950228e-02 -3.38270306e-05 9.99809953e-01 -3.05422352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.553201007999998 meters Centerline goodness [0,1] 0.902980608091932 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.30 [[ 9.99779141e-01 -6.53979038e-03 -1.99724805e-02 1.27779654e+00] [ 6.54755731e-03 9.99978512e-01 3.23513595e-04 -5.34484804e-01] [ 1.99699357e-02 -4.54213105e-04 9.99800478e-01 -3.04117584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.583201008 meters Centerline goodness [0,1] 0.8952832721739908 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.30 [[ 9.99767387e-01 -7.15133052e-03 -2.03477365e-02 1.27890276e+00] [ 7.15522685e-03 9.99974394e-01 1.18688950e-04 -5.33513422e-01] [ 2.03463666e-02 -2.64254012e-04 9.99792956e-01 -3.03819580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.613201007999999 meters Centerline goodness [0,1] 0.8937696100403406 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.30 [[ 9.99758972e-01 -7.64787777e-03 -2.05793097e-02 1.27958672e+00] [ 7.64159466e-03 9.99970729e-01 -3.83933263e-04 -5.31162362e-01] [ 2.05816436e-02 2.26581981e-04 9.99788150e-01 -3.03765024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.643201007999998 meters Centerline goodness [0,1] 0.8930405104614928 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.53, Z:-0.30 [[ 9.99754711e-01 -7.99362003e-03 -2.06547771e-02 1.27988036e+00] [ 7.97086799e-03 9.99967532e-01 -1.18363270e-03 -5.27749929e-01] [ 2.06635680e-02 1.01870587e-03 9.99785967e-01 -3.04051524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.673201008 meters Centerline goodness [0,1] 0.9016145756184268 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.30 [[ 0.99975285 -0.00801555 -0.02073622 1.27962058] [ 0.0079787 0.99996644 -0.00185966 -0.52436225] [ 0.02075043 0.00169375 0.99978325 -0.30389556] [ 0. 0. 0. 1. ]] SLAMing on 15.703201007999999 meters Centerline goodness [0,1] 0.902757406864183 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.52, Z:-0.30 [[ 0.9997694 -0.00400391 -0.02109799 1.2790558 ] [ 0.00404165 0.99999031 0.00174622 -0.51964634] [ 0.0210908 -0.00183109 0.99977589 -0.30193924] [ 0. 0. 0. 1. ]] SLAMing on 15.733201007999998 meters Centerline goodness [0,1] 0.9014323297281497 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.51, Z:-0.30 [[ 9.99774903e-01 -3.97987188e-03 -2.08399587e-02 1.27841109e+00] [ 3.99271545e-03 9.99991864e-01 5.74722641e-04 -5.14226937e-01] [ 2.08375018e-02 -6.57801297e-04 9.99782659e-01 -3.02702633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.763201008 meters Centerline goodness [0,1] 0.8998372755274017 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.51, Z:-0.30 [[ 9.99775484e-01 -4.13249748e-03 -2.07823185e-02 1.27845834e+00] [ 4.12011457e-03 9.99991308e-01 -6.38620995e-04 -5.08849245e-01] [ 2.07847769e-02 5.52852081e-04 9.99783820e-01 -3.03687616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.793201007999999 meters Centerline goodness [0,1] 0.9004969407979777 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.50, Z:-0.31 [[ 0.99976373 -0.00138778 -0.02169217 1.28164138] [ 0.00142105 0.99999784 0.00151851 -0.50242075] [ 0.02169002 -0.00154898 0.99976354 -0.30530411] [ 0. 0. 0. 1. ]] SLAMing on 15.823201007999998 meters Centerline goodness [0,1] 0.8982070229707281 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.50, Z:-0.31 [[ 9.99763248e-01 -1.73204630e-03 -2.16898103e-02 1.28213891e+00] [ 1.74119677e-03 9.99998403e-01 4.03000437e-04 -4.97785269e-01] [ 2.16890777e-02 -4.40671253e-04 9.99764667e-01 -3.06388370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.853201008 meters Centerline goodness [0,1] 0.9006029236107161 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.31 [[ 9.99755845e-01 -2.19162484e-03 -2.19874342e-02 1.28288846e+00] [ 2.18277893e-03 9.99997527e-01 -4.26308556e-04 -4.94191950e-01] [ 2.19883141e-02 3.78210763e-04 9.99758156e-01 -3.06546482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.883201007999999 meters Centerline goodness [0,1] 0.8962734867276823 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.31 [[ 9.99749223e-01 -2.34610830e-03 -2.22707518e-02 1.28285417e+00] [ 2.33508222e-03 9.99997138e-01 -5.21084801e-04 -4.92805509e-01] [ 2.22719106e-02 4.68950088e-04 9.99751840e-01 -3.05382063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.913201007999998 meters Centerline goodness [0,1] 0.8985812174803105 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.30 [[ 9.99742486e-01 -2.10407184e-03 -2.25950165e-02 1.28136808e+00] [ 2.10596331e-03 9.99997781e-01 5.99170785e-05 -4.91553215e-01] [ 2.25948403e-02 -1.07485925e-04 9.99744698e-01 -3.01719675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.943201007999999 meters Centerline goodness [0,1] 0.8952364759556802 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.30 [[ 9.99745538e-01 -1.90483259e-03 -2.24773533e-02 1.28034522e+00] [ 1.90493704e-03 9.99998185e-01 -1.67650403e-05 -4.89229075e-01] [ 2.24773444e-02 -2.60571684e-05 9.99747352e-01 -3.00713621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.973201007999998 meters Centerline goodness [0,1] 0.897554378451482 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.49, Z:-0.30 [[ 9.99729362e-01 1.31257468e-03 -2.32266942e-02 1.28231532e+00] [-1.22554782e-03 9.99992178e-01 3.76068457e-03 -4.88027039e-01] [ 2.32314487e-02 -3.73120136e-03 9.99723151e-01 -3.00181264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.003201008 meters Centerline goodness [0,1] 0.8946939463773819 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.48, Z:-0.30 [[ 0.99973791 0.00144422 -0.02284766 1.28142853] [-0.00137673 0.99999464 0.00296948 -0.48320771] [ 0.02285183 -0.00293725 0.99973455 -0.30064792] [ 0. 0. 0. 1. ]] SLAMing on 16.033201008 meters Centerline goodness [0,1] 0.8939525018837384 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.48, Z:-0.30 [[ 9.99739982e-01 1.15000026e-03 -2.27737867e-02 1.28186375e+00] [-1.11172859e-03 9.99997949e-01 1.69310358e-03 -4.78428394e-01] [ 2.27756870e-02 -1.66734507e-03 9.99739210e-01 -3.02031259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.063201008 meters Centerline goodness [0,1] 0.8902101003381562 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.47, Z:-0.30 [[ 0.99974291 0.00316512 -0.02245226 1.27890477] [-0.00311311 0.99999239 0.00235109 -0.4733462 ] [ 0.02245953 -0.00228059 0.99974515 -0.30031698] [ 0. 0. 0. 1. ]] SLAMing on 16.093201007999998 meters Centerline goodness [0,1] 0.8931636905583308 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.47, Z:-0.30 [[ 0.99974658 0.00353801 -0.02223207 1.27774461] [-0.00349673 0.99999209 0.00189516 -0.47074589] [ 0.0222386 -0.00181694 0.99975104 -0.29995076] [ 0. 0. 0. 1. ]] SLAMing on 16.123201008 meters Centerline goodness [0,1] 0.8898573038959611 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.47, Z:-0.30 [[ 0.99974723 0.00397109 -0.02212945 1.27656149] [-0.00393689 0.99999099 0.00158851 -0.46805019] [ 0.02213555 -0.00150099 0.99975385 -0.29919318] [ 0. 0. 0. 1. ]] SLAMing on 16.153201008 meters Centerline goodness [0,1] 0.8894548043484214 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.47, Z:-0.30 [[ 9.99745116e-01 3.92937475e-03 -2.22320180e-02 1.27652313e+00] [-3.90943026e-03 9.99991916e-01 9.40498553e-04 -4.65315687e-01] [ 2.22355339e-02 -8.53344312e-04 9.99752396e-01 -2.99197594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.183201007999998 meters Centerline goodness [0,1] 0.8894548043484214 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.47, Z:-0.30 [[ 9.99745116e-01 3.92937475e-03 -2.22320180e-02 1.27652313e+00] [-3.90943026e-03 9.99991916e-01 9.40498553e-04 -4.65315687e-01] [ 2.22355339e-02 -8.53344312e-04 9.99752396e-01 -2.99197594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.213201008 meters Centerline goodness [0,1] 0.8895199606793731 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.46, Z:-0.30 [[ 9.99745308e-01 4.34920431e-03 -2.21450719e-02 1.27528103e+00] [-4.34227953e-03 9.99990507e-01 3.60777214e-04 -4.60658988e-01] [ 2.21464308e-02 -2.64525234e-04 9.99754703e-01 -2.98448024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.243201008 meters Centerline goodness [0,1] 0.8888222464558342 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.46, Z:-0.30 [[ 9.99743375e-01 4.26094848e-03 -2.22492257e-02 1.27524403e+00] [-4.26293159e-03 9.99990913e-01 -4.17031552e-05 -4.58672975e-01] [ 2.22488458e-02 1.36539380e-04 9.99752454e-01 -2.98173277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.273201007999997 meters Centerline goodness [0,1] 0.8886532920132659 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.46, Z:-0.30 [[ 9.99745462e-01 4.26590384e-03 -2.21542868e-02 1.27496937e+00] [-4.27368283e-03 9.99990822e-01 -3.03793842e-04 -4.57160690e-01] [ 2.21527875e-02 3.98396910e-04 9.99754518e-01 -2.98132710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.303201008 meters Centerline goodness [0,1] 0.8920570264765784 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.46, Z:-0.30 [[ 9.99747432e-01 4.33541676e-03 -2.20516964e-02 1.27465187e+00] [-4.34604154e-03 9.99990462e-01 -4.33910567e-04 -4.55785820e-01] [ 2.20496049e-02 5.29638564e-04 9.99756738e-01 -2.98047702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.333201008 meters Centerline goodness [0,1] 0.8864349897152756 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 0.99974958 0.00384695 -0.02204489 1.27607223] [-0.00388498 0.99999104 -0.0016825 -0.45170445] [ 0.02203822 0.00176772 0.99975557 -0.30053909] [ 0. 0. 0. 1. ]] SLAMing on 16.363201007999997 meters Centerline goodness [0,1] 0.8889669332180679 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 0.99974827 0.00369253 -0.02213072 1.27652359] [-0.00374041 0.99999075 -0.00212239 -0.44951232] [ 0.02212268 0.00220463 0.99975283 -0.30098062] [ 0. 0. 0. 1. ]] SLAMing on 16.393201008 meters Centerline goodness [0,1] 0.8897864663273825 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 0.99974472 0.00363133 -0.0223002 1.27681287] [-0.00368613 0.99999029 -0.00241669 -0.44786448] [ 0.02229121 0.00249827 0.9997484 -0.30091312] [ 0. 0. 0. 1. ]] SLAMing on 16.423201008 meters Centerline goodness [0,1] 0.887253054852775 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.45, Z:-0.30 [[ 0.99973961 0.00468411 -0.02233301 1.27456508] [-0.00472138 0.99998755 -0.00161662 -0.44756233] [ 0.02232516 0.00172164 0.99974928 -0.29798531] [ 0. 0. 0. 1. ]] SLAMing on 16.453201007999997 meters Centerline goodness [0,1] 0.8883051806352542 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.45, Z:-0.30 [[ 9.99735837e-01 5.22722877e-03 -2.23815153e-02 1.27354314e+00] [-5.25492177e-03 9.99985498e-01 -1.17868047e-03 -4.47914016e-01] [ 2.23750295e-02 1.29598222e-03 9.99748808e-01 -2.96566164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.483201007999998 meters Centerline goodness [0,1] 0.8884964818159761 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.45, Z:-0.30 [[ 9.99731525e-01 5.51407491e-03 -2.25049375e-02 1.27320380e+00] [-5.54235895e-03 9.99983927e-01 -1.19461288e-03 -4.47504524e-01] [ 2.24979886e-02 1.31902260e-03 9.99746018e-01 -2.96004813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.513201008 meters Centerline goodness [0,1] 0.8873042730910752 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.45, Z:-0.30 [[ 0.99972912 0.00547811 -0.02262023 1.27375015] [-0.00552059 0.99998311 -0.00181582 -0.44567159] [ 0.0226099 0.0019402 0.99974248 -0.29675817] [ 0. 0. 0. 1. ]] SLAMing on 16.543201008 meters Centerline goodness [0,1] 0.8862335009005619 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.44, Z:-0.30 [[ 0.99973077 0.00566189 -0.02250165 1.27381761] [-0.00571779 0.99998072 -0.00242095 -0.4432811 ] [ 0.02248751 0.00254896 0.99974387 -0.29780883] [ 0. 0. 0. 1. ]] SLAMing on 16.573201007999998 meters Centerline goodness [0,1] 0.8843453561284099 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.44, Z:-0.30 [[ 9.99695188e-01 9.08181292e-03 -2.29575996e-02 1.27611000e+00] [-9.06329991e-03 9.99958513e-01 9.10323355e-04 -4.41931335e-01] [ 2.29649145e-02 -7.01974268e-04 9.99736025e-01 -2.99318733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.603201008 meters Centerline goodness [0,1] 0.8888681807289864 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.44, Z:-0.30 [[ 9.99691948e-01 8.72875500e-03 -2.32339877e-02 1.27724098e+00] [-8.71938943e-03 9.99961858e-01 5.04375827e-04 -4.41393992e-01] [ 2.32375041e-02 -3.01634266e-04 9.99729927e-01 -3.00027809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.633201008 meters Centerline goodness [0,1] 0.8880350377515651 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.44, Z:-0.30 [[ 0.99972707 0.00553077 -0.02269794 1.27553979] [-0.00561204 0.99997806 -0.00351817 -0.4398462 ] [ 0.02267798 0.0036446 0.99973618 -0.30032701] [ 0. 0. 0. 1. ]] SLAMing on 16.663201007999998 meters Centerline goodness [0,1] 0.8890503093892924 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.44, Z:-0.30 [[ 0.99972116 0.00559404 -0.02294137 1.27571845] [-0.00565989 0.99998005 -0.00280609 -0.44216563] [ 0.02292522 0.00293516 0.99973287 -0.29935624] [ 0. 0. 0. 1. ]] SLAMing on 16.693201008 meters Centerline goodness [0,1] 0.8905518169582772 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.44, Z:-0.30 [[ 0.99970618 0.00529857 -0.0236531 1.27701843] [-0.00534944 0.99998351 -0.0020881 -0.4445457 ] [ 0.02364165 0.00221402 0.99971805 -0.29817538] [ 0. 0. 0. 1. ]] SLAMing on 16.723201008 meters Centerline goodness [0,1] 0.8906330626544635 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 9.99720540e-01 1.03621367e-03 -2.36171175e-02 1.27688960e+00] [-1.17324003e-03 9.99982556e-01 -5.78887582e-03 -4.45660143e-01] [ 2.36107070e-02 5.81496661e-03 9.99704317e-01 -2.97758878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.753201007999998 meters Centerline goodness [0,1] 0.8924772036474165 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 9.99708343e-01 6.35535054e-04 -2.41417696e-02 1.27813125e+00] [-7.56923694e-04 9.99987116e-01 -5.01935309e-03 -4.47866194e-01] [ 2.41382686e-02 5.03616264e-03 9.99695944e-01 -2.96840939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.783201008 meters Centerline goodness [0,1] 0.896611831354178 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.30 [[ 9.99697309e-01 4.43132763e-04 -2.45986443e-02 1.27891196e+00] [-5.44902992e-04 9.99991320e-01 -4.13068044e-03 -4.50551629e-01] [ 2.45966003e-02 4.14283400e-03 9.99688874e-01 -2.95682929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.813201008 meters Centerline goodness [0,1] 0.9046266455454198 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.45, Z:-0.29 [[ 9.99688098e-01 3.28165078e-04 -2.49719641e-02 1.27933209e+00] [-3.98746205e-04 9.99995940e-01 -2.82148771e-03 -4.54387444e-01] [ 2.49709368e-02 2.83056516e-03 9.99684170e-01 -2.93878294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.843201007999998 meters Centerline goodness [0,1] 0.9071624588364435 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.46, Z:-0.29 [[ 0.99967813 -0.00402059 -0.02504937 1.27955063] [ 0.00387702 0.9999758 -0.00577719 -0.45818111] [ 0.025072 0.00567821 0.99966952 -0.2928161 ] [ 0. 0. 0. 1. ]] SLAMing on 16.873201008 meters Centerline goodness [0,1] 0.9110891034634535 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.46, Z:-0.29 [[ 0.99965881 -0.00497242 -0.02564263 1.28185828] [ 0.00483265 0.99997315 -0.00550947 -0.46030716] [ 0.02566934 0.00538367 0.99965599 -0.29301878] [ 0. 0. 0. 1. ]] SLAMing on 16.903201008 meters Centerline goodness [0,1] 0.9153481448811952 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.46, Z:-0.29 [[ 0.99963371 -0.00595104 -0.02640147 1.28438896] [ 0.00581625 0.99996967 -0.00517946 -0.4623657 ] [ 0.02643149 0.00502401 0.999638 -0.2929235 ] [ 0. 0. 0. 1. ]] SLAMing on 16.933201007999998 meters Centerline goodness [0,1] 0.9187872075314966 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.47, Z:-0.29 [[ 0.99960992 -0.00830855 -0.02666419 1.28624437] [ 0.00818749 0.99995569 -0.00464613 -0.46651532] [ 0.02670162 0.00442601 0.99963365 -0.29092721] [ 0. 0. 0. 1. ]] SLAMing on 16.963201008 meters Centerline goodness [0,1] 0.9191032331096938 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.47, Z:-0.29 [[ 0.99958076 -0.00917325 -0.02746187 1.28858426] [ 0.00905475 0.99994916 -0.00443631 -0.46859111] [ 0.02750117 0.00418579 0.99961301 -0.29071072] [ 0. 0. 0. 1. ]] SLAMing on 16.993201008 meters Centerline goodness [0,1] 0.9136457901285774 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.47, Z:-0.29 [[ 0.99956064 -0.00967199 -0.02801762 1.29016041] [ 0.00955873 0.99994561 -0.00417342 -0.46985986] [ 0.02805646 0.00390378 0.99959872 -0.29040579] [ 0. 0. 0. 1. ]] SLAMing on 17.023201007999997 meters Centerline goodness [0,1] 0.9138136887408025 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.47, Z:-0.29 [[ 0.99954621 -0.00993885 -0.02843568 1.29121616] [ 0.00982354 0.99994296 -0.00419195 -0.46961506] [ 0.02847572 0.00391071 0.99958683 -0.29031058] [ 0. 0. 0. 1. ]] SLAMing on 17.053201008 meters Centerline goodness [0,1] 0.9161048689138577 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.47, Z:-0.29 [[ 0.99954069 -0.01005316 -0.02858922 1.2917282 ] [ 0.00992192 0.9999396 -0.00472876 -0.4674764 ] [ 0.02863503 0.00444292 0.99958006 -0.29081786] [ 0. 0. 0. 1. ]] SLAMing on 17.083201008 meters Centerline goodness [0,1] 0.918710138552892 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.46, Z:-0.29 [[ 9.99566305e-01 -5.72887363e-03 -2.88856825e-02 1.29173622e+00] [ 5.69054711e-03 9.99982816e-01 -1.40886524e-03 -4.61880894e-01] [ 2.88932574e-02 1.24387888e-03 9.99581729e-01 -2.90618702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.113201007999997 meters Centerline goodness [0,1] 0.9170719711459643 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.46, Z:-0.29 [[ 0.9995722 -0.00146275 -0.02921108 1.29157807] [ 0.00154292 0.9999951 0.00272228 -0.46019936] [ 0.02920696 -0.00276618 0.99956956 -0.28926617] [ 0. 0. 0. 1. ]] SLAMing on 17.143201008 meters Centerline goodness [0,1] 0.9203202439954251 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.46, Z:-0.29 [[ 9.99570310e-01 -8.97272626e-04 -2.92983041e-02 1.29063261e+00] [ 9.55376538e-04 9.99997605e-01 1.96924523e-03 -4.55759544e-01] [ 2.92964670e-02 -1.99638998e-03 9.99568773e-01 -2.88849371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.173201008 meters Centerline goodness [0,1] 0.9200432490877145 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.45, Z:-0.29 [[ 0.99970402 0.00273831 -0.02417379 1.30339293] [-0.00287641 0.99997973 -0.00567988 -0.45168096] [ 0.02415775 0.00574773 0.99969164 -0.29295635] [ 0. 0. 0. 1. ]] SLAMing on 17.203201007999997 meters Centerline goodness [0,1] 0.918461497197114 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.45, Z:-0.29 [[ 0.999683 0.00773247 -0.0239605 1.30098959] [-0.00777344 0.99996848 -0.00161748 -0.44711825] [ 0.02394724 0.00180322 0.9997116 -0.29056392] [ 0. 0. 0. 1. ]] SLAMing on 17.233201007999998 meters Centerline goodness [0,1] 0.9147865000932314 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.44, Z:-0.29 [[ 0.99967709 0.0085252 -0.0239381 1.30030859] [-0.00857151 0.99996158 -0.00183261 -0.44217903] [ 0.02392156 0.0020372 0.99971176 -0.29038421] [ 0. 0. 0. 1. ]] SLAMing on 17.263201008 meters Centerline goodness [0,1] 0.9125198517734251 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.44, Z:-0.29 [[ 0.99962888 0.01220678 -0.02435367 1.30143821] [-0.01216869 0.99992449 0.00171194 -0.44011693] [ 0.02437272 -0.00141496 0.99970194 -0.29025557] [ 0. 0. 0. 1. ]] SLAMing on 17.293201008 meters Centerline goodness [0,1] 0.9110835619328972 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.44, Z:-0.29 [[ 9.99622915e-01 1.29772647e-02 -2.41995535e-02 1.30021762e+00] [-1.29525117e-02 9.99915417e-01 1.17934349e-03 -4.35951323e-01] [ 2.42128113e-02 -8.65453778e-04 9.99706452e-01 -2.90027128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.323201007999998 meters Centerline goodness [0,1] 0.9062229791693961 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.43, Z:-0.29 [[ 0.9996121 0.02082453 -0.01849271 1.31010511] [-0.02089101 0.99977595 -0.00340892 -0.42996119] [ 0.01841758 0.00379393 0.99982318 -0.29261568] [ 0. 0. 0. 1. ]] SLAMing on 17.353201008 meters Centerline goodness [0,1] 0.9069373501511518 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.43, Z:-0.29 [[ 0.99957979 0.02237204 -0.01843174 1.30800692] [-0.0224274 0.99974455 -0.00280186 -0.426942 ] [ 0.01836435 0.00321406 0.9998262 -0.29077206] [ 0. 0. 0. 1. ]] SLAMing on 17.383201008 meters Centerline goodness [0,1] 0.9054528434355253 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.42, Z:-0.29 [[ 0.99956721 0.02319092 -0.01809913 1.30639514] [-0.02324735 0.9997255 -0.00291376 -0.42433348] [ 0.01802659 0.00333326 0.99983195 -0.29018426] [ 0. 0. 0. 1. ]] SLAMing on 17.413201007999998 meters Centerline goodness [0,1] 0.9055696991738973 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.42, Z:-0.29 [[ 0.99955915 0.02373218 -0.01784072 1.30539187] [-0.02378852 0.99971265 -0.00295278 -0.42300036] [ 0.01776552 0.00337588 0.99983648 -0.28997091] [ 0. 0. 0. 1. ]] SLAMing on 17.443201008 meters Centerline goodness [0,1] 0.9050715214564369 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.42, Z:-0.29 [[ 0.99955995 0.02374895 -0.01777339 1.30552441] [-0.02380918 0.99971145 -0.00318477 -0.4222295 ] [ 0.01769263 0.00360654 0.99983697 -0.29047008] [ 0. 0. 0. 1. ]] SLAMing on 17.473201008 meters Centerline goodness [0,1] 0.9011702155385859 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.42, Z:-0.29 [[ 0.99957544 0.02269427 -0.01827308 1.30841896] [-0.0227668 0.99973369 -0.00377075 -0.42383274] [ 0.01818264 0.00418517 0.99982592 -0.29267548] [ 0. 0. 0. 1. ]] SLAMing on 17.503201007999998 meters Centerline goodness [0,1] 0.9024937981459721 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.43, Z:-0.29 [[ 0.99958163 0.02185364 -0.01894696 1.31105843] [-0.02193134 0.99975186 -0.00390282 -0.426071 ] [ 0.01885696 0.00431672 0.99981287 -0.29380184] [ 0. 0. 0. 1. ]] SLAMing on 17.533201008 meters Centerline goodness [0,1] 0.9008084413879993 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.43, Z:-0.29 [[ 0.99958408 0.02120651 -0.0195435 1.31321051] [-0.02127942 0.99976733 -0.00353035 -0.42934997] [ 0.01946409 0.00394476 0.99980277 -0.29425568] [ 0. 0. 0. 1. ]] SLAMing on 17.563201008 meters Centerline goodness [0,1] 0.9013784954706577 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.43, Z:-0.29 [[ 0.99958587 0.02040429 -0.02029174 1.31579257] [-0.02047365 0.99978522 -0.00321618 -0.43296411] [ 0.02022176 0.00363029 0.99978893 -0.29472643] [ 0. 0. 0. 1. ]] SLAMing on 17.593201007999998 meters Centerline goodness [0,1] 0.9013770003721623 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.44, Z:-0.30 [[ 0.99966387 0.01636945 -0.02010439 1.31649004] [-0.01650986 0.99984032 -0.00683804 -0.43675805] [ 0.01998924 0.00716766 0.9997745 -0.29650349] [ 0. 0. 0. 1. ]] SLAMing on 17.623201008 meters Centerline goodness [0,1] 0.8999440581794933 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.44, Z:-0.30 [[ 0.99966013 0.01631886 -0.02033043 1.31721909] [-0.01644448 0.99984662 -0.00602698 -0.43979633] [ 0.02022895 0.00635926 0.99977515 -0.29621249] [ 0. 0. 0. 1. ]] SLAMing on 17.653201008 meters Centerline goodness [0,1] 0.8995825975276931 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.44, Z:-0.30 [[ 0.99965422 0.01633881 -0.02060316 1.31778734] [-0.01644538 0.9998522 -0.00501373 -0.44340693] [ 0.0205182 0.00535082 0.99977516 -0.29549082] [ 0. 0. 0. 1. ]] SLAMing on 17.683201007999998 meters Centerline goodness [0,1] 0.8974956003790443 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.45, Z:-0.29 [[ 0.99969973 0.01369183 -0.02032195 1.31550955] [-0.0138238 0.99988417 -0.00636786 -0.45118022] [ 0.02023241 0.00664688 0.99977321 -0.29276953] [ 0. 0. 0. 1. ]] SLAMing on 17.713201008 meters Centerline goodness [0,1] 0.8984873584444505 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.45, Z:-0.29 [[ 0.9996923 0.01403816 -0.02045099 1.31547987] [-0.01414732 0.99988639 -0.00520284 -0.45483642] [ 0.02037563 0.00549056 0.99977732 -0.29184858] [ 0. 0. 0. 1. ]] SLAMing on 17.743201008 meters Centerline goodness [0,1] 0.895002304959731 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.46, Z:-0.29 [[ 0.99969595 0.01420163 -0.02015729 1.31548298] [-0.01430603 0.99988494 -0.00504439 -0.45557549] [ 0.02008334 0.00533122 0.9997841 -0.29273442] [ 0. 0. 0. 1. ]] SLAMing on 17.773201007999997 meters Centerline goodness [0,1] 0.8927707240151165 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.45, Z:-0.29 [[ 0.99970332 0.01424521 -0.01975706 1.31571664] [-0.01435368 0.99988262 -0.00535925 -0.45475386] [ 0.0196784 0.00564125 0.99979045 -0.29446584] [ 0. 0. 0. 1. ]] SLAMing on 17.803201008 meters Centerline goodness [0,1] 0.8914621218298948 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.46, Z:-0.30 [[ 0.99964115 0.01763752 -0.02016181 1.31862533] [-0.0176706 0.99984279 -0.0014637 -0.45740688] [ 0.02013283 0.00181945 0.99979566 -0.29658167] [ 0. 0. 0. 1. ]] SLAMing on 17.833201008 meters Centerline goodness [0,1] 0.8885654433169192 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.46, Z:-0.30 [[ 9.99632737e-01 1.77656449e-02 -2.04639337e-02 1.31916662e+00] [-1.77919560e-02 9.99841101e-01 -1.10436624e-03 -4.59582491e-01] [ 2.04410623e-02 1.46805405e-03 9.99789982e-01 -2.96314351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.863201007999997 meters Centerline goodness [0,1] 0.8879824801532986 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.46, Z:-0.30 [[ 0.99968785 0.01512101 -0.01988854 1.31634077] [-0.01521397 0.999874 -0.00453063 -0.46058344] [ 0.01981753 0.0048318 0.99979194 -0.29551597] [ 0. 0. 0. 1. ]] SLAMing on 17.893201008 meters Centerline goodness [0,1] 0.8886268271946905 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.46, Z:-0.29 [[ 0.99967854 0.01505781 -0.02039801 1.31738568] [-0.0151392 0.99987801 -0.00384188 -0.46383472] [ 0.02033767 0.00414946 0.99978456 -0.29484453] [ 0. 0. 0. 1. ]] SLAMing on 17.923201008 meters Centerline goodness [0,1] 0.8894852738783374 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.47, Z:-0.30 [[ 0.99967552 0.01478263 -0.0207446 1.31867793] [-0.01486005 0.99988316 -0.0035828 -0.46610721] [ 0.02068922 0.0038899 0.99977839 -0.29523643] [ 0. 0. 0. 1. ]] SLAMing on 17.953201007999997 meters Centerline goodness [0,1] 0.8880229923174708 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.47, Z:-0.30 [[ 0.99967979 0.01413685 -0.02098724 1.32072996] [-0.01422051 0.9998915 -0.00384251 -0.46745762] [ 0.02093064 0.00413973 0.99977236 -0.29702115] [ 0. 0. 0. 1. ]] SLAMing on 17.983201007999998 meters Centerline goodness [0,1] 0.8876613462873004 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.47, Z:-0.30 [[ 0.99973798 0.01006087 -0.02056106 1.32496981] [-0.01019513 0.99992732 -0.00643569 -0.47093326] [ 0.02049482 0.00664363 0.99976789 -0.30170229] [ 0. 0. 0. 1. ]] SLAMing on 18.013201008 meters Centerline goodness [0,1] 0.8874573808059918 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.47, Z:-0.30 [[ 0.99977401 0.00569426 -0.02048194 1.32599718] [-0.00591358 0.99992566 -0.01066309 -0.47228111] [ 0.0204197 0.0107818 0.99973336 -0.30352344] [ 0. 0. 0. 1. ]] SLAMing on 18.043201007999997 meters Centerline goodness [0,1] 0.892111401511958 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.48, Z:-0.30 [[ 0.99977315 0.00448644 -0.02082091 1.32832962] [-0.00469637 0.99993852 -0.01004478 -0.47720087] [ 0.02077457 0.01014029 0.99973276 -0.30377201] [ 0. 0. 0. 1. ]] SLAMing on 18.073201007999998 meters Centerline goodness [0,1] 0.8960543063215952 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.48, Z:-0.30 [[ 0.99976752 0.00360264 -0.02125856 1.3302677 ] [-0.00379482 0.99995224 -0.00900677 -0.48272774] [ 0.0212251 0.00908535 0.99973344 -0.30316426] [ 0. 0. 0. 1. ]] SLAMing on 18.103201008 meters Centerline goodness [0,1] 0.8960543063215952 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.48, Z:-0.30 [[ 0.99976752 0.00360264 -0.02125856 1.3302677 ] [-0.00379482 0.99995224 -0.00900677 -0.48272774] [ 0.0212251 0.00908535 0.99973344 -0.30316426] [ 0. 0. 0. 1. ]] SLAMing on 18.133201008 meters Centerline goodness [0,1] 0.8996943992231456 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.49, Z:-0.30 [[ 9.99771378e-01 -5.02481305e-04 -2.13761317e-02 1.33093529e+00] [ 2.55254863e-04 9.99933071e-01 -1.15666937e-02 -4.88948195e-01] [ 2.13805131e-02 1.15585930e-02 9.99704593e-01 -3.02554433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.163201007999998 meters Centerline goodness [0,1] 0.9015273311897106 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.49, Z:-0.30 [[ 9.99770637e-01 1.56233360e-04 -2.14161125e-02 1.32996308e+00] [-3.66746359e-04 9.99951656e-01 -9.82607992e-03 -4.92819837e-01] [ 2.14135420e-02 9.83168046e-03 9.99722361e-01 -3.00211336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.193201008 meters Centerline goodness [0,1] 0.9004035745171519 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.50, Z:-0.30 [[ 0.99978015 0.00137513 -0.02092252 1.32741281] [-0.00154506 0.99996594 -0.0081079 -0.49606018] [ 0.02091066 0.00813845 0.99974822 -0.2978346 ] [ 0. 0. 0. 1. ]] SLAMing on 18.223201008 meters Centerline goodness [0,1] 0.8946670892275779 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.50, Z:-0.30 [[ 0.99987218 0.00749718 -0.01412134 1.33502516] [-0.00765883 0.99990536 -0.01142831 -0.49969877] [ 0.01403432 0.011535 0.99983498 -0.29659751] [ 0. 0. 0. 1. ]] SLAMing on 18.253201007999998 meters Centerline goodness [0,1] 0.890619142371024 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.50, Z:-0.29 [[ 0.99986667 0.00952709 -0.01326187 1.3310885 ] [-0.00966316 0.99990094 -0.01023442 -0.49963229] [ 0.01316305 0.01036121 0.99985968 -0.29484227] [ 0. 0. 0. 1. ]] SLAMing on 18.283201008 meters Centerline goodness [0,1] 0.884532218538273 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.50, Z:-0.29 [[ 0.99981061 0.01447164 -0.01301246 1.32971504] [-0.01453833 0.99988158 -0.00504521 -0.50141564] [ 0.0129379 0.00523344 0.99990261 -0.29330276] [ 0. 0. 0. 1. ]] SLAMing on 18.313201008 meters Centerline goodness [0,1] 0.8818739029092688 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.50, Z:-0.29 [[ 0.99979636 0.01588714 -0.0124436 1.32785153] [-0.01594926 0.99986076 -0.00490828 -0.49981931] [ 0.01236389 0.00510575 0.99991053 -0.29388864] [ 0. 0. 0. 1. ]] SLAMing on 18.343201007999998 meters Centerline goodness [0,1] 0.8783725664478023 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.50, Z:-0.29 [[ 9.99706353e-01 2.11998909e-02 -1.17376635e-02 1.32640945e+00] [-2.12063365e-02 9.99775030e-01 -4.24932207e-04 -5.01393250e-01] [ 1.17260144e-02 6.73720269e-04 9.99931021e-01 -2.94913877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.373201008 meters Centerline goodness [0,1] 0.8776455026455027 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.50, Z:-0.30 [[ 9.99695449e-01 2.20703327e-02 -1.10412618e-02 1.32459282e+00] [-2.20746284e-02 9.99756290e-01 -2.67321004e-04 -5.02150794e-01] [ 1.10326711e-02 5.10971342e-04 9.99939008e-01 -2.95396505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.403201008 meters Centerline goodness [0,1] 0.8794743212865295 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.50, Z:-0.29 [[ 9.99682319e-01 2.28102291e-02 -1.07216902e-02 1.32325693e+00] [-2.28075614e-02 9.99739805e-01 3.71031621e-04 -5.04139307e-01] [ 1.07273638e-02 -1.26378142e-04 9.99942452e-01 -2.94807387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.433201007999998 meters Centerline goodness [0,1] 0.8790543462591899 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.51, Z:-0.29 [[ 9.99670090e-01 2.33736306e-02 -1.06482274e-02 1.32243354e+00] [-2.33602933e-02 9.99726165e-01 1.37521935e-03 -5.07286241e-01] [ 1.06774554e-02 -1.12601994e-03 9.99942360e-01 -2.93651703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.463201008 meters Centerline goodness [0,1] 0.8790690951141948 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.51, Z:-0.29 [[ 0.99974487 0.02024297 -0.01002072 1.32052575] [-0.02027192 0.9997906 -0.00279543 -0.50776959] [ 0.00996203 0.00299786 0.99994588 -0.29457989] [ 0. 0. 0. 1. ]] SLAMing on 18.493201008 meters Centerline goodness [0,1] 0.8788948535418368 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.51, Z:-0.30 [[ 0.9998176 0.0163442 -0.00988056 1.32079646] [-0.016405 0.9998468 -0.00610363 -0.51277287] [ 0.00977929 0.00626461 0.99993256 -0.29541974] [ 0. 0. 0. 1. ]] SLAMing on 18.523201007999997 meters Centerline goodness [0,1] 0.8765091208177893 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.52, Z:-0.30 [[ 0.99982692 0.01556736 -0.01018716 1.32287595] [-0.01562693 0.9998611 -0.00579461 -0.51614385] [ 0.01009553 0.0059528 0.99993132 -0.29623117] [ 0. 0. 0. 1. ]] SLAMing on 18.553201008 meters Centerline goodness [0,1] 0.875984774718952 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.52, Z:-0.30 [[ 0.99983623 0.01456831 -0.0107364 1.32584741] [-0.01463096 0.99987625 -0.00578056 -0.51916514] [ 0.01065086 0.0059367 0.99992565 -0.29769142] [ 0. 0. 0. 1. ]] SLAMing on 18.583201008 meters Centerline goodness [0,1] 0.8756292567367486 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.52, Z:-0.30 [[ 0.99984558 0.01333509 -0.01144518 1.32964204] [-0.01340534 0.99989164 -0.00608336 -0.52156627] [ 0.01136282 0.00623585 0.999916 -0.29983709] [ 0. 0. 0. 1. ]] SLAMing on 18.613201007999997 meters Centerline goodness [0,1] 0.8753202645534172 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.52, Z:-0.30 [[ 0.99985139 0.01206189 -0.01231722 1.33363109] [-0.01214004 0.99990652 -0.00628983 -0.52428536] [ 0.0122402 0.00643842 0.99990436 -0.30161204] [ 0. 0. 0. 1. ]] SLAMing on 18.643201008 meters Centerline goodness [0,1] 0.8791369920402179 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.30 [[ 0.99984958 0.01172551 -0.01277982 1.33524005] [-0.01179952 0.99991396 -0.00573162 -0.52875447] [ 0.01271151 0.00588156 0.99990191 -0.301666 ] [ 0. 0. 0. 1. ]] SLAMing on 18.673201008 meters Centerline goodness [0,1] 0.8802221757697016 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.30 [[ 0.99984819 0.01159462 -0.01300599 1.33588282] [-0.01166948 0.99991569 -0.00569473 -0.52892681] [ 0.01293887 0.00584564 0.9998992 -0.30158039] [ 0. 0. 0. 1. ]] SLAMing on 18.703201007999997 meters Centerline goodness [0,1] 0.8836779691317561 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.30 [[ 0.99984945 0.01134697 -0.01312715 1.33686915] [-0.01142697 0.99991649 -0.00603568 -0.5287287 ] [ 0.01305757 0.00618477 0.99989562 -0.30265773] [ 0. 0. 0. 1. ]] SLAMing on 18.733201007999998 meters Centerline goodness [0,1] 0.8821461554502934 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.30 [[ 0.99985329 0.01086499 -0.01324194 1.33838556] [-0.010956 0.99991673 -0.00681958 -0.52746776] [ 0.01316674 0.00696366 0.99988907 -0.30460327] [ 0. 0. 0. 1. ]] SLAMing on 18.763201008 meters Centerline goodness [0,1] 0.8796724813100748 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.31 [[ 0.99981488 0.01314021 -0.01405467 1.34259731] [-0.01319049 0.99990691 -0.00349104 -0.52717097] [ 0.01400749 0.00367578 0.99989513 -0.30592876] [ 0. 0. 0. 1. ]] SLAMing on 18.793201007999997 meters Centerline goodness [0,1] 0.8784705742762221 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.53, Z:-0.31 [[ 0.99981763 0.01300852 -0.01398191 1.34276371] [-0.0130645 0.99990697 -0.00391938 -0.5255037 ] [ 0.01392963 0.00410133 0.99989457 -0.30649016] [ 0. 0. 0. 1. ]] SLAMing on 18.823201007999998 meters Centerline goodness [0,1] 0.8780994186736267 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99981941 0.01303222 -0.01383127 1.34273349] [-0.01309353 0.99990481 -0.00435155 -0.52393089] [ 0.01377324 0.00453187 0.99989487 -0.30722073] [ 0. 0. 0. 1. ]] SLAMing on 18.853201008 meters Centerline goodness [0,1] 0.8769810876097331 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99981818 0.0128683 -0.0140719 1.34349031] [-0.01293729 0.99990468 -0.00482339 -0.52258398] [ 0.01400849 0.00500457 0.99988935 -0.30771612] [ 0. 0. 0. 1. ]] SLAMing on 18.883201008 meters Centerline goodness [0,1] 0.8777767891568051 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.9998118 0.01362283 -0.01381227 1.34177603] [-0.01368276 0.99989734 -0.00425313 -0.52340729] [ 0.01375291 0.00444132 0.99989556 -0.30641816] [ 0. 0. 0. 1. ]] SLAMing on 18.913201007999998 meters Centerline goodness [0,1] 0.8758669961003781 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99981113 0.01387692 -0.01360612 1.34097782] [-0.01393205 0.99989508 -0.00396581 -0.52357908] [ 0.01354966 0.00415462 0.99989957 -0.30585242] [ 0. 0. 0. 1. ]] SLAMing on 18.943201008 meters Centerline goodness [0,1] 0.8772180115916184 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99981345 0.0137105 -0.01360481 1.34136373] [-0.01376469 0.99989767 -0.00389737 -0.52329766] [ 0.01354999 0.00408391 0.99989985 -0.3059157 ] [ 0. 0. 0. 1. ]] SLAMing on 18.973201008 meters Centerline goodness [0,1] 0.8718606454691881 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99981602 0.01389633 -0.013222 1.34054468] [-0.01394519 0.99989624 -0.00361053 -0.52344761] [ 0.01317046 0.00379425 0.99990607 -0.30574856] [ 0. 0. 0. 1. ]] SLAMing on 19.003201007999998 meters Centerline goodness [0,1] 0.870416592381292 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99982072 0.01420787 -0.0125167 1.33900006] [-0.01425073 0.99989287 -0.00334126 -0.52183817] [ 0.01246788 0.00351903 0.99991608 -0.30538653] [ 0. 0. 0. 1. ]] SLAMing on 19.033201008 meters Centerline goodness [0,1] 0.8686874684558976 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.30 [[ 0.99982098 0.01439384 -0.01228093 1.3381829 ] [-0.01443536 0.99989036 -0.00329914 -0.52091477] [ 0.01223209 0.00347583 0.99991914 -0.30490572] [ 0. 0. 0. 1. ]] SLAMing on 19.063201008 meters Centerline goodness [0,1] 0.8669104313445704 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.30 [[ 0.99981596 0.01488341 -0.01210524 1.33680457] [-0.01491397 0.99988581 -0.00243779 -0.52183605] [ 0.01206758 0.00261787 0.99992376 -0.30303463] [ 0. 0. 0. 1. ]] SLAMing on 19.093201007999998 meters Centerline goodness [0,1] 0.870813967345966 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.30 [[ 0.99980864 0.01517164 -0.01234956 1.33635573] [-0.01519396 0.99988309 -0.00171565 -0.52353817] [ 0.01232208 0.00190296 0.99992227 -0.30132548] [ 0. 0. 0. 1. ]] SLAMing on 19.123201008 meters Centerline goodness [0,1] 0.8688784515511413 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.52, Z:-0.30 [[ 0.99984897 0.01260303 -0.0119664 1.33361087] [-0.01266627 0.99990614 -0.00522356 -0.52393813] [ 0.01189944 0.00537434 0.99991476 -0.30041651] [ 0. 0. 0. 1. ]] SLAMing on 19.153201008 meters Centerline goodness [0,1] 0.8716831328537743 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.52, Z:-0.30 [[ 0.99985161 0.0122437 -0.01211839 1.33470165] [-0.01231208 0.99990861 -0.00558475 -0.52349955] [ 0.01204891 0.00573312 0.99991097 -0.30133627] [ 0. 0. 0. 1. ]] SLAMing on 19.183201007999998 meters Centerline goodness [0,1] 0.8708773185423749 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.30 [[ 0.99985812 0.01170218 -0.01211621 1.33615826] [-0.01178285 0.99990874 -0.00660832 -0.52126285] [ 0.01203777 0.00675015 0.99990476 -0.30362186] [ 0. 0. 0. 1. ]] SLAMing on 19.213201008 meters Centerline goodness [0,1] 0.8652258160679684 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.52, Z:-0.31 [[ 0.99985171 0.01139916 -0.01290797 1.34451396] [-0.01146874 0.99992003 -0.0053286 -0.51939978] [ 0.0128462 0.00547585 0.99990249 -0.30908582] [ 0. 0. 0. 1. ]] SLAMing on 19.243201008 meters Centerline goodness [0,1] 0.8699330383833552 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.52, Z:-0.31 [[ 0.9998522 0.01029226 -0.01377138 1.34805088] [-0.01037077 0.99993031 -0.00564171 -0.52065364] [ 0.01371236 0.0057837 0.99988925 -0.31044585] [ 0. 0. 0. 1. ]] SLAMing on 19.273201007999997 meters Centerline goodness [0,1] 0.8713680478351011 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.52, Z:-0.31 [[ 0.9998494 0.00911808 -0.01476625 1.35165839] [-0.00920089 0.99994227 -0.00554983 -0.52359132] [ 0.01471479 0.00568486 0.99987557 -0.31102504] [ 0. 0. 0. 1. ]] SLAMing on 19.303201008 meters Centerline goodness [0,1] 0.8758520842130663 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.9998417 0.00817685 -0.01580266 1.35469435] [-0.00825516 0.99995394 -0.00489675 -0.52765307] [ 0.01576189 0.00502643 0.99986314 -0.31034124] [ 0. 0. 0. 1. ]] SLAMing on 19.333201008 meters Centerline goodness [0,1] 0.8756303542135002 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.9998698 0.00453084 -0.01548752 1.35354654] [-0.00467107 0.99994832 -0.00903032 -0.52773323] [ 0.0154458 0.00910149 0.99983928 -0.31057758] [ 0. 0. 0. 1. ]] SLAMing on 19.363201007999997 meters Centerline goodness [0,1] 0.8763905307508109 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.99986442 0.00448844 -0.01584292 1.35401172] [-0.00461859 0.99995582 -0.00818749 -0.52949528] [ 0.01580547 0.00825955 0.99984097 -0.30909558] [ 0. 0. 0. 1. ]] SLAMing on 19.393201008 meters Centerline goodness [0,1] 0.8705311077389984 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.99986886 0.00465811 -0.01551041 1.35329519] [-0.00478472 0.99995545 -0.00813631 -0.52836655] [ 0.01547182 0.00820945 0.9998466 -0.3090414 ] [ 0. 0. 0. 1. ]] SLAMing on 19.423201008 meters Centerline goodness [0,1] 0.8695599722532196 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.53, Z:-0.31 [[ 0.99983485 0.00805254 -0.01629224 1.3554382 ] [-0.00810579 0.99996201 -0.00320509 -0.52954159] [ 0.01626581 0.00333662 0.99986214 -0.30733481] [ 0. 0. 0. 1. ]] SLAMing on 19.453201007999997 meters Centerline goodness [0,1] 0.8656167028723147 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.99983865 0.00868091 -0.01572607 1.35381018] [-0.00873619 0.99995589 -0.00344991 -0.52706922] [ 0.01569542 0.00358674 0.99987039 -0.30760968] [ 0. 0. 0. 1. ]] SLAMing on 19.483201007999998 meters Centerline goodness [0,1] 0.8601465817613841 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 9.99789175e-01 1.39024978e-02 -1.51104448e-02 1.35092113e+00] [-1.38824203e-02 9.99902608e-01 1.43280199e-03 -5.26508425e-01] [ 1.51288927e-02 -1.22273038e-03 9.99884804e-01 -3.05408178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.513201008 meters Centerline goodness [0,1] 0.8596680448199413 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.30 [[ 9.99783609e-01 1.45811324e-02 -1.48366396e-02 1.34941884e+00] [-1.45617718e-02 9.99892975e-01 1.41212004e-03 -5.25612221e-01] [ 1.48556420e-02 -1.19576671e-03 9.99888934e-01 -3.04972018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.543201007999997 meters Centerline goodness [0,1] 0.8573531620850233 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.30 [[ 9.99776574e-01 1.52677187e-02 -1.46184081e-02 1.34805428e+00] [-1.52469582e-02 9.99882587e-01 1.53056183e-03 -5.25466471e-01] [ 1.46400599e-02 -1.30733361e-03 9.99891974e-01 -3.04496573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.573201007999998 meters Centerline goodness [0,1] 0.8621384328582596 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.30 [[ 0.99977094 0.01569651 -0.01454938 1.34725416] [-0.01567478 0.99987585 0.00160631 -0.52564508] [ 0.01457279 -0.00137789 0.99989286 -0.30411987] [ 0. 0. 0. 1. ]] SLAMing on 19.603201008 meters Centerline goodness [0,1] 0.8669737198591168 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.30 [[ 0.99976368 0.01607421 -0.01463559 1.346725 ] [-0.01604191 0.99986863 0.0023215 -0.52769297] [ 0.01467099 -0.00208617 0.9998902 -0.30293009] [ 0. 0. 0. 1. ]] SLAMing on 19.633201008 meters Centerline goodness [0,1] 0.8623389136456703 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.30 [[ 0.9997672 0.0154603 -0.01505052 1.34876898] [-0.01543307 0.99987905 0.00192366 -0.52804356] [ 0.01507844 -0.00169094 0.99988488 -0.30425697] [ 0. 0. 0. 1. ]] SLAMing on 19.663201007999998 meters Centerline goodness [0,1] 0.8603429537495472 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 0.99976984 0.01468022 -0.01564444 1.35124616] [-0.01465362 0.99989098 0.00181385 -0.52919031] [ 0.01566936 -0.00158419 0.99987597 -0.30514294] [ 0. 0. 0. 1. ]] SLAMing on 19.693201008 meters Centerline goodness [0,1] 0.8595510709646235 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 9.99773152e-01 1.41423879e-02 -1.59260243e-02 1.35278279e+00] [-1.41244343e-02 9.99899477e-01 1.23923397e-03 -5.28569010e-01] [ 1.59419491e-02 -1.01400677e-03 9.99872405e-01 -3.06381754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.723201008 meters Centerline goodness [0,1] 0.858147041964582 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.53, Z:-0.31 [[ 9.99778385e-01 1.36431023e-02 -1.60327016e-02 1.35429865e+00] [-1.36447023e-02 9.99906907e-01 9.59258979e-06 -5.26103099e-01] [ 1.60313400e-02 2.09170977e-04 9.99871468e-01 -3.08844500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.753201007999998 meters Centerline goodness [0,1] 0.8567351598173516 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 9.99781348e-01 1.30855695e-02 -1.63102340e-02 1.35586833e+00] [-1.30992470e-02 9.99913933e-01 -7.32025164e-04 -5.24876280e-01] [ 1.62992513e-02 9.45516889e-04 9.99866711e-01 -3.10221946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.783201008 meters Centerline goodness [0,1] 0.8593712285783248 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 9.99781667e-01 1.31710463e-02 -1.62216217e-02 1.35553412e+00] [-1.31848421e-02 9.99912800e-01 -7.43804281e-04 -5.24356836e-01] [ 1.62104105e-02 9.57521406e-04 9.99868144e-01 -3.10075772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.813201008 meters Centerline goodness [0,1] 0.8580512944154788 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 9.99782260e-01 1.30918313e-02 -1.62491777e-02 1.35562583e+00] [-1.31084715e-02 9.99913659e-01 -9.17972604e-04 -5.23886884e-01] [ 1.62357568e-02 1.13077461e-03 9.99867552e-01 -3.10164592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.843201007999998 meters Centerline goodness [0,1] 0.8595380254508171 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 9.99780986e-01 1.30792098e-02 -1.63374930e-02 1.35565493e+00] [-1.30969340e-02 9.99913753e-01 -9.78355085e-04 -5.23743366e-01] [ 1.63232878e-02 1.19211188e-03 9.99866056e-01 -3.09958967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.873201008 meters Centerline goodness [0,1] 0.8625018771587325 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.52, Z:-0.31 [[ 9.99773245e-01 1.36709751e-02 -1.63267309e-02 1.35464605e+00] [-1.36822752e-02 9.99906225e-01 -5.80614946e-04 -5.24383769e-01] [ 1.63172623e-02 8.03870114e-04 9.99866541e-01 -3.09030997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.903201008 meters Centerline goodness [0,1] 0.8661113123264518 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.52, Z:-0.31 [[ 9.99772220e-01 1.39605592e-02 -1.61434270e-02 1.35398759e+00] [-1.39709870e-02 9.99902259e-01 -5.33346372e-04 -5.24561626e-01] [ 1.61344033e-02 7.58764496e-04 9.99869544e-01 -3.08990599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.933201007999998 meters Centerline goodness [0,1] 0.8639433222791679 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 9.99774511e-01 1.35648277e-02 -1.63377463e-02 1.35509189e+00] [-1.35815696e-02 9.99907348e-01 -9.14216796e-04 -5.24426435e-01] [ 1.63238314e-02 1.13590289e-03 9.99866112e-01 -3.09808942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.963201008 meters Centerline goodness [0,1] 0.8579350889420891 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 0.99983166 0.0080764 -0.01647505 1.35822653] [-0.00818288 0.999946 -0.00640611 -0.5241684 ] [ 0.01642242 0.00653984 0.99984376 -0.31381431] [ 0. 0. 0. 1. ]] SLAMing on 19.993201008 meters Centerline goodness [0,1] 0.8579350889420891 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.31 [[ 0.99983166 0.0080764 -0.01647505 1.35822653] [-0.00818288 0.999946 -0.00640611 -0.5241684 ] [ 0.01642242 0.00653984 0.99984376 -0.31381431] [ 0. 0. 0. 1. ]] SLAMing on 20.023201007999997 meters Centerline goodness [0,1] 0.8541508574897556 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.32 [[ 0.99982907 0.00698958 -0.01711661 1.36159175] [-0.00711073 0.99995002 -0.00702766 -0.52442507] [ 0.01706664 0.00714817 0.9998288 -0.31587771] [ 0. 0. 0. 1. ]] SLAMing on 20.053201008 meters Centerline goodness [0,1] 0.8532238442822384 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.52, Z:-0.32 [[ 0.99982448 0.00605478 -0.01772972 1.36461701] [-0.00619009 0.99995206 -0.00758704 -0.52448899] [ 0.01768294 0.00769546 0.99981403 -0.31766725] [ 0. 0. 0. 1. ]] SLAMing on 20.083201008 meters Centerline goodness [0,1] 0.8556047555501638 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.52, Z:-0.32 [[ 0.99982066 0.00529107 -0.01818388 1.36697668] [-0.00543903 0.99995242 -0.00809726 -0.52404283] [ 0.01814017 0.00819471 0.99980187 -0.3190868 ] [ 0. 0. 0. 1. ]] SLAMing on 20.113201007999997 meters Centerline goodness [0,1] 0.8533884900839518 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.53, Z:-0.32 [[ 0.99981412 0.00484663 -0.01866082 1.36803493] [-0.00498325 0.99996107 -0.00728219 -0.52643808] [ 0.0186248 0.00737383 0.99979935 -0.31763617] [ 0. 0. 0. 1. ]] SLAMing on 20.143201008 meters Centerline goodness [0,1] 0.8533507662369253 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.53, Z:-0.32 [[ 0.99980402 0.00464143 -0.01924531 1.36887521] [-0.00475967 0.99997005 -0.00610269 -0.52910579] [ 0.01921641 0.00619309 0.99979617 -0.31549579] [ 0. 0. 0. 1. ]] SLAMing on 20.173201008 meters Centerline goodness [0,1] 0.8571558382553385 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.53, Z:-0.31 [[ 0.99979022 0.00399481 -0.02008878 1.37076571] [-0.00410062 0.99997792 -0.00522902 -0.53113303] [ 0.02006744 0.0053103 0.99978453 -0.31369174] [ 0. 0. 0. 1. ]] SLAMing on 20.203201007999997 meters Centerline goodness [0,1] 0.8537238901406735 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.53, Z:-0.31 [[ 0.99978045 0.00336206 -0.02068199 1.37238072] [-0.0034624 0.9999824 -0.00481766 -0.53230659] [ 0.02066543 0.00488821 0.9997745 -0.31283017] [ 0. 0. 0. 1. ]] SLAMing on 20.233201007999998 meters Centerline goodness [0,1] 0.8516105350096357 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.53, Z:-0.31 [[ 0.99977088 0.00278661 -0.02122302 1.37385601] [-0.00287935 0.99998644 -0.00434027 -0.53332537] [ 0.02121064 0.00440039 0.99976535 -0.31193069] [ 0. 0. 0. 1. ]] SLAMing on 20.263201008 meters Centerline goodness [0,1] 0.8524389497521268 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.53, Z:-0.31 [[ 9.99749950e-01 8.71916306e-04 -2.23445102e-02 1.37856211e+00] [-9.85082227e-04 9.99986743e-01 -5.05408977e-03 -5.32932116e-01] [ 2.23398073e-02 5.07483717e-03 9.99737555e-01 -3.13262670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.293201007999997 meters Centerline goodness [0,1] 0.8508184750197773 Centerline is valid? [False, False] Translation: X:1.38, Y:-0.53, Z:-0.31 [[ 9.99734402e-01 -3.61106216e-04 -2.30433238e-02 1.38188390e+00] [ 2.24389571e-04 9.99982361e-01 -5.93533614e-03 -5.31512233e-01] [ 2.30450607e-02 5.92858904e-03 9.99716848e-01 -3.14995739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.323201007999998 meters Centerline goodness [0,1] 0.8492570287201525 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.32 [[ 0.99970229 -0.00274694 -0.02424432 1.38749724] [ 0.0025707 0.99997007 -0.00729777 -0.52851096] [ 0.02426364 0.00723328 0.99967943 -0.31704581] [ 0. 0. 0. 1. ]] SLAMing on 20.353201008 meters Centerline goodness [0,1] 0.8493988673874201 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.32 [[ 0.99969322 -0.00317975 -0.02456317 1.38826851] [ 0.00300439 0.99996976 -0.00717297 -0.52810472] [ 0.02458524 0.00709697 0.99967255 -0.31629236] [ 0. 0. 0. 1. ]] SLAMing on 20.383201008 meters Centerline goodness [0,1] 0.8492145326620975 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.32 [[ 0.99968215 -0.00346955 -0.02497108 1.38890698] [ 0.00330088 0.99997148 -0.00679261 -0.52829141] [ 0.02499394 0.00670802 0.9996651 -0.31504478] [ 0. 0. 0. 1. ]] SLAMing on 20.413201007999998 meters Centerline goodness [0,1] 0.8520690283769825 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.31 [[ 0.99967148 -0.00353821 -0.02538544 1.38917031] [ 0.00337959 0.99997452 -0.00628869 -0.52864896] [ 0.02540704 0.00620083 0.99965796 -0.31346555] [ 0. 0. 0. 1. ]] SLAMing on 20.443201008 meters Centerline goodness [0,1] 0.8577003357836465 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.31 [[ 0.99966651 -0.00342139 -0.02559603 1.38862205] [ 0.00325801 0.99997407 -0.00642192 -0.52578327] [ 0.02561734 0.00633639 0.99965174 -0.31204858] [ 0. 0. 0. 1. ]] SLAMing on 20.473201008 meters Centerline goodness [0,1] 0.8577584907934785 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.53, Z:-0.31 [[ 9.99655577e-01 3.09554268e-04 -2.62418073e-02 1.38986475e+00] [-3.63658682e-04 9.99997818e-01 -2.05701675e-03 -5.25701854e-01] [ 2.62411133e-02 2.06585132e-03 9.99653508e-01 -3.10786683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.503201007999998 meters Centerline goodness [0,1] 0.858370512321466 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.52, Z:-0.31 [[ 0.99963639 0.00402503 -0.02666243 1.39094135] [-0.00397749 0.9999904 0.00183591 -0.52455932] [ 0.02666956 -0.00172919 0.99964281 -0.3103737 ] [ 0. 0. 0. 1. ]] SLAMing on 20.533201008 meters Centerline goodness [0,1] 0.8545086240281212 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.52, Z:-0.31 [[ 9.99641153e-01 4.60238770e-03 -2.63890706e-02 1.39004856e+00] [-4.57859818e-03 9.99989056e-01 9.61843926e-04 -5.19494543e-01] [ 2.63932086e-02 -8.40673821e-04 9.99651285e-01 -3.11415492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.563201008 meters Centerline goodness [0,1] 0.8511592236446227 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.52, Z:-0.31 [[ 0.99960745 0.00837008 -0.02673738 1.39101801] [-0.00825418 0.99995607 0.0044419 -0.51690316] [ 0.02677339 -0.00421946 0.99963262 -0.31151005] [ 0. 0. 0. 1. ]] SLAMing on 20.593201007999998 meters Centerline goodness [0,1] 0.8491212653778559 Centerline is valid? [False, False] Translation: X:1.39, Y:-0.51, Z:-0.31 [[ 0.99961022 0.00904353 -0.02641253 1.38968182] [-0.00895613 0.99995403 0.00342563 -0.51218684] [ 0.0264423 -0.00318774 0.99964526 -0.31241963] [ 0. 0. 0. 1. ]] SLAMing on 20.623201008 meters Centerline goodness [0,1] 0.8505800870861218 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.51, Z:-0.32 [[ 0.99968063 0.01389495 -0.02110858 1.40059137] [-0.01398616 0.99989345 -0.00417968 -0.50710568] [ 0.02104825 0.00447357 0.99976845 -0.31584708] [ 0. 0. 0. 1. ]] SLAMing on 20.653201008 meters Centerline goodness [0,1] 0.8479230432881504 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.51, Z:-0.32 [[ 0.99967503 0.01430123 -0.02110258 1.39965248] [-0.01439792 0.9998865 -0.00443701 -0.50521046] [ 0.02103673 0.0047394 0.99976747 -0.31521499] [ 0. 0. 0. 1. ]] SLAMing on 20.683201007999998 meters Centerline goodness [0,1] 0.8488851469051213 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.50, Z:-0.31 [[ 0.999673 0.01477061 -0.02087408 1.39842358] [-0.01487019 0.99987874 -0.00462327 -0.50313364] [ 0.02080326 0.00493216 0.99977142 -0.31476428] [ 0. 0. 0. 1. ]] SLAMing on 20.713201008 meters Centerline goodness [0,1] 0.8467057866604695 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.50, Z:-0.31 [[ 0.99967606 0.01498384 -0.02057304 1.39754338] [-0.01509025 0.9998735 -0.00502656 -0.50075143] [ 0.02049512 0.00533538 0.99977572 -0.31490063] [ 0. 0. 0. 1. ]] SLAMing on 20.743201008 meters Centerline goodness [0,1] 0.8460377358490566 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.50, Z:-0.31 [[ 0.99967882 0.01503404 -0.02040169 1.39698066] [-0.01514055 0.99987249 -0.00507636 -0.49968333] [ 0.02032278 0.00538362 0.99977898 -0.31456213] [ 0. 0. 0. 1. ]] SLAMing on 20.773201007999997 meters Centerline goodness [0,1] 0.8486723606995527 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.50, Z:-0.31 [[ 0.99967423 0.0143808 -0.02108627 1.39907145] [-0.01449258 0.99988167 -0.00515779 -0.50029766] [ 0.02100961 0.0054617 0.99976436 -0.31473738] [ 0. 0. 0. 1. ]] SLAMing on 20.803201008 meters Centerline goodness [0,1] 0.8518809005083515 Centerline is valid? [False, False] Translation: X:1.40, Y:-0.50, Z:-0.32 [[ 0.99966764 0.01336858 -0.0220429 1.40222362] [-0.01348561 0.9998957 -0.00516908 -0.50138064] [ 0.0219715 0.00546463 0.99974366 -0.31502233] [ 0. 0. 0. 1. ]] SLAMing on 20.833201008 meters Centerline goodness [0,1] 0.8527364343343139 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.50, Z:-0.32 [[ 0.99971099 0.00962282 -0.02203035 1.40598447] [-0.00977916 0.99992768 -0.00699993 -0.50314074] [ 0.0219614 0.00721335 0.9997328 -0.31697023] [ 0. 0. 0. 1. ]] SLAMing on 20.863201007999997 meters Centerline goodness [0,1] 0.8609877264757452 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.51, Z:-0.32 [[ 0.99970329 0.00870049 -0.02275134 1.40871504] [-0.00885813 0.99993739 -0.00683732 -0.50529335] [ 0.02269043 0.00703683 0.99971777 -0.31739511] [ 0. 0. 0. 1. ]] SLAMing on 20.893201008 meters Centerline goodness [0,1] 0.863234087445786 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.51, Z:-0.32 [[ 0.99969262 0.0076765 -0.023574 1.41198567] [-0.00784067 0.9999456 -0.00687937 -0.50703922] [ 0.02351991 0.00706209 0.99969842 -0.31829588] [ 0. 0. 0. 1. ]] SLAMing on 20.923201008 meters Centerline goodness [0,1] 0.8687478036781071 Centerline is valid? [False, False] Translation: X:1.41, Y:-0.51, Z:-0.32 [[ 0.99968296 0.00712895 -0.02414856 1.41424792] [-0.00729756 0.99994956 -0.00690123 -0.50810437] [ 0.02409814 0.00707527 0.99968456 -0.31913233] [ 0. 0. 0. 1. ]] SLAMing on 20.953201007999997 meters Centerline goodness [0,1] 0.8762307850571672 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.32 [[ 0.99967687 0.00673145 -0.02451196 1.41573696] [-0.00690901 0.99995045 -0.00716621 -0.50789784] [ 0.02446251 0.00733325 0.99967385 -0.31985218] [ 0. 0. 0. 1. ]] SLAMing on 20.983201007999998 meters Centerline goodness [0,1] 0.8704669283496397 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.32 [[ 0.99962416 0.00998775 -0.02553018 1.41851853] [-0.01005831 0.99994594 -0.00263697 -0.50924302] [ 0.02550247 0.00289277 0.99967057 -0.31873351] [ 0. 0. 0. 1. ]] SLAMing on 21.013201008 meters Centerline goodness [0,1] 0.88243700419972 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.32 [[ 0.99961911 0.00980415 -0.02579744 1.41925831] [-0.00987904 0.99994734 -0.00277714 -0.50881862] [ 0.02576886 0.00303093 0.99966333 -0.31877461] [ 0. 0. 0. 1. ]] SLAMing on 21.043201007999997 meters Centerline goodness [0,1] 0.8716762328686892 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.32 [[ 0.99961902 0.01015692 -0.02566425 1.41833657] [-0.01022092 0.99994497 -0.00236375 -0.5091963 ] [ 0.02563883 0.00262516 0.99966782 -0.31785437] [ 0. 0. 0. 1. ]] SLAMing on 21.073201007999998 meters Centerline goodness [0,1] 0.8757103521002988 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.32 [[ 0.99961926 0.0104582 -0.02553336 1.41744974] [-0.01050844 0.9999431 -0.00183421 -0.50995638] [ 0.02551272 0.00210183 0.99967229 -0.31676479] [ 0. 0. 0. 1. ]] SLAMing on 21.103201008 meters Centerline goodness [0,1] 0.8744827586206897 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99621856e-01 1.10298958e-02 -2.51889977e-02 1.41519234e+00] [-1.10443417e-02 9.99938915e-01 -4.34447272e-04 -5.11483869e-01] [ 2.51826671e-02 7.12478886e-04 9.99682612e-01 -3.13657641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.133201007999997 meters Centerline goodness [0,1] 0.8765172735760971 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99618937e-01 1.06097220e-02 -2.54836144e-02 1.41608574e+00] [-1.06267383e-02 9.99943393e-01 -5.32394952e-04 -5.10787253e-01] [ 2.54765233e-02 8.02999776e-04 9.99675098e-01 -3.13451078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.163201007999998 meters Centerline goodness [0,1] 0.878297152194211 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99620767e-01 1.04459996e-02 -2.54794761e-02 1.41623235e+00] [-1.04684895e-02 9.99944923e-01 -7.49434876e-04 -5.09564981e-01] [ 2.54702442e-02 1.01588229e-03 9.99675065e-01 -3.13510772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.193201008 meters Centerline goodness [0,1] 0.8776978417266187 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99617192e-01 9.87340008e-03 -2.58454226e-02 1.41751651e+00] [-9.90713421e-03 9.99950230e-01 -1.17750037e-03 -5.08479294e-01] [ 2.58325103e-02 1.43310369e-03 9.99665258e-01 -3.13770827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.223201008 meters Centerline goodness [0,1] 0.873671920607122 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99611044e-01 9.55375042e-03 -2.62008891e-02 1.41784109e+00] [-9.57230263e-03 9.99954015e-01 -5.82741133e-04 -5.09743388e-01] [ 2.61941169e-02 8.33317312e-04 9.99656528e-01 -3.11998570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.253201007999998 meters Centerline goodness [0,1] 0.882756606803913 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 9.99605899e-01 8.97914897e-03 -2.65973848e-02 1.41934190e+00] [-9.00604904e-03 9.99959047e-01 -8.91760741e-04 -5.09725564e-01] [ 2.65882883e-02 1.13094665e-03 9.99645829e-01 -3.12479236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.283201008 meters Centerline goodness [0,1] 0.8809871069365848 Centerline is valid? [False, False] Translation: X:1.42, Y:-0.51, Z:-0.31 [[ 0.99959571 0.00804902 -0.0272696 1.42206779] [-0.00809821 0.99996577 -0.00169386 -0.50857107] [ 0.02725504 0.00191401 0.99962668 -0.31390812] [ 0. 0. 0. 1. ]] SLAMing on 21.313201008 meters Centerline goodness [0,1] 0.8857924929384701 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.51, Z:-0.32 [[ 0.99958548 0.00700307 -0.02792534 1.42508264] [-0.00708339 0.99997105 -0.00277818 -0.50683618] [ 0.02790508 0.00297483 0.99960615 -0.31585936] [ 0. 0. 0. 1. ]] SLAMing on 21.343201007999998 meters Centerline goodness [0,1] 0.8955666744240167 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99956517 0.00526513 -0.02901295 1.42971771] [-0.00539677 0.99997549 -0.00446084 -0.50418202] [ 0.02898875 0.00461548 0.99956908 -0.31859578] [ 0. 0. 0. 1. ]] SLAMing on 21.373201008 meters Centerline goodness [0,1] 0.8954654077053098 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99955288 0.00464117 -0.02953799 1.43159165] [-0.00478844 0.99997645 -0.00491684 -0.50348459] [ 0.02951447 0.00505608 0.99955157 -0.3193045 ] [ 0. 0. 0. 1. ]] SLAMing on 21.403201008 meters Centerline goodness [0,1] 0.8987932934965481 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99953548 0.00380319 -0.03023852 1.43391889] [-0.00396814 0.99997756 -0.00539705 -0.50262851] [ 0.03021731 0.00551453 0.99952814 -0.3198334 ] [ 0. 0. 0. 1. ]] SLAMing on 21.433201007999998 meters Centerline goodness [0,1] 0.8987624264556705 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99952676 0.003489 -0.03056278 1.43467925] [-0.00365335 0.99997916 -0.00532332 -0.50229242] [ 0.03054357 0.00543246 0.99951867 -0.31935764] [ 0. 0. 0. 1. ]] SLAMing on 21.463201008 meters Centerline goodness [0,1] 0.9011533557435957 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99952064 0.00335318 -0.03077726 1.43484352] [-0.00351557 0.99998018 -0.00522366 -0.50176122] [ 0.03075913 0.00532936 0.99951262 -0.31857616] [ 0. 0. 0. 1. ]] SLAMing on 21.493201008 meters Centerline goodness [0,1] 0.8997888159227009 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99951657 0.00327077 -0.03091808 1.43474832] [-0.0034305 0.99998104 -0.00511448 -0.50102636] [ 0.03090076 0.00521808 0.99950884 -0.31766947] [ 0. 0. 0. 1. ]] SLAMing on 21.523201007999997 meters Centerline goodness [0,1] 0.898148682161601 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.32 [[ 0.99952127 0.00350004 -0.03074065 1.43327689] [-0.00366208 0.99997969 -0.00521618 -0.49807683] [ 0.03072176 0.00532626 0.99951378 -0.31619497] [ 0. 0. 0. 1. ]] SLAMing on 21.553201008 meters Centerline goodness [0,1] 0.9019805690892841 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.31 [[ 0.99953064 0.00405332 -0.03036567 1.43130998] [-0.0042055 0.99997891 -0.00494944 -0.49667926] [ 0.03034497 0.00507482 0.9995266 -0.31474905] [ 0. 0. 0. 1. ]] SLAMing on 21.583201008 meters Centerline goodness [0,1] 0.9009534202515651 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.31 [[ 9.99490876e-01 8.26814692e-03 -3.08160183e-02 1.43055310e+00] [-8.26809667e-03 9.99965810e-01 1.29058046e-04 -4.95779353e-01] [ 3.08160318e-02 1.25797479e-04 9.99525065e-01 -3.10806137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.613201007999997 meters Centerline goodness [0,1] 0.9038297388038468 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.50, Z:-0.31 [[ 0.99943183 0.01150591 -0.03168019 1.43305382] [-0.01138315 0.999927 0.00405238 -0.49555801] [ 0.0317245 -0.00368946 0.99948984 -0.31042498] [ 0. 0. 0. 1. ]] SLAMing on 21.643201008 meters Centerline goodness [0,1] 0.8999658002735978 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.49, Z:-0.31 [[ 0.99943859 0.01125763 -0.03155582 1.43338264] [-0.01117085 0.99993333 0.00292508 -0.49207935] [ 0.03158664 -0.00257093 0.99949771 -0.31186406] [ 0. 0. 0. 1. ]] SLAMing on 21.673201008 meters Centerline goodness [0,1] 0.9024044459566746 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.49, Z:-0.31 [[ 9.99435180e-01 1.06690083e-02 -3.18668128e-02 1.43482183e+00] [-1.06224126e-02 9.99942250e-01 1.63114229e-03 -4.88829930e-01] [ 3.18823751e-02 -1.29171856e-03 9.99490793e-01 -3.13361171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.703201007999997 meters Centerline goodness [0,1] 0.9016630308524803 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.48, Z:-0.31 [[ 9.99439550e-01 1.13942058e-02 -3.14763060e-02 1.43260779e+00] [-1.13585568e-02 9.99934630e-01 1.31114582e-03 -4.84767061e-01] [ 3.14891878e-02 -9.52885576e-04 9.99503638e-01 -3.12305966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.733201007999998 meters Centerline goodness [0,1] 0.9036069827124285 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.48, Z:-0.31 [[ 9.99434703e-01 1.10956590e-02 -3.17357993e-02 1.43321955e+00] [-1.10881917e-02 9.99938440e-01 4.11284433e-04 -4.81786646e-01] [ 3.17384091e-02 -5.91593105e-05 9.99496208e-01 -3.12719510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.763201008 meters Centerline goodness [0,1] 0.9022850863599222 Centerline is valid? [False, False] Translation: X:1.43, Y:-0.48, Z:-0.31 [[ 9.99428091e-01 1.05377509e-02 -3.21317187e-02 1.43454752e+00] [-1.05586461e-02 9.99944140e-01 -4.80686033e-04 -4.79464078e-01] [ 3.21248585e-02 8.19678571e-04 9.99483527e-01 -3.13414560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.793201007999997 meters Centerline goodness [0,1] 0.9014604714108492 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.48, Z:-0.31 [[ 9.99418924e-01 1.01930868e-02 -3.25255959e-02 1.43571673e+00] [-1.02303693e-02 9.99947188e-01 -9.80033969e-04 -4.78351292e-01] [ 3.25138885e-02 1.31221335e-03 9.99470422e-01 -3.13888031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.823201007999998 meters Centerline goodness [0,1] 0.9077433690546508 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.48, Z:-0.31 [[ 0.99940658 0.00953872 -0.03309836 1.43775909] [-0.00960072 0.99995244 -0.00171466 -0.477134 ] [ 0.03308043 0.00203141 0.99945063 -0.31491884] [ 0. 0. 0. 1. ]] SLAMing on 21.853201008 meters Centerline goodness [0,1] 0.906836310526907 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.47, Z:-0.32 [[ 0.9994039 0.00911182 -0.03329886 1.4389451 ] [-0.00920231 0.99995437 -0.00256508 -0.47474374] [ 0.03327397 0.00286997 0.99944215 -0.3161718 ] [ 0. 0. 0. 1. ]] SLAMing on 21.883201007999997 meters Centerline goodness [0,1] 0.9061575392173282 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.47, Z:-0.32 [[ 9.99361668e-01 1.21164600e-02 -3.36072526e-02 1.44145233e+00] [-1.21291584e-02 9.99926424e-01 -1.73993356e-04 -4.68762050e-01] [ 3.36026717e-02 5.81509981e-04 9.99435102e-01 -3.18342083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.913201007999998 meters Centerline goodness [0,1] 0.9061575392173282 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.47, Z:-0.32 [[ 9.99361668e-01 1.21164600e-02 -3.36072526e-02 1.44145233e+00] [-1.21291584e-02 9.99926424e-01 -1.73993356e-04 -4.68762050e-01] [ 3.36026717e-02 5.81509981e-04 9.99435102e-01 -3.18342083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.943201008 meters Centerline goodness [0,1] 0.9050938784579491 Centerline is valid? [False, False] Translation: X:1.44, Y:-0.47, Z:-0.32 [[ 0.99929137 0.0157632 -0.03418013 1.44278197] [-0.01565188 0.9998713 0.00352185 -0.46715438] [ 0.03423125 -0.00298437 0.99940948 -0.31782418] [ 0. 0. 0. 1. ]] SLAMing on 21.973201008 meters Centerline goodness [0,1] 0.9014403804152498 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.46, Z:-0.32 [[ 0.99939 0.01884077 -0.02940487 1.4565288 ] [-0.01897577 0.99981062 -0.00431876 -0.46354146] [ 0.02931794 0.0048741 0.99955825 -0.32172293] [ 0. 0. 0. 1. ]] SLAMing on 22.003201007999998 meters Centerline goodness [0,1] 0.9001131627611714 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.46, Z:-0.32 [[ 0.9993673 0.01996596 -0.02943415 1.45430917] [-0.0200907 0.99979037 -0.00394826 -0.46243202] [ 0.02934915 0.00453711 0.99955892 -0.31941608] [ 0. 0. 0. 1. ]] SLAMing on 22.033201008 meters Centerline goodness [0,1] 0.8884850487361639 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.46, Z:-0.32 [[ 0.99937552 0.02624842 -0.02365567 1.46287915] [-0.0264938 0.99959775 -0.01011991 -0.45849986] [ 0.02338053 0.01074032 0.99966894 -0.32080221] [ 0. 0. 0. 1. ]] SLAMing on 22.063201008 meters Centerline goodness [0,1] 0.885599365200974 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.46, Z:-0.32 [[ 0.99925401 0.03068189 -0.02345307 1.46222101] [-0.03082997 0.99950676 -0.00597857 -0.45700794] [ 0.02325806 0.00669717 0.99970706 -0.32006874] [ 0. 0. 0. 1. ]] SLAMing on 22.093201007999998 meters Centerline goodness [0,1] 0.8796286152497809 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 0.99912144 0.03483567 -0.02329854 1.46242605] [-0.03490003 0.99938802 -0.00236152 -0.45464162] [ 0.02320202 0.00317256 0.99972576 -0.32050177] [ 0. 0. 0. 1. ]] SLAMing on 22.123201008 meters Centerline goodness [0,1] 0.8805218709398008 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 9.98925975e-01 3.99879331e-02 -2.34064644e-02 1.46257322e+00] [-3.99745740e-02 9.99200158e-01 1.03854870e-03 -4.50200241e-01] [ 2.34292724e-02 -1.01769830e-04 9.99725492e-01 -3.21554463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.153201008 meters Centerline goodness [0,1] 0.8789028620988725 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 9.98894492e-01 4.10656333e-02 -2.28781195e-02 1.46034253e+00] [-4.10491784e-02 9.99156420e-01 1.18860101e-03 -4.49255892e-01] [ 2.29076306e-02 -2.48158994e-04 9.99737555e-01 -3.20987627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.183201007999998 meters Centerline goodness [0,1] 0.8763892285535719 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 9.98861553e-01 4.21708686e-02 -2.22983324e-02 1.45761003e+00] [-4.21386941e-02 9.99109943e-01 1.91102336e-03 -4.49863424e-01] [ 2.23590751e-02 -9.69225157e-04 9.99749535e-01 -3.19384833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.213201008 meters Centerline goodness [0,1] 0.8802351212343865 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 0.99884153 0.04272755 -0.0221349 1.45632691] [-0.04268454 0.99908569 0.00241212 -0.45069512] [ 0.02221772 -0.0014645 0.99975208 -0.31823159] [ 0. 0. 0. 1. ]] SLAMing on 22.243201008 meters Centerline goodness [0,1] 0.8817806283291663 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 9.98842074e-01 4.26580423e-02 -2.22441549e-02 1.45675265e+00] [-4.26176886e-02 9.99088840e-01 2.28525257e-03 -4.50851811e-01] [ 2.23213714e-02 -1.33461195e-03 9.99749956e-01 -3.18555455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.273201007999997 meters Centerline goodness [0,1] 0.8795581617346243 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 9.98851672e-01 4.23132091e-02 -2.24706448e-02 1.45805403e+00] [-4.22723164e-02 9.99103497e-01 2.29193574e-03 -4.52350780e-01] [ 2.25474789e-02 -1.33941765e-03 9.99744876e-01 -3.19474525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.303201008 meters Centerline goodness [0,1] 0.8801235951983812 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 0.99901033 0.03863603 -0.02203678 1.45722492] [-0.03869283 0.99924882 -0.00215687 -0.4518472 ] [ 0.02193689 0.0030074 0.99975483 -0.32098451] [ 0. 0. 0. 1. ]] SLAMing on 22.333201008 meters Centerline goodness [0,1] 0.8771285201129727 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.45, Z:-0.32 [[ 0.99901412 0.03824757 -0.0225371 1.45909535] [-0.03829947 0.99926455 -0.00187567 -0.45499304] [ 0.02244878 0.00273698 0.99974425 -0.32176024] [ 0. 0. 0. 1. ]] SLAMing on 22.363201007999997 meters Centerline goodness [0,1] 0.8786319612590799 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.46, Z:-0.32 [[ 0.99902772 0.03748372 -0.02320731 1.46194967] [-0.03753873 0.99929329 -0.00193877 -0.45779428] [ 0.02311823 0.00280806 0.99972879 -0.32329366] [ 0. 0. 0. 1. ]] SLAMing on 22.393201008 meters Centerline goodness [0,1] 0.8789222843604507 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.46, Z:-0.32 [[ 0.99904412 0.03656974 -0.02394789 1.46512039] [-0.03662779 0.999327 -0.00198939 -0.46054786] [ 0.02385903 0.00286465 0.99971123 -0.32480186] [ 0. 0. 0. 1. ]] SLAMing on 22.423201008 meters Centerline goodness [0,1] 0.8809305428166431 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.47, Z:-0.33 [[ 0.99919846 0.03186998 -0.02422266 1.46711648] [-0.03201649 0.99947117 -0.00568494 -0.46509981] [ 0.02402867 0.0064559 0.99969042 -0.3266567 ] [ 0. 0. 0. 1. ]] SLAMing on 22.453201007999997 meters Centerline goodness [0,1] 0.8827784605072059 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.47, Z:-0.33 [[ 0.99931772 0.02814794 -0.02391228 1.46636829] [-0.02838 0.99955281 -0.00942134 -0.46659267] [ 0.0236364 0.01009355 0.99966967 -0.32723988] [ 0. 0. 0. 1. ]] SLAMing on 22.483201007999998 meters Centerline goodness [0,1] 0.8871488310740647 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.47, Z:-0.33 [[ 0.99930272 0.02818503 -0.02448827 1.46711764] [-0.0283792 0.9995682 -0.00761804 -0.47195192] [ 0.02426299 0.00830768 0.99967109 -0.32508303] [ 0. 0. 0. 1. ]] SLAMing on 22.513201008 meters Centerline goodness [0,1] 0.8921679909194098 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.48, Z:-0.32 [[ 0.99937684 0.02581274 -0.02407578 1.46376063] [-0.02601148 0.99962981 -0.00797843 -0.48085327] [ 0.02386092 0.0085997 0.9996783 -0.32064826] [ 0. 0. 0. 1. ]] SLAMing on 22.543201007999997 meters Centerline goodness [0,1] 0.8977078830622227 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.48, Z:-0.32 [[ 0.99936413 0.02613192 -0.02425797 1.46401947] [-0.02630309 0.99963113 -0.00676403 -0.48463976] [ 0.02407227 0.00739779 0.99968285 -0.31988466] [ 0. 0. 0. 1. ]] SLAMing on 22.573201007999998 meters Centerline goodness [0,1] 0.8985945206260513 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.49, Z:-0.32 [[ 0.99936426 0.02597959 -0.02441585 1.46552786] [-0.02615177 0.99963513 -0.0067592 -0.48623348] [ 0.02423134 0.00739342 0.99967904 -0.32155244] [ 0. 0. 0. 1. ]] SLAMing on 22.603201008 meters Centerline goodness [0,1] 0.8991922824442732 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.49, Z:-0.32 [[ 0.99937272 0.02570795 -0.02435714 1.46694503] [-0.0258862 0.99964017 -0.00703119 -0.48666505] [ 0.02416761 0.00765729 0.99967859 -0.323686 ] [ 0. 0. 0. 1. ]] SLAMing on 22.633201007999997 meters Centerline goodness [0,1] 0.8914243230104945 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.49, Z:-0.32 [[ 0.9993739 0.02642993 -0.0235216 1.46540478] [-0.02657415 0.99962978 -0.00584026 -0.49020608] [ 0.02335853 0.00646167 0.99970627 -0.32384574] [ 0. 0. 0. 1. ]] SLAMing on 22.663201007999998 meters Centerline goodness [0,1] 0.8912411908528692 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.49, Z:-0.32 [[ 0.99935719 0.02717377 -0.0233834 1.46389214] [-0.02727934 0.99961899 -0.0042075 -0.49430857] [ 0.02326016 0.00484268 0.99971772 -0.32155719] [ 0. 0. 0. 1. ]] SLAMing on 22.693201008 meters Centerline goodness [0,1] 0.8927910741126142 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.50, Z:-0.32 [[ 0.99934217 0.02762388 -0.02349786 1.46324988] [-0.02770061 0.99961192 -0.00294608 -0.49808477] [ 0.02340736 0.00359504 0.99971955 -0.31974251] [ 0. 0. 0. 1. ]] SLAMing on 22.723201008 meters Centerline goodness [0,1] 0.8941271863778524 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.50, Z:-0.32 [[ 0.99932626 0.02774319 -0.02402785 1.46373474] [-0.0277956 0.99961192 -0.00184988 -0.50169893] [ 0.0239672 0.0025165 0.99970958 -0.31807042] [ 0. 0. 0. 1. ]] SLAMing on 22.753201007999998 meters Centerline goodness [0,1] 0.8978159580663949 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.50, Z:-0.32 [[ 0.99942254 0.02454655 -0.02349563 1.46162935] [-0.0246903 0.99967804 -0.00584803 -0.501763 ] [ 0.02334451 0.00642477 0.99970684 -0.3182295 ] [ 0. 0. 0. 1. ]] SLAMing on 22.783201008 meters Centerline goodness [0,1] 0.8986145544698848 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.31 [[ 0.9994101 0.02482886 -0.02372726 1.4611977 ] [-0.02491879 0.99968334 -0.00350204 -0.50657149] [ 0.02363279 0.00409122 0.99971234 -0.31464366] [ 0. 0. 0. 1. ]] SLAMing on 22.813201008 meters Centerline goodness [0,1] 0.9002741803756854 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.51, Z:-0.31 [[ 0.99941385 0.02445129 -0.0239602 1.46237768] [-0.02453539 0.99969377 -0.00322241 -0.50798981] [ 0.02387407 0.0038084 0.99970772 -0.31485906] [ 0. 0. 0. 1. ]] SLAMing on 22.843201007999998 meters Centerline goodness [0,1] 0.9058820091751162 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.51, Z:-0.32 [[ 0.9994222 0.02343129 -0.02462211 1.46553318] [-0.02352467 0.9997171 -0.0035095 -0.50930686] [ 0.02453291 0.0040867 0.99969067 -0.31642908] [ 0. 0. 0. 1. ]] SLAMing on 22.873201008 meters Centerline goodness [0,1] 0.9072623394981741 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.51, Z:-0.32 [[ 0.99943349 0.02218159 -0.02531156 1.46945334] [-0.02229274 0.99974301 -0.0041175 -0.51037503] [ 0.02521372 0.00467943 0.99967113 -0.31906209] [ 0. 0. 0. 1. ]] SLAMing on 22.903201008 meters Centerline goodness [0,1] 0.9108700778118368 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.33 [[ 0.99951929 0.01658065 -0.0261968 1.47921482] [-0.01677538 0.99983314 -0.007231 -0.5107838 ] [ 0.02607254 0.00766699 0.99963065 -0.32516767] [ 0. 0. 0. 1. ]] SLAMing on 22.933201007999998 meters Centerline goodness [0,1] 0.9161408267971929 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.32 [[ 0.99951235 0.01564487 -0.02702412 1.48196922] [-0.01583128 0.99985224 -0.00669805 -0.51382507] [ 0.02691534 0.00712261 0.99961234 -0.32487687] [ 0. 0. 0. 1. ]] SLAMing on 22.963201008 meters Centerline goodness [0,1] 0.9220856522127318 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.51, Z:-0.32 [[ 0.99956989 0.01178828 -0.02685277 1.48106419] [-0.01207337 0.9998722 -0.01047964 -0.51484197] [ 0.0267258 0.01079933 0.99958447 -0.32448828] [ 0. 0. 0. 1. ]] SLAMing on 22.993201008 meters Centerline goodness [0,1] 0.9263820224719101 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.99959363 0.00869884 -0.02714609 1.47905951] [-0.00899781 0.99989999 -0.01091101 -0.52237987] [ 0.02704846 0.01115083 0.99957193 -0.31825054] [ 0. 0. 0. 1. ]] SLAMing on 23.023201007999997 meters Centerline goodness [0,1] 0.9273119827275998 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.99958442 0.00877827 -0.02745773 1.47946426] [-0.00905541 0.99990914 -0.00998565 -0.52444418] [ 0.02736758 0.01023014 0.99957309 -0.31699929] [ 0. 0. 0. 1. ]] SLAMing on 23.053201008 meters Centerline goodness [0,1] 0.9264917757233762 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.99958878 0.00876197 -0.02730379 1.47977624] [-0.00905156 0.9999039 -0.01050052 -0.52303841] [ 0.02720916 0.01074334 0.99957203 -0.31831785] [ 0. 0. 0. 1. ]] SLAMing on 23.083201008 meters Centerline goodness [0,1] 0.9250044853776688 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.99954033 0.01263464 -0.02755888 1.48101283] [-0.01281404 0.99989778 -0.00634303 -0.522613 ] [ 0.02747592 0.00669326 0.99960006 -0.31843871] [ 0. 0. 0. 1. ]] SLAMing on 23.113201007999997 meters Centerline goodness [0,1] 0.9173202614379085 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.99946442 0.01905104 -0.02660704 1.47730279] [-0.01911242 0.99981523 -0.00205463 -0.51881418] [ 0.02656298 0.00256206 0.99964386 -0.31844663] [ 0. 0. 0. 1. ]] SLAMing on 23.143201008 meters Centerline goodness [0,1] 0.9144814902705268 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 0.99944468 0.0206793 -0.02612851 1.47433517] [-0.02073079 0.99978365 -0.0017013 -0.51739113] [ 0.02608768 0.00224202 0.99965714 -0.31740563] [ 0. 0. 0. 1. ]] SLAMing on 23.173201008 meters Centerline goodness [0,1] 0.9109662122110255 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 0.99942828 0.02202031 -0.02565565 1.47163863] [-0.02206679 0.99975533 -0.00152992 -0.51642658] [ 0.02561568 0.00209518 0.99966967 -0.31663407] [ 0. 0. 0. 1. ]] SLAMing on 23.203201007999997 meters Centerline goodness [0,1] 0.9109396707162071 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 0.99940813 0.02300597 -0.02557569 1.47041653] [-0.0230575 0.99973266 -0.00172156 -0.51531718] [ 0.02552925 0.00231025 0.99967141 -0.31674533] [ 0. 0. 0. 1. ]] SLAMing on 23.233201007999998 meters Centerline goodness [0,1] 0.9090748327389548 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.51, Z:-0.32 [[ 0.99936448 0.02522104 -0.02519012 1.46709401] [-0.02526641 0.99967965 -0.00148453 -0.51426783] [ 0.02514461 0.00212005 0.99968158 -0.31624247] [ 0. 0. 0. 1. ]] SLAMing on 23.263201008 meters Centerline goodness [0,1] 0.9059211883639364 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.51, Z:-0.32 [[ 9.99362847e-01 2.55226100e-02 -2.49498786e-02 1.46643291e+00] [-2.55636635e-02 9.99672314e-01 -1.32782094e-03 -5.14922763e-01] [ 2.49078134e-02 1.96478521e-03 9.99687821e-01 -3.16229556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.293201007999997 meters Centerline goodness [0,1] 0.9071004343586562 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 9.99361595e-01 2.55096783e-02 -2.50131905e-02 1.46667185e+00] [-2.55372781e-02 9.99673563e-01 -7.84545096e-04 -5.16588163e-01] [ 2.49850117e-02 1.42281304e-03 9.99686813e-01 -3.15819294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.323201007999998 meters Centerline goodness [0,1] 0.9043202560151713 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 0.99947066 0.02078647 -0.02502659 1.46790709] [-0.02093189 0.99976543 -0.00556243 -0.51592253] [ 0.0249051 0.00608334 0.99967131 -0.3177864 ] [ 0. 0. 0. 1. ]] SLAMing on 23.353201008 meters Centerline goodness [0,1] 0.9073753875506797 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 0.99955612 0.01594314 -0.02516683 1.46958772] [-0.01620207 0.99981754 -0.01011856 -0.51651215] [ 0.02500092 0.01052182 0.99963205 -0.31968996] [ 0. 0. 0. 1. ]] SLAMing on 23.383201007999997 meters Centerline goodness [0,1] 0.9165157551611735 Centerline is valid? [False, False] Translation: X:1.47, Y:-0.52, Z:-0.32 [[ 9.99808433e-01 6.12057415e-04 -1.95633088e-02 1.47226230e+00] [-7.51967064e-04 9.99974191e-01 -7.14507930e-03 -5.20913625e-01] [ 1.95584307e-02 7.15842150e-03 9.99783089e-01 -3.22867959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.413201007999998 meters Centerline goodness [0,1] 0.9203545176805106 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 9.99785880e-01 -4.84219323e-04 -2.06871978e-02 1.47598844e+00] [ 3.41456521e-04 9.99976109e-01 -6.90399678e-03 -5.23089571e-01] [ 2.06900466e-02 6.89545472e-03 9.99762159e-01 -3.23022134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.443201008 meters Centerline goodness [0,1] 0.918537969334782 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 9.99766436e-01 -1.28009868e-03 -2.15739190e-02 1.47868696e+00] [ 1.12935524e-03 9.99974876e-01 -6.99803555e-03 -5.23532866e-01] [ 2.15823351e-02 6.97203644e-03 9.99742764e-01 -3.23170116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.473201008 meters Centerline goodness [0,1] 0.9200691097572065 Centerline is valid? [False, False] Translation: X:1.48, Y:-0.52, Z:-0.32 [[ 0.9997437 -0.00233584 -0.02251843 1.48198648] [ 0.00217209 0.99997104 -0.00729331 -0.52385867] [ 0.02253481 0.00724253 0.99971982 -0.32385925] [ 0. 0. 0. 1. ]] SLAMing on 23.503201007999998 meters Centerline goodness [0,1] 0.9202727272727272 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.33 [[ 0.99970552 -0.00495256 -0.02375609 1.48778714] [ 0.0047542 0.99995342 -0.00839941 -0.52361244] [ 0.02379658 0.00828399 0.9996825 -0.32569607] [ 0. 0. 0. 1. ]] SLAMing on 23.533201008 meters Centerline goodness [0,1] 0.9183939393939394 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.33 [[ 0.99968339 -0.00595241 -0.0244475 1.49036409] [ 0.00574264 0.99994617 -0.00864173 -0.52305989] [ 0.02449762 0.0084986 0.99966376 -0.32597317] [ 0. 0. 0. 1. ]] SLAMing on 23.563201008 meters Centerline goodness [0,1] 0.9148185027609306 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.33 [[ 0.99966238 -0.00686653 -0.02505946 1.49258401] [ 0.00664273 0.99993741 -0.00900284 -0.52161615] [ 0.02511971 0.00883334 0.99964542 -0.3261545 ] [ 0. 0. 0. 1. ]] SLAMing on 23.593201007999998 meters Centerline goodness [0,1] 0.9091976163245651 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.33 [[ 0.99965225 -0.00733692 -0.02532891 1.49346319] [ 0.00711025 0.99993397 -0.00902753 -0.52062445] [ 0.02539347 0.0088443 0.99963841 -0.32570066] [ 0. 0. 0. 1. ]] SLAMing on 23.623201008 meters Centerline goodness [0,1] 0.9186098992026478 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.32 [[ 0.999647 -0.00708496 -0.02560618 1.49178555] [ 0.00690431 0.9999507 -0.00713638 -0.52088161] [ 0.02565548 0.00695706 0.99964664 -0.32021159] [ 0. 0. 0. 1. ]] SLAMing on 23.653201008 meters Centerline goodness [0,1] 0.9167866138898885 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.32 [[ 0.99964987 -0.00659165 -0.02562599 1.49014028] [ 0.00643796 0.99996082 -0.00607531 -0.52079495] [ 0.02566503 0.00590821 0.99965314 -0.31704739] [ 0. 0. 0. 1. ]] SLAMing on 23.683201007999998 meters Centerline goodness [0,1] 0.9193282844912742 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.31 [[ 0.99966057 -0.00579678 -0.02539967 1.48780768] [ 0.00566219 0.99996956 -0.00536768 -0.51940657] [ 0.02543002 0.00522204 0.99966297 -0.31450787] [ 0. 0. 0. 1. ]] SLAMing on 23.713201008 meters Centerline goodness [0,1] 0.9207847106453918 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.52, Z:-0.31 [[ 9.99680007e-01 -7.54675449e-04 -2.52846720e-02 1.48533289e+00] [ 7.35088624e-04 9.99999423e-01 -7.83937917e-04 -5.16374167e-01] [ 2.52852490e-02 7.65100587e-04 9.99679984e-01 -3.11597843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.743201008 meters Centerline goodness [0,1] 0.9198685690604465 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.51, Z:-0.31 [[ 0.9996603 0.0029051 -0.02590051 1.48682401] [-0.00282962 0.99999164 0.00295048 -0.51459718] [ 0.02590887 -0.00287619 0.99966017 -0.31124377] [ 0. 0. 0. 1. ]] SLAMing on 23.773201007999997 meters Centerline goodness [0,1] 0.9184420182944821 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.51, Z:-0.31 [[ 0.99966685 0.00363739 -0.02555314 1.48559027] [-0.00359558 0.99999212 0.00168199 -0.50963559] [ 0.02555905 -0.00158956 0.99967205 -0.31285767] [ 0. 0. 0. 1. ]] SLAMing on 23.803201008 meters Centerline goodness [0,1] 0.9184420182944821 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.51, Z:-0.31 [[ 0.99966685 0.00363739 -0.02555314 1.48559027] [-0.00359558 0.99999212 0.00168199 -0.50963559] [ 0.02555905 -0.00158956 0.99967205 -0.31285767] [ 0. 0. 0. 1. ]] SLAMing on 23.833201008 meters Centerline goodness [0,1] 0.915990832157969 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.51, Z:-0.31 [[ 0.99963291 0.00735293 -0.02607648 1.48696685] [-0.00721723 0.99995994 0.00529424 -0.50790286] [ 0.02611436 -0.00510409 0.99964593 -0.31286718] [ 0. 0. 0. 1. ]] SLAMing on 23.863201007999997 meters Centerline goodness [0,1] 0.9137607689151966 Centerline is valid? [False, False] Translation: X:1.49, Y:-0.50, Z:-0.31 [[ 0.9996314 0.00755069 -0.02607786 1.48690829] [-0.00744669 0.99996394 0.00408294 -0.50427703] [ 0.02610775 -0.00388724 0.99965158 -0.31424128] [ 0. 0. 0. 1. ]] SLAMing on 23.893201008 meters Centerline goodness [0,1] 0.9125346563548811 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99967732 0.0112462 -0.02277655 1.50160338] [-0.01137262 0.9999206 -0.00542832 -0.49903235] [ 0.02271369 0.0056856 0.99972584 -0.32067562] [ 0. 0. 0. 1. ]] SLAMing on 23.923201008 meters Centerline goodness [0,1] 0.911434487183226 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99967595 0.01145848 -0.02273112 1.50109893] [-0.0115905 0.99991667 -0.00568466 -0.49710293] [ 0.02266409 0.00594629 0.99972545 -0.32047932] [ 0. 0. 0. 1. ]] SLAMing on 23.953201007999997 meters Centerline goodness [0,1] 0.9107480853789931 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99967603 0.01155073 -0.02268078 1.50086109] [-0.01168574 0.99991473 -0.00582934 -0.49562262] [ 0.02261151 0.00609249 0.99972576 -0.32038406] [ 0. 0. 0. 1. ]] SLAMing on 23.983201007999998 meters Centerline goodness [0,1] 0.9091279662250692 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99967111 0.01147106 -0.02293675 1.50115018] [-0.01160292 0.99991687 -0.00562396 -0.49510323] [ 0.02287033 0.00588824 0.9997211 -0.31955151] [ 0. 0. 0. 1. ]] SLAMing on 24.013201008 meters Centerline goodness [0,1] 0.9101195497251229 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99966132 0.01110943 -0.02353354 1.50230736] [-0.01123652 0.99992295 -0.00527537 -0.49542757] [ 0.02347312 0.00553801 0.99970913 -0.31841762] [ 0. 0. 0. 1. ]] SLAMing on 24.043201007999997 meters Centerline goodness [0,1] 0.9105280074803495 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99965114 0.01092877 -0.02404498 1.50267874] [-0.01103958 0.99992902 -0.00448032 -0.49655138] [ 0.02399431 0.00474421 0.99970084 -0.3162022 ] [ 0. 0. 0. 1. ]] SLAMing on 24.073201007999998 meters Centerline goodness [0,1] 0.9107735288982015 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99964299 0.01038257 -0.02461906 1.50431071] [-0.01049848 0.99993438 -0.00458372 -0.49633626] [ 0.02456986 0.00484054 0.9996864 -0.31605653] [ 0. 0. 0. 1. ]] SLAMing on 24.103201008 meters Centerline goodness [0,1] 0.9110579727050041 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.32 [[ 0.99963871 0.01034751 -0.02480663 1.50463167] [-0.01046369 0.99993486 -0.00455833 -0.49610909] [ 0.02475785 0.00481625 0.99968188 -0.31583106] [ 0. 0. 0. 1. ]] SLAMing on 24.133201007999997 meters Centerline goodness [0,1] 0.9092761893670296 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.32 [[ 0.99963494 0.01073999 -0.02479178 1.50420506] [-0.01086627 0.99992864 -0.00496471 -0.49410788] [ 0.02473669 0.00523229 0.99968031 -0.31608875] [ 0. 0. 0. 1. ]] SLAMing on 24.163201007999998 meters Centerline goodness [0,1] 0.9075583925721746 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.32 [[ 0.99963337 0.01111092 -0.02469156 1.50370795] [-0.01124536 0.99992266 -0.00531264 -0.49210137] [ 0.02463062 0.00558835 0.999681 -0.31638063] [ 0. 0. 0. 1. ]] SLAMing on 24.193201008 meters Centerline goodness [0,1] 0.9066349749268094 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.32 [[ 0.99963537 0.01193824 -0.02422013 1.50179919] [-0.01206601 0.99991401 -0.0051361 -0.49061535] [ 0.02415673 0.00542646 0.99969346 -0.31577568] [ 0. 0. 0. 1. ]] SLAMing on 24.223201008 meters Centerline goodness [0,1] 0.9072702014355175 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99962888 0.01318882 -0.02383615 1.49901643] [-0.01329657 0.99990206 -0.00436753 -0.48919221] [ 0.02377621 0.00468285 0.99970634 -0.31354196] [ 0. 0. 0. 1. ]] SLAMing on 24.253201007999998 meters Centerline goodness [0,1] 0.9079106802838843 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99962348 0.01343818 -0.02392307 1.49855026] [-0.01353514 0.99990081 -0.00389578 -0.48962193] [ 0.02386835 0.00421811 0.99970621 -0.31237227] [ 0. 0. 0. 1. ]] SLAMing on 24.283201008 meters Centerline goodness [0,1] 0.9065210500533095 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99962033 0.01389585 -0.02379291 1.49767383] [-0.01397839 0.99989683 -0.00330615 -0.49057705] [ 0.02374451 0.00363748 0.99971144 -0.31145598] [ 0. 0. 0. 1. ]] SLAMing on 24.313201008 meters Centerline goodness [0,1] 0.9074447840378295 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99961823 0.0139156 -0.02386947 1.49784021] [-0.01399699 0.99989677 -0.00324584 -0.49085156] [ 0.02382184 0.0035787 0.99970981 -0.31139484] [ 0. 0. 0. 1. ]] SLAMing on 24.343201007999998 meters Centerline goodness [0,1] 0.9063781847593737 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99961834 0.01314039 -0.02430017 1.50004538] [-0.01323634 0.99990521 -0.00379203 -0.49080494] [ 0.02424804 0.00411223 0.99969752 -0.3126976 ] [ 0. 0. 0. 1. ]] SLAMing on 24.373201008 meters Centerline goodness [0,1] 0.905618238245787 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.49, Z:-0.31 [[ 0.99961329 0.01283755 -0.02466721 1.50110421] [-0.01292738 0.99991036 -0.00348555 -0.49238737] [ 0.02462025 0.00380309 0.99968964 -0.31244762] [ 0. 0. 0. 1. ]] SLAMing on 24.403201008 meters Centerline goodness [0,1] 0.9030213149553636 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.31 [[ 0.9996053 0.01247572 -0.02517162 1.50240305] [-0.01255113 0.9999172 -0.00283992 -0.49504329] [ 0.02513411 0.00315473 0.99967911 -0.3116987 ] [ 0. 0. 0. 1. ]] SLAMing on 24.433201007999998 meters Centerline goodness [0,1] 0.9014125870018501 Centerline is valid? [False, False] Translation: X:1.50, Y:-0.50, Z:-0.31 [[ 0.99964672 0.00802178 -0.02533937 1.50303171] [-0.00818404 0.99994663 -0.00630598 -0.49781422] [ 0.02528743 0.00651113 0.99965902 -0.3113173 ] [ 0. 0. 0. 1. ]] SLAMing on 24.463201008 meters Centerline goodness [0,1] 0.9014435772548559 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.50, Z:-0.31 [[ 0.99963193 0.0069542 -0.02622303 1.50617597] [-0.00711586 0.99995622 -0.00607653 -0.49956482] [ 0.02617963 0.00626089 0.99963765 -0.31145119] [ 0. 0. 0. 1. ]] SLAMing on 24.493201008 meters Centerline goodness [0,1] 0.8981216642585439 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.50, Z:-0.31 [[ 0.99961634 0.00588461 -0.02706557 1.50936796] [-0.00605309 0.99996278 -0.00614729 -0.50092985] [ 0.02702839 0.00630876 0.99961476 -0.31219301] [ 0. 0. 0. 1. ]] SLAMing on 24.523201007999997 meters Centerline goodness [0,1] 0.898853495656285 Centerline is valid? [False, False] Translation: X:1.51, Y:-0.50, Z:-0.31 [[ 0.9995931 0.00464515 -0.02814363 1.51317052] [-0.00482139 0.99996917 -0.00619763 -0.50234498] [ 0.02811398 0.0063308 0.99958468 -0.31278599] [ 0. 0. 0. 1. ]] SLAMing on 24.553201008 meters Centerline goodness [0,1] 0.8966704255445427 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.50, Z:-0.31 [[ 0.99957475 0.00313282 -0.02899144 1.51731227] [-0.00332939 0.99997178 -0.00673463 -0.50436334] [ 0.02896952 0.00682829 0.99955697 -0.31474345] [ 0. 0. 0. 1. ]] SLAMing on 24.583201008 meters Centerline goodness [0,1] 0.8938966019561791 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.50, Z:-0.32 [[ 0.9995633 0.00283636 -0.0294136 1.51875935] [-0.00304463 0.99997059 -0.0070386 -0.5040854 ] [ 0.02939278 0.00712508 0.99954254 -0.31545075] [ 0. 0. 0. 1. ]] SLAMing on 24.613201007999997 meters Centerline goodness [0,1] 0.8932620955773226 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.50, Z:-0.32 [[ 0.99955775 0.00294998 -0.02959059 1.51907828] [-0.00316214 0.99996961 -0.00712567 -0.50354662] [ 0.02956867 0.00721609 0.9995367 -0.31551254] [ 0. 0. 0. 1. ]] SLAMing on 24.643201008 meters Centerline goodness [0,1] 0.8915684067073532 Centerline is valid? [False, False] Translation: X:1.52, Y:-0.51, Z:-0.31 [[ 0.9995139 0.00677665 -0.0304309 1.52039913] [-0.00684066 0.9999746 -0.00199982 -0.50641022] [ 0.03041658 0.00220701 0.99953487 -0.31307518] [ 0. 0. 0. 1. ]] SLAMing on 24.673201008 meters Centerline goodness [0,1] 0.8921923168129001 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.31 [[ 0.99964837 0.01010002 -0.02451767 1.53025232] [-0.01032039 0.99990733 -0.00887802 -0.50609968] [ 0.02442573 0.00912793 0.99965997 -0.31330835] [ 0. 0. 0. 1. ]] SLAMing on 24.703201007999997 meters Centerline goodness [0,1] 0.895141196013289 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.31 [[ 0.99965177 0.01079396 -0.02407961 1.52824038] [-0.0109912 0.999907 -0.00807403 -0.50615439] [ 0.02399022 0.00833589 0.99967744 -0.31162537] [ 0. 0. 0. 1. ]] SLAMing on 24.733201007999998 meters Centerline goodness [0,1] 0.8913512395473214 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.50, Z:-0.31 [[ 0.99965905 0.01081499 -0.023766 1.52794304] [-0.01101801 0.99990378 -0.00842834 -0.50418959] [ 0.02367256 0.00868732 0.99968202 -0.31233509] [ 0. 0. 0. 1. ]] SLAMing on 24.763201008 meters Centerline goodness [0,1] 0.8912596249926527 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.50, Z:-0.31 [[ 0.99966558 0.01062278 -0.02357726 1.5281869 ] [-0.01083671 0.9999011 -0.00896442 -0.5019517 ] [ 0.0234797 0.00921693 0.99968183 -0.31333135] [ 0. 0. 0. 1. ]] SLAMing on 24.793201007999997 meters Centerline goodness [0,1] 0.8891020721412126 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.50, Z:-0.31 [[ 0.99966878 0.01078412 -0.02336718 1.52712368] [-0.01097407 0.99990765 -0.00801599 -0.50360212] [ 0.02327858 0.00826977 0.99969481 -0.31148947] [ 0. 0. 0. 1. ]] SLAMing on 24.823201007999998 meters Centerline goodness [0,1] 0.8923727060492331 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.31 [[ 0.99965887 0.01085194 -0.02375656 1.52704233] [-0.01100392 0.99991976 -0.00627604 -0.50755275] [ 0.02368655 0.00653531 0.99969807 -0.30836546] [ 0. 0. 0. 1. ]] SLAMing on 24.853201008 meters Centerline goodness [0,1] 0.8943910019239307 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.30 [[ 0.99964453 0.01073366 -0.02440502 1.5273867 ] [-0.01082141 0.99993544 -0.00346596 -0.51263635] [ 0.02436624 0.00372882 0.99969615 -0.30322902] [ 0. 0. 0. 1. ]] SLAMing on 24.883201007999997 meters Centerline goodness [0,1] 0.8942782370784512 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.30 [[ 0.9996865 0.00704311 -0.02402682 1.52568001] [-0.00721833 0.99994793 -0.00721401 -0.5131045 ] [ 0.02397476 0.00738518 0.99968529 -0.30236762] [ 0. 0. 0. 1. ]] SLAMing on 24.913201007999998 meters Centerline goodness [0,1] 0.9012961414406881 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.31 [[ 0.99970309 0.00163147 -0.02431179 1.52863209] [-0.00193696 0.9999194 -0.01254743 -0.51206417] [ 0.02428936 0.01259079 0.99962568 -0.30545264] [ 0. 0. 0. 1. ]] SLAMing on 24.943201008 meters Centerline goodness [0,1] 0.8974711133669722 Centerline is valid? [False, False] Translation: X:1.53, Y:-0.51, Z:-0.31 [[ 9.99687857e-01 1.99891145e-04 -2.49829479e-02 1.53297408e+00] [-5.45824268e-04 9.99904064e-01 -1.38407175e-02 -5.10844377e-01] [ 2.49777845e-02 1.38500335e-02 9.99592060e-01 -3.08962598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.973201008 meters Centerline goodness [0,1] 0.8974595156737484 Centerline is valid? [False, False] Translation: X:1.54, Y:-0.51, Z:-0.31 [[ 9.99642011e-01 1.01602687e-03 -2.67360802e-02 1.54124734e+00] [-1.29884021e-03 9.99943369e-01 -1.05627265e-02 -5.11304997e-01] [ 2.67238341e-02 1.05936711e-02 9.99586720e-01 -3.11000528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.003201007999998 meters Centerline goodness [0,1] 0.894542750929368 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 0.99961034 0.00234867 -0.02781447 1.54750877] [-0.00256932 0.9999655 -0.00789983 -0.5114786 ] [ 0.02779495 0.00796822 0.99958189 -0.31397724] [ 0. 0. 0. 1. ]] SLAMing on 25.033201008 meters Centerline goodness [0,1] 0.8936170212765957 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.32 [[ 0.99956868 0.00422513 -0.02906207 1.55290796] [-0.00436385 0.99997938 -0.00471179 -0.51200513] [ 0.02904157 0.00483658 0.9995665 -0.31551498] [ 0. 0. 0. 1. ]] SLAMing on 25.063201008 meters Centerline goodness [0,1] 0.8925555951956238 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 0.99954721 0.00413422 -0.02980401 1.5536282 ] [-0.00426952 0.99998086 -0.00447752 -0.51268423] [ 0.02978493 0.00460275 0.99954573 -0.31393758] [ 0. 0. 0. 1. ]] SLAMing on 25.093201007999998 meters Centerline goodness [0,1] 0.9018740162157346 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 0.99953484 0.00446095 -0.03016959 1.5529683 ] [-0.00457039 0.99998322 -0.00355955 -0.51406487] [ 0.0301532 0.00369579 0.99953846 -0.31129764] [ 0. 0. 0. 1. ]] SLAMing on 25.123201008 meters Centerline goodness [0,1] 0.9029764205643602 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 0.99953216 0.00500695 -0.03017256 1.55165728] [-0.00509698 0.99998278 -0.00290777 -0.51417743] [ 0.03015748 0.0030602 0.99954048 -0.30934128] [ 0. 0. 0. 1. ]] SLAMing on 25.153201008 meters Centerline goodness [0,1] 0.901565995525727 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 9.99510992e-01 9.08900159e-03 -2.99193531e-02 1.55107562e+00] [-9.06719566e-03 9.99958519e-01 8.64418464e-04 -5.09797780e-01] [ 2.99259687e-02 -5.92711128e-04 9.99551942e-01 -3.08793935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.183201007999998 meters Centerline goodness [0,1] 0.8998800081945624 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.51, Z:-0.31 [[ 0.99946901 0.01296161 -0.02989487 1.55119276] [-0.01281895 0.99990554 0.00495875 -0.50820231] [ 0.02995632 -0.00457289 0.99954075 -0.30809673] [ 0. 0. 0. 1. ]] SLAMing on 25.213201008 meters Centerline goodness [0,1] 0.896429402186555 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.50, Z:-0.31 [[ 0.99956866 0.01664122 -0.02419826 1.56487963] [-0.01668754 0.99985929 -0.00171332 -0.50415497] [ 0.02416634 0.00211639 0.99970571 -0.3127445 ] [ 0. 0. 0. 1. ]] SLAMing on 25.243201008 meters Centerline goodness [0,1] 0.8896713615023474 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.50, Z:-0.31 [[ 0.9994765 0.02239142 -0.02335286 1.56035248] [-0.02232133 0.99974554 0.00325768 -0.5006435 ] [ 0.02341987 -0.0027347 0.99972198 -0.30892685] [ 0. 0. 0. 1. ]] SLAMing on 25.273201007999997 meters Centerline goodness [0,1] 0.8868860496640036 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.50, Z:-0.31 [[ 0.99946609 0.02314769 -0.02305916 1.55864448] [-0.02309606 0.99973012 0.00250313 -0.49644832] [ 0.02311088 -0.00196922 0.99973097 -0.30876001] [ 0. 0. 0. 1. ]] SLAMing on 25.303201008 meters Centerline goodness [0,1] 0.8855694317140238 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.49, Z:-0.31 [[ 9.99444000e-01 2.40388276e-02 -2.31046721e-02 1.55742923e+00] [-2.40008100e-02 9.99710093e-01 1.92138870e-03 -4.92394951e-01] [ 2.31441618e-02 -1.36578957e-03 9.99731205e-01 -3.08443747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.333201008 meters Centerline goodness [0,1] 0.881571412209369 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.49, Z:-0.31 [[ 9.99427890e-01 2.50983074e-02 -2.26708328e-02 1.55495886e+00] [-2.50701069e-02 9.99684529e-01 1.52731863e-03 -4.88837623e-01] [ 2.27020139e-02 -9.58084630e-04 9.99741817e-01 -3.07708316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.363201007999997 meters Centerline goodness [0,1] 0.8821616997005561 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.48, Z:-0.31 [[ 9.99378764e-01 2.71616442e-02 -2.24573042e-02 1.55161080e+00] [-2.71445574e-02 9.99630951e-01 1.06539703e-03 -4.84393099e-01] [ 2.24779543e-02 -4.55141587e-04 9.99747235e-01 -3.06639155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.393201008 meters Centerline goodness [0,1] 0.8820506997473528 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.48, Z:-0.31 [[ 9.99381012e-01 2.71473746e-02 -2.23743876e-02 1.55160404e+00] [-2.71496173e-02 9.99631360e-01 2.03584021e-04 -4.81937850e-01] [ 2.23716663e-02 4.03998056e-04 9.99749641e-01 -3.07550897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.423201008 meters Centerline goodness [0,1] 0.8803090996903321 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.48, Z:-0.31 [[ 9.99387557e-01 2.70310164e-02 -2.22223978e-02 1.55190089e+00] [-2.70493576e-02 9.99633961e-01 -5.25118345e-04 -4.79633358e-01] [ 2.22000691e-02 1.12589833e-03 9.99752914e-01 -3.08822298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.453201007999997 meters Centerline goodness [0,1] 0.8793870209330652 Centerline is valid? [False, False] Translation: X:1.55, Y:-0.48, Z:-0.31 [[ 0.99940159 0.02646049 -0.02227779 1.55351282] [-0.02650513 0.99964721 -0.00171065 -0.47711126] [ 0.02222466 0.00230011 0.99975036 -0.31124103] [ 0. 0. 0. 1. ]] SLAMing on 25.483201007999998 meters Centerline goodness [0,1] 0.8774411156146368 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.48, Z:-0.32 [[ 9.99325922e-01 2.81536158e-02 -2.35600256e-02 1.56052237e+00] [-2.81569257e-02 9.99603497e-01 1.91302370e-04 -4.75877524e-01] [ 2.35560699e-02 4.72204473e-04 9.99722406e-01 -3.16200659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.513201008 meters Centerline goodness [0,1] 0.876250777319238 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.47, Z:-0.32 [[ 9.99334104e-01 2.76906375e-02 -2.37608527e-02 1.56271237e+00] [-2.77288587e-02 9.99614661e-01 -1.28054629e-03 -4.73481561e-01] [ 2.37162376e-02 1.93855491e-03 9.99716851e-01 -3.19563777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.543201007999997 meters Centerline goodness [0,1] 0.8761279043537108 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.47, Z:-0.32 [[ 0.99933462 0.0276521 -0.02378383 1.56356875] [-0.02771452 0.99961324 -0.00229869 -0.47124821] [ 0.02371107 0.00295632 0.99971448 -0.32155852] [ 0. 0. 0. 1. ]] SLAMing on 25.573201007999998 meters Centerline goodness [0,1] 0.873351221578873 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.47, Z:-0.33 [[ 0.99928671 0.03287088 -0.01858977 1.57391226] [-0.03305607 0.999406 -0.00974378 -0.46925331] [ 0.01825844 0.01035133 0.99977972 -0.32514112] [ 0. 0. 0. 1. ]] SLAMing on 25.603201008 meters Centerline goodness [0,1] 0.875611341983999 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.47, Z:-0.32 [[ 0.99923306 0.03482472 -0.01790352 1.56965162] [-0.03497461 0.99935515 -0.00812791 -0.47102587] [ 0.01760892 0.00874785 0.99980668 -0.32193514] [ 0. 0. 0. 1. ]] SLAMing on 25.633201007999997 meters Centerline goodness [0,1] 0.8757086167800454 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.47, Z:-0.32 [[ 0.99918562 0.03636896 -0.01747542 1.56648991] [-0.03648839 0.99931252 -0.0065643 -0.47324604] [ 0.01722467 0.0071966 0.99982574 -0.31909748] [ 0. 0. 0. 1. ]] SLAMing on 25.663201007999998 meters Centerline goodness [0,1] 0.8781698530663187 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.47, Z:-0.32 [[ 0.9991604 0.03722074 -0.01712042 1.5647541 ] [-0.03732274 0.99928714 -0.00567678 -0.47462529] [ 0.01689692 0.006311 0.99983732 -0.31785359] [ 0. 0. 0. 1. ]] SLAMing on 25.693201008 meters Centerline goodness [0,1] 0.8764035362005742 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.48, Z:-0.32 [[ 0.99914167 0.0380138 -0.01645795 1.56296173] [-0.03810201 0.99926095 -0.00507937 -0.47584097] [ 0.0162527 0.00570209 0.99985166 -0.31775182] [ 0. 0. 0. 1. ]] SLAMing on 25.723201007999997 meters Centerline goodness [0,1] 0.8764035362005742 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.48, Z:-0.32 [[ 0.99914167 0.0380138 -0.01645795 1.56296173] [-0.03810201 0.99926095 -0.00507937 -0.47584097] [ 0.0162527 0.00570209 0.99985166 -0.31775182] [ 0. 0. 0. 1. ]] SLAMing on 25.753201007999998 meters Centerline goodness [0,1] 0.8797571196442315 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.48, Z:-0.32 [[ 0.99912047 0.03894956 -0.0155314 1.56115924] [-0.03901265 0.99923157 -0.00378026 -0.47957753] [ 0.01537222 0.00438285 0.99987223 -0.31807091] [ 0. 0. 0. 1. ]] SLAMing on 25.783201008 meters Centerline goodness [0,1] 0.8758654370996006 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.48, Z:-0.32 [[ 0.9991056 0.03942095 -0.01529646 1.56054041] [-0.03946966 0.99921657 -0.0028953 -0.48260841] [ 0.01517034 0.00349646 0.99987881 -0.31783656] [ 0. 0. 0. 1. ]] SLAMing on 25.813201008 meters Centerline goodness [0,1] 0.8766179720460351 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.49, Z:-0.32 [[ 0.99909315 0.03975056 -0.01525659 1.56039381] [-0.03978722 0.99920595 -0.00210689 -0.48561409] [ 0.01516073 0.002712 0.99988139 -0.31759727] [ 0. 0. 0. 1. ]] SLAMing on 25.843201007999998 meters Centerline goodness [0,1] 0.8785442600276625 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.49, Z:-0.32 [[ 9.99071270e-01 4.03976122e-02 -1.49876562e-02 1.55948287e+00] [-4.04220124e-02 9.99181813e-01 -1.32854745e-03 -4.88318438e-01] [ 1.49217234e-02 1.93314482e-03 9.99886796e-01 -3.17371805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.873201008 meters Centerline goodness [0,1] 0.8777671672888272 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.49, Z:-0.32 [[ 0.99918154 0.03790568 -0.0141212 1.55645014] [-0.03797293 0.99926852 -0.00452488 -0.49130554] [ 0.01393935 0.0050574 0.99989005 -0.3176612 ] [ 0. 0. 0. 1. ]] SLAMing on 25.903201008 meters Centerline goodness [0,1] 0.8790197739287905 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.49, Z:-0.32 [[ 0.99931971 0.0342054 -0.01378829 1.55569056] [-0.03432496 0.99937432 -0.00852973 -0.49299961] [ 0.0134879 0.00899721 0.99986855 -0.31873164] [ 0. 0. 0. 1. ]] SLAMing on 25.933201007999998 meters Centerline goodness [0,1] 0.8771303074670571 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.50, Z:-0.32 [[ 0.99939007 0.0319673 -0.0140563 1.55873221] [-0.03210205 0.99943975 -0.00946811 -0.49697614] [ 0.01374576 0.00991357 0.99985638 -0.32064512] [ 0. 0. 0. 1. ]] SLAMing on 25.963201008 meters Centerline goodness [0,1] 0.873924154745469 Centerline is valid? [False, False] Translation: X:1.56, Y:-0.50, Z:-0.32 [[ 0.99946455 0.02921818 -0.0147282 1.5636697 ] [-0.02937058 0.99951614 -0.01024016 -0.50057433] [ 0.01442187 0.01066725 0.9998391 -0.32288836] [ 0. 0. 0. 1. ]] SLAMing on 25.993201008 meters Centerline goodness [0,1] 0.8738922972051806 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.50, Z:-0.33 [[ 0.99965938 0.02130509 -0.01507368 1.57010239] [-0.0215483 0.99963719 -0.01616058 -0.50403183] [ 0.01472391 0.01647989 0.99975578 -0.32820143] [ 0. 0. 0. 1. ]] SLAMing on 26.023201007999997 meters Centerline goodness [0,1] 0.8733349262290185 Centerline is valid? [False, False] Translation: X:1.57, Y:-0.51, Z:-0.33 [[ 0.99967211 0.0201518 -0.0157977 1.57340456] [-0.02040327 0.99966505 -0.01592165 -0.50729572] [ 0.01547156 0.01623875 0.99974844 -0.32917469] [ 0. 0. 0. 1. ]] SLAMing on 26.053201008 meters Centerline goodness [0,1] 0.874073184642632 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.33 [[ 0.99967666 0.01943553 -0.01639645 1.57590919] [-0.01968701 0.99968885 -0.01531775 -0.51097304] [ 0.01609364 0.01563559 0.99974823 -0.32962618] [ 0. 0. 0. 1. ]] SLAMing on 26.083201008 meters Centerline goodness [0,1] 0.8740354473113094 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.33 [[ 0.99967204 0.0191768 -0.01697215 1.57750042] [-0.0194176 0.99971149 -0.01413845 -0.51560304] [ 0.01669612 0.01446338 0.999756 -0.32890284] [ 0. 0. 0. 1. ]] SLAMing on 26.113201007999997 meters Centerline goodness [0,1] 0.8797724437954428 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.33 [[ 0.9997297 0.015857 -0.01700262 1.57624519] [-0.01612703 0.99974409 -0.01586428 -0.52258292] [ 0.0167467 0.0161342 0.99972958 -0.32619775] [ 0. 0. 0. 1. ]] SLAMing on 26.143201008 meters Centerline goodness [0,1] 0.8788415173802911 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.32 [[ 0.99971868 0.01629483 -0.01723457 1.57555273] [-0.01653922 0.99976331 -0.01413408 -0.52590742] [ 0.01700018 0.01441515 0.99975157 -0.3232784 ] [ 0. 0. 0. 1. ]] SLAMing on 26.173201008 meters Centerline goodness [0,1] 0.8793229420360448 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.32 [[ 0.9997198 0.01620579 -0.01725395 1.57569167] [-0.01644516 0.99976921 -0.01382315 -0.52590055] [ 0.01702595 0.01410302 0.99975558 -0.32279981] [ 0. 0. 0. 1. ]] SLAMing on 26.203201007999997 meters Centerline goodness [0,1] 0.8739823865871743 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.33 [[ 0.99967326 0.01819199 -0.01795624 1.58076899] [-0.01840072 0.99976423 -0.01152806 -0.52165095] [ 0.01774229 0.0118547 0.99977231 -0.32620735] [ 0. 0. 0. 1. ]] SLAMing on 26.233201007999998 meters Centerline goodness [0,1] 0.868922222557571 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.33 [[ 0.99960526 0.02054157 -0.01916707 1.58562667] [-0.02070019 0.9997528 -0.00811411 -0.52089864] [ 0.01899565 0.00850766 0.99978337 -0.3273692 ] [ 0. 0. 0. 1. ]] SLAMing on 26.263201008 meters Centerline goodness [0,1] 0.8729191797346201 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.33 [[ 0.9996128 0.019989 -0.01935708 1.58711769] [-0.02016488 0.99975676 -0.00893348 -0.51921339] [ 0.0191738 0.00932036 0.99977272 -0.32893355] [ 0. 0. 0. 1. ]] SLAMing on 26.293201007999997 meters Centerline goodness [0,1] 0.8704339963833635 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.33 [[ 0.99960689 0.01983187 -0.01981846 1.58772673] [-0.01999885 0.99976586 -0.00826267 -0.52050886] [ 0.01964996 0.00865577 0.99976945 -0.32745053] [ 0. 0. 0. 1. ]] SLAMing on 26.323201007999998 meters Centerline goodness [0,1] 0.8738061925907902 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.32 [[ 0.99966004 0.01698417 -0.01978222 1.58400029] [-0.0171362 0.99982473 -0.00754093 -0.52720502] [ 0.01965067 0.00787736 0.99977587 -0.3177975 ] [ 0. 0. 0. 1. ]] SLAMing on 26.353201008 meters Centerline goodness [0,1] 0.8716195592454673 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.31 [[ 0.99964476 0.01733538 -0.02024444 1.58320602] [-0.0174327 0.99983727 -0.00464042 -0.53175603] [ 0.0201607 0.00499168 0.99978429 -0.31220652] [ 0. 0. 0. 1. ]] SLAMing on 26.383201007999997 meters Centerline goodness [0,1] 0.8709078739199221 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.31 [[ 0.99964228 0.01745891 -0.02026072 1.58267644] [-0.01753793 0.99983925 -0.00372884 -0.5328653 ] [ 0.02019236 0.00408283 0.99978778 -0.31048618] [ 0. 0. 0. 1. ]] SLAMing on 26.413201007999998 meters Centerline goodness [0,1] 0.8656797913001274 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.53, Z:-0.31 [[ 0.9996544 0.01697553 -0.02007271 1.5835453 ] [-0.01707048 0.99984385 -0.0045682 -0.53054878] [ 0.01999202 0.00490927 0.99978809 -0.31232792] [ 0. 0. 0. 1. ]] SLAMing on 26.443201008 meters Centerline goodness [0,1] 0.8644740402248745 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 0.99961084 0.01903615 -0.02039112 1.58861916] [-0.01909441 0.99981413 -0.00266623 -0.52487074] [ 0.02033657 0.00305455 0.99978852 -0.31718887] [ 0. 0. 0. 1. ]] SLAMing on 26.473201007999997 meters Centerline goodness [0,1] 0.8629473495380752 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 0.99961731 0.0187906 -0.02030125 1.58921377] [-0.01886824 0.99981535 -0.00363958 -0.52199201] [ 0.02022911 0.00402124 0.99978728 -0.318771 ] [ 0. 0. 0. 1. ]] SLAMing on 26.503201007999998 meters Centerline goodness [0,1] 0.8594826037487275 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.31 [[ 0.99959726 0.02035585 -0.0197725 1.58505876] [-0.02040447 0.99978925 -0.00226014 -0.52284656] [ 0.01972232 0.00266267 0.99980195 -0.314867 ] [ 0. 0. 0. 1. ]] SLAMing on 26.533201008 meters Centerline goodness [0,1] 0.8621143267160967 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.31 [[ 9.99581488e-01 2.08341063e-02 -2.00696047e-02 1.58413728e+00] [-2.08645627e-02 9.99781454e-01 -1.30932044e-03 -5.24442979e-01] [ 2.00379400e-02 1.72751600e-03 9.99797728e-01 -3.12278989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.563201008 meters Centerline goodness [0,1] 0.864613910022165 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.31 [[ 0.99964009 0.01795216 -0.01993528 1.5822574 ] [-0.01806633 0.99982132 -0.0055617 -0.52240312] [ 0.01983188 0.00591985 0.9997858 -0.31229414] [ 0. 0. 0. 1. ]] SLAMing on 26.593201007999998 meters Centerline goodness [0,1] 0.8694122207974234 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.31 [[ 0.99964197 0.01761497 -0.02014056 1.58342075] [-0.01774236 0.99982359 -0.00616387 -0.52128655] [ 0.02002843 0.006519 0.99977816 -0.31345901] [ 0. 0. 0. 1. ]] SLAMing on 26.623201008 meters Centerline goodness [0,1] 0.8691859596713966 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.52, Z:-0.32 [[ 0.99965218 0.01712893 -0.02005284 1.58474604] [-0.01728069 0.99982315 -0.00741891 -0.51796206] [ 0.01992222 0.00776285 0.9997714 -0.31599321] [ 0. 0. 0. 1. ]] SLAMing on 26.653201008 meters Centerline goodness [0,1] 0.8633887869279497 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 0.99959778 0.01993498 -0.02017091 1.58855934] [-0.02005182 0.99978322 -0.00560673 -0.51247807] [ 0.02005477 0.00600894 0.99978083 -0.32100445] [ 0. 0. 0. 1. ]] SLAMing on 26.683201007999998 meters Centerline goodness [0,1] 0.8630549729713762 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 0.99959897 0.01997459 -0.02007252 1.58890132] [-0.02010776 0.99977698 -0.00645449 -0.50983527] [ 0.01993912 0.00685552 0.99977769 -0.3225747 ] [ 0. 0. 0. 1. ]] SLAMing on 26.713201008 meters Centerline goodness [0,1] 0.8618890395613467 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 0.99959487 0.02003072 -0.02022025 1.58932076] [-0.0201728 0.99977306 -0.00684727 -0.5090768 ] [ 0.02007851 0.0072524 0.9997721 -0.3231594 ] [ 0. 0. 0. 1. ]] SLAMing on 26.743201008 meters Centerline goodness [0,1] 0.8708770059809321 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.32 [[ 0.99955252 0.02235249 -0.01987791 1.58462182] [-0.02244885 0.99973724 -0.0046379 -0.51290105] [ 0.01976902 0.00508206 0.99979166 -0.31855535] [ 0. 0. 0. 1. ]] SLAMing on 26.773201007999997 meters Centerline goodness [0,1] 0.8727779921061222 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.32 [[ 0.99953611 0.02354637 -0.01931677 1.58165368] [-0.02361905 0.99971475 -0.00354326 -0.51447946] [ 0.01922783 0.00399786 0.99980714 -0.31642286] [ 0. 0. 0. 1. ]] SLAMing on 26.803201008 meters Centerline goodness [0,1] 0.8750924310094945 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.32 [[ 0.9995289 0.02401976 -0.01910565 1.58086996] [-0.02409023 0.99970378 -0.00346677 -0.51410711] [ 0.01901672 0.0039254 0.99981146 -0.31640071] [ 0. 0. 0. 1. ]] SLAMing on 26.833201008 meters Centerline goodness [0,1] 0.875077614499867 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.32 [[ 0.99953129 0.02436447 -0.01853575 1.58022269] [-0.02444316 0.9996931 -0.00403066 -0.51238265] [ 0.01843186 0.00448184 0.99982007 -0.31810461] [ 0. 0. 0. 1. ]] SLAMing on 26.863201007999997 meters Centerline goodness [0,1] 0.8728552573691157 Centerline is valid? [False, False] Translation: X:1.58, Y:-0.51, Z:-0.32 [[ 9.99447537e-01 2.69482030e-02 -1.94529148e-02 1.58453692e+00] [-2.69568648e-02 9.99636581e-01 -1.83141712e-04 -5.13609112e-01] [ 1.94409099e-02 7.07430127e-04 9.99810757e-01 -3.19214085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.893201008 meters Centerline goodness [0,1] 0.8711949314866657 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 9.99466939e-01 2.62173644e-02 -1.94547686e-02 1.58645593e+00] [-2.62439446e-02 9.99654950e-01 -1.11216109e-03 -5.12156077e-01] [ 1.94188978e-02 1.62213811e-03 9.99810120e-01 -3.21849473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.923201008 meters Centerline goodness [0,1] 0.8733851656960416 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 9.99464140e-01 2.60102700e-02 -1.98720561e-02 1.58747166e+00] [-2.60365890e-02 9.99660421e-01 -1.06680068e-03 -5.12964877e-01] [ 1.98375602e-02 1.58362958e-03 9.99801962e-01 -3.21820042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.953201007999997 meters Centerline goodness [0,1] 0.8771607861709685 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.51, Z:-0.32 [[ 9.99456666e-01 2.59498896e-02 -2.03218328e-02 1.58836505e+00] [-2.59705223e-02 9.99662426e-01 -7.52004444e-04 -5.14902648e-01] [ 2.02954582e-02 1.27936447e-03 9.99793207e-01 -3.21476908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.983201007999998 meters Centerline goodness [0,1] 0.8813015854165429 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 9.99442236e-01 2.59690521e-02 -2.09958231e-02 1.58942663e+00] [-2.59760580e-02 9.99662563e-01 -6.09790028e-05 -5.18530301e-01] [ 2.09871547e-02 6.06333708e-04 9.99779562e-01 -3.20523546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.013201008 meters Centerline goodness [0,1] 0.8836059224833914 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 9.99443601e-01 2.57350498e-02 -2.12178263e-02 1.59038907e+00] [-2.57418186e-02 9.99668623e-01 -4.59070983e-05 -5.19229325e-01] [ 2.12096137e-02 5.92066990e-04 9.99774876e-01 -3.20981526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.043201007999997 meters Centerline goodness [0,1] 0.883552063803827 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 9.99452330e-01 2.52506245e-02 -2.13879866e-02 1.59188766e+00] [-2.52658478e-02 9.99680670e-01 -4.41800057e-04 -5.19196709e-01] [ 2.13700010e-02 9.81943711e-04 9.99771153e-01 -3.22389036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.073201007999998 meters Centerline goodness [0,1] 0.8853605547453944 Centerline is valid? [False, False] Translation: X:1.59, Y:-0.52, Z:-0.32 [[ 9.99460120e-01 2.47774324e-02 -2.15765671e-02 1.59307059e+00] [-2.47978873e-02 9.99692253e-01 -6.80933439e-04 -5.18963532e-01] [ 2.15530552e-02 1.21561910e-03 9.99766967e-01 -3.23074652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.103201008 meters Centerline goodness [0,1] 0.884381157084005 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99472705e-01 2.38343815e-02 -2.20507415e-02 1.59528554e+00] [-2.38568501e-02 9.99715099e-01 -7.56412115e-04 -5.19457660e-01] [ 2.20264306e-02 1.28207450e-03 9.99756567e-01 -3.23554806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.133201007999997 meters Centerline goodness [0,1] 0.8833467898687241 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99471560e-01 2.34093951e-02 -2.25521623e-02 1.59672585e+00] [-2.34284663e-02 9.99725347e-01 -5.81769100e-04 -5.20602255e-01] [ 2.25323494e-02 1.10982424e-03 9.99745498e-01 -3.23408819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.163201007999998 meters Centerline goodness [0,1] 0.8871354854194168 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99956042 0.01966699 -0.02218495 1.5956478 ] [-0.01978845 0.99979031 -0.00526888 -0.5188926 ] [ 0.02207668 0.00570557 0.99974 -0.32447436] [ 0. 0. 0. 1. ]] SLAMing on 27.193201008 meters Centerline goodness [0,1] 0.8902968863142651 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99963142 0.01566409 -0.02217349 1.59554684] [-0.01587304 0.99983096 -0.00927888 -0.51942718] [ 0.0220244 0.00962742 0.99971108 -0.32478101] [ 0. 0. 0. 1. ]] SLAMing on 27.223201007999997 meters Centerline goodness [0,1] 0.8948510792234414 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99962642 0.01566268 -0.02239848 1.59599561] [-0.01586389 0.99983514 -0.00883393 -0.5204058 ] [ 0.02225642 0.00918596 0.99971009 -0.32427061] [ 0. 0. 0. 1. ]] SLAMing on 27.253201007999998 meters Centerline goodness [0,1] 0.8927989867921114 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99962642 0.01555205 -0.02247541 1.59645967] [-0.01575861 0.99983493 -0.00904264 -0.51972923] [ 0.02233107 0.00939345 0.9997065 -0.32466286] [ 0. 0. 0. 1. ]] SLAMing on 27.283201008 meters Centerline goodness [0,1] 0.8948653782374046 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99962569 0.01560714 -0.02247005 1.59644089] [-0.01581534 0.99983335 -0.00911809 -0.51894898] [ 0.022324 0.00947004 0.99970594 -0.32472952] [ 0. 0. 0. 1. ]] SLAMing on 27.313201008 meters Centerline goodness [0,1] 0.8941978497207039 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99955256 0.01861817 -0.02341029 1.59934088] [-0.01872387 0.99981543 -0.00430397 -0.52151798] [ 0.02332584 0.00474037 0.99971668 -0.32324803] [ 0. 0. 0. 1. ]] SLAMing on 27.343201007999998 meters Centerline goodness [0,1] 0.8959341286774649 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99955086 0.01871783 -0.02340347 1.59918436] [-0.01881931 0.9998144 -0.00412309 -0.52120833] [ 0.02332195 0.00456168 0.9997176 -0.32285682] [ 0. 0. 0. 1. ]] SLAMing on 27.373201008 meters Centerline goodness [0,1] 0.8985942568785293 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99955179 0.01863994 -0.023426 1.59933181] [-0.01874115 0.99981593 -0.00410803 -0.52095492] [ 0.02334512 0.00454522 0.99971713 -0.32281567] [ 0. 0. 0. 1. ]] SLAMing on 27.403201008 meters Centerline goodness [0,1] 0.8985485470445052 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.9995501 0.01855438 -0.02356556 1.59956575] [-0.01864961 0.99981875 -0.0038279 -0.52124288] [ 0.02349027 0.00426567 0.99971497 -0.3222505 ] [ 0. 0. 0. 1. ]] SLAMing on 27.433201007999998 meters Centerline goodness [0,1] 0.9003404332238725 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99954807 0.01795983 -0.02410584 1.60098732] [-0.01804471 0.99983171 -0.00330836 -0.52273099] [ 0.02404236 0.00374185 0.99970394 -0.32126765] [ 0. 0. 0. 1. ]] SLAMing on 27.463201008 meters Centerline goodness [0,1] 0.9034449442951602 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99954276 0.01757365 -0.02460558 1.60235399] [-0.01765488 0.99983937 -0.00308764 -0.52379533] [ 0.02454737 0.00352064 0.99969247 -0.32102516] [ 0. 0. 0. 1. ]] SLAMing on 27.493201008 meters Centerline goodness [0,1] 0.9085008754452696 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99953899 0.01692323 -0.02520737 1.60433768] [-0.01700285 0.9998511 -0.0029476 -0.52488556] [ 0.02515373 0.00337484 0.9996779 -0.32102095] [ 0. 0. 0. 1. ]] SLAMing on 27.523201007999997 meters Centerline goodness [0,1] 0.9080418210852994 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99953652 0.01622338 -0.02575952 1.60633339] [-0.01629887 0.99986346 -0.00272295 -0.52585936] [ 0.02571183 0.00314153 0.99966446 -0.32093094] [ 0. 0. 0. 1. ]] SLAMing on 27.553201008 meters Centerline goodness [0,1] 0.9072074788902292 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99954008 0.01519582 -0.02624356 1.60836872] [-0.01527342 0.99987955 -0.00275912 -0.52623765] [ 0.02619847 0.00315868 0.99965177 -0.32087638] [ 0. 0. 0. 1. ]] SLAMing on 27.583201008 meters Centerline goodness [0,1] 0.9117735621800662 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99953753 0.01514001 -0.02637245 1.60857874] [-0.01521584 0.99988065 -0.00267669 -0.52602147] [ 0.02632878 0.00307673 0.9996486 -0.32053762] [ 0. 0. 0. 1. ]] SLAMing on 27.613201007999997 meters Centerline goodness [0,1] 0.9117735621800662 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99953753 0.01514001 -0.02637245 1.60857874] [-0.01521584 0.99988065 -0.00267669 -0.52602147] [ 0.02632878 0.00307673 0.9996486 -0.32053762] [ 0. 0. 0. 1. ]] SLAMing on 27.643201008 meters Centerline goodness [0,1] 0.9154836579729284 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99953146 0.01478892 -0.0267984 1.60961906] [-0.01486737 0.99988575 -0.00273053 -0.5254852 ] [ 0.02675496 0.00312767 0.99963713 -0.32013631] [ 0. 0. 0. 1. ]] SLAMing on 27.673201008 meters Centerline goodness [0,1] 0.9143037366334255 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.53, Z:-0.32 [[ 0.99953042 0.01499246 -0.02672377 1.60914618] [-0.01506993 0.9998828 -0.00269977 -0.52520153] [ 0.02668016 0.00310123 0.99963921 -0.31987933] [ 0. 0. 0. 1. ]] SLAMing on 27.703201007999997 meters Centerline goodness [0,1] 0.9119181861804223 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 0.99952611 0.01583376 -0.02639772 1.60741415] [-0.01590612 0.99987028 -0.00253364 -0.52343976] [ 0.02635418 0.00295233 0.99964831 -0.31915817] [ 0. 0. 0. 1. ]] SLAMing on 27.733201007999998 meters Centerline goodness [0,1] 0.9107522057723942 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 0.99952462 0.01629588 -0.02617207 1.60646567] [-0.01637126 0.99986242 -0.00266851 -0.52171664] [ 0.02612498 0.00309572 0.99965389 -0.31908365] [ 0. 0. 0. 1. ]] SLAMing on 27.763201008 meters Centerline goodness [0,1] 0.9111383621463182 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99952155 0.0170236 -0.02582384 1.6049834 ] [-0.01709812 0.99985026 -0.00266756 -0.52024216] [ 0.02577456 0.00310782 0.99966295 -0.31886256] [ 0. 0. 0. 1. ]] SLAMing on 27.793201007999997 meters Centerline goodness [0,1] 0.9098873591989988 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99430061e-01 2.17327627e-02 -2.58309864e-02 1.60444998e+00] [-2.17001948e-02 9.99763336e-01 1.54049083e-03 -5.19592146e-01] [ 2.58583522e-02 -9.79075408e-04 9.99665137e-01 -3.18336289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.823201007999998 meters Centerline goodness [0,1] 0.9080504306876099 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99426141e-01 2.23450551e-02 -2.54575680e-02 1.60333297e+00] [-2.23246707e-02 9.99750185e-01 1.08468536e-03 -5.18001963e-01] [ 2.54754457e-02 -5.15731078e-04 9.99675315e-01 -3.19133063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.853201008 meters Centerline goodness [0,1] 0.9086032720445809 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99419168e-01 2.28517885e-02 -2.52808783e-02 1.60253462e+00] [-2.28371048e-02 9.99738821e-01 8.69423212e-04 -5.17354475e-01] [ 2.52941434e-02 -2.91576155e-04 9.99680009e-01 -3.19457081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.883201007999997 meters Centerline goodness [0,1] 0.9069143385312621 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99413512e-01 2.33871297e-02 -2.50134757e-02 1.60131552e+00] [-2.33652101e-02 9.99726314e-01 1.16826279e-03 -5.17851575e-01] [ 2.50339522e-02 -5.83132504e-04 9.99686431e-01 -3.18942743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.913201007999998 meters Centerline goodness [0,1] 0.9064484393166979 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.9994008 0.02391049 -0.02502646 1.60002827] [-0.02384732 0.99971164 0.00281981 -0.52090968] [ 0.02508667 -0.0022213 0.99968281 -0.31591068] [ 0. 0. 0. 1. ]] SLAMing on 27.943201008 meters Centerline goodness [0,1] 0.9092785972891296 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99939961 0.02383538 -0.02514535 1.60036604] [-0.02377308 0.99971353 0.00277377 -0.52097785] [ 0.02520426 -0.00217432 0.99967996 -0.31597595] [ 0. 0. 0. 1. ]] SLAMing on 27.973201007999997 meters Centerline goodness [0,1] 0.9070377994570243 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 0.99940186 0.02351861 -0.0253536 1.60131185] [-0.02346442 0.99972171 0.00243285 -0.52090112] [ 0.02540376 -0.00183649 0.99967559 -0.31661953] [ 0. 0. 0. 1. ]] SLAMing on 28.003201007999998 meters Centerline goodness [0,1] 0.909840473203083 Centerline is valid? [False, False] Translation: X:1.60, Y:-0.52, Z:-0.32 [[ 9.99400045e-01 2.30236493e-02 -2.58739706e-02 1.60311116e+00] [-2.29775579e-02 9.99733823e-01 2.07732069e-03 -5.21199158e-01] [ 2.59149110e-02 -1.48155374e-03 9.99663054e-01 -3.17322541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.033201008 meters Centerline goodness [0,1] 0.9127873949831076 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 9.99392694e-01 2.22598390e-02 -2.68093658e-02 1.60641565e+00] [-2.22269778e-02 9.99751790e-01 1.52314993e-03 -5.23073883e-01] [ 2.68366165e-02 -9.26333738e-04 9.99639404e-01 -3.19091325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.063201008 meters Centerline goodness [0,1] 0.9131474341731671 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 9.99393729e-01 2.16801048e-02 -2.72423749e-02 1.60837514e+00] [-2.16608005e-02 9.99764874e-01 1.00355001e-03 -5.23327726e-01] [ 2.72577266e-02 -4.12849938e-04 9.99628354e-01 -3.20378467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.093201007999998 meters Centerline goodness [0,1] 0.9127110258178656 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 9.99394191e-01 2.11551609e-02 -2.76353173e-02 1.61006456e+00] [-2.11482851e-02 9.99776204e-01 5.41089416e-04 -5.23150606e-01] [ 2.76405794e-02 4.36779500e-05 9.99617925e-01 -3.21419158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.123201008 meters Centerline goodness [0,1] 0.9108513189448442 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 9.99398544e-01 2.05682133e-02 -2.79195193e-02 1.61172887e+00] [-2.05811223e-02 9.99788171e-01 -1.75049333e-04 -5.22262146e-01] [ 2.79100047e-02 7.49559090e-04 9.99610159e-01 -3.22842656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.153201008 meters Centerline goodness [0,1] 0.9090200545579903 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.33 [[ 9.99401348e-01 1.99679280e-02 -2.82529069e-02 1.61374906e+00] [-2.00156978e-02 9.99798673e-01 -1.40896918e-03 -5.19741539e-01] [ 2.82190846e-02 1.97362734e-03 9.99599814e-01 -3.25187573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.183201007999998 meters Centerline goodness [0,1] 0.9097280460045525 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.33 [[ 0.9994019 0.01950452 -0.02855559 1.61518224] [-0.01957115 0.99980635 -0.00205561 -0.5185259 ] [ 0.02850997 0.00261325 0.99959009 -0.32627013] [ 0. 0. 0. 1. ]] SLAMing on 28.213201008 meters Centerline goodness [0,1] 0.9105832309858312 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.33 [[ 0.99939522 0.01943358 -0.0288363 1.61572553] [-0.01950044 0.99980777 -0.00203894 -0.51864259] [ 0.02879113 0.00260003 0.99958207 -0.32607627] [ 0. 0. 0. 1. ]] SLAMing on 28.243201008 meters Centerline goodness [0,1] 0.9109946075494308 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 9.99384811e-01 1.93440325e-02 -2.92541866e-02 1.61626005e+00] [-1.93935097e-02 9.99810936e-01 -1.40847703e-03 -5.20014358e-01] [ 2.92214101e-02 1.97495190e-03 9.99571012e-01 -3.24677731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.273201007999997 meters Centerline goodness [0,1] 0.9134197828709288 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 0.99945507 0.0161854 -0.02876813 1.61337472] [-0.0163303 0.99985509 -0.0048091 -0.52000063] [ 0.02868612 0.00527627 0.99957454 -0.32297762] [ 0. 0. 0. 1. ]] SLAMing on 28.303201008 meters Centerline goodness [0,1] 0.9148576431871018 Centerline is valid? [False, False] Translation: X:1.61, Y:-0.52, Z:-0.32 [[ 0.99944877 0.01605646 -0.02905773 1.61383292] [-0.01619176 0.9998591 -0.00442692 -0.52046616] [ 0.02898256 0.00489497 0.99956793 -0.32212715] [ 0. 0. 0. 1. ]] SLAMing on 28.333201008 meters Centerline goodness [0,1] 0.9149551285912184 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 0.99944201 0.01558667 -0.02954182 1.61523913] [-0.01572372 0.99986664 -0.00441239 -0.52044937] [ 0.02946911 0.00487444 0.99955381 -0.32191155] [ 0. 0. 0. 1. ]] SLAMing on 28.363201007999997 meters Centerline goodness [0,1] 0.9141341051616015 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 0.99943782 0.01518398 -0.02989144 1.61656481] [-0.01532905 0.99987178 -0.00463025 -0.52024367] [ 0.0298173 0.00508585 0.99954243 -0.32237627] [ 0. 0. 0. 1. ]] SLAMing on 28.393201008 meters Centerline goodness [0,1] 0.9133146524450872 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 0.99943144 0.01388684 -0.03072376 1.62025445] [-0.01406719 0.99988502 -0.00566171 -0.5190893 ] [ 0.0306416 0.00609069 0.99951188 -0.32440159] [ 0. 0. 0. 1. ]] SLAMing on 28.423201008 meters Centerline goodness [0,1] 0.9153451914380464 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.33 [[ 0.99942765 0.01332466 -0.03109381 1.62193627] [-0.01351583 0.99989098 -0.00594621 -0.51888216] [ 0.03101118 0.00636307 0.99949878 -0.32514199] [ 0. 0. 0. 1. ]] SLAMing on 28.453201007999997 meters Centerline goodness [0,1] 0.9154412870245076 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 0.99941601 0.01287822 -0.03165097 1.62344032] [-0.01306703 0.999898 -0.00576592 -0.51931227] [ 0.03157349 0.00617613 0.99948235 -0.32473474] [ 0. 0. 0. 1. ]] SLAMing on 28.483201007999998 meters Centerline goodness [0,1] 0.9160967673907149 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.32 [[ 0.99940111 0.01276976 -0.03216129 1.62420403] [-0.01294366 0.99990268 -0.00520453 -0.520548 ] [ 0.0320917 0.0056177 0.99946914 -0.32354446] [ 0. 0. 0. 1. ]] SLAMing on 28.513201008 meters Centerline goodness [0,1] 0.9171345770693715 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99936985 0.01218343 -0.03333874 1.62619944] [-0.01230742 0.99991808 -0.00351649 -0.52392629] [ 0.03329317 0.00392459 0.99943792 -0.31997021] [ 0. 0. 0. 1. ]] SLAMing on 28.543201007999997 meters Centerline goodness [0,1] 0.9174955407080448 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99935985 0.01192999 -0.03372768 1.62704847] [-0.01204027 0.99992281 -0.0030683 -0.52498985] [ 0.03368847 0.00347243 0.99942635 -0.31914542] [ 0. 0. 0. 1. ]] SLAMing on 28.573201007999998 meters Centerline goodness [0,1] 0.9192720907774022 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99934766 0.01135196 -0.03428398 1.6286896 ] [-0.01146348 0.99992962 -0.00305821 -0.52476371] [ 0.03424685 0.00344923 0.99940745 -0.31883843] [ 0. 0. 0. 1. ]] SLAMing on 28.603201008 meters Centerline goodness [0,1] 0.918257361353646 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99934218 0.01079779 -0.03462115 1.62965313] [-0.01091616 0.99993519 -0.00323184 -0.52349901] [ 0.03458401 0.00360764 0.99939528 -0.31843801] [ 0. 0. 0. 1. ]] SLAMing on 28.633201007999997 meters Centerline goodness [0,1] 0.9203186053501653 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99933491 0.01050683 -0.03491909 1.63040859] [-0.01062383 0.99993855 -0.00316674 -0.5230347 ] [ 0.03488367 0.00353561 0.99938513 -0.31796989] [ 0. 0. 0. 1. ]] SLAMing on 28.663201007999998 meters Centerline goodness [0,1] 0.9204695568632161 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.32 [[ 0.99932083 0.01030979 -0.0353778 1.63104839] [-0.01041553 0.99994182 -0.00280588 -0.52291424] [ 0.03534681 0.00317245 0.99937007 -0.31665396] [ 0. 0. 0. 1. ]] SLAMing on 28.693201008 meters Centerline goodness [0,1] 0.9222168790574657 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99931953 0.01064731 -0.03531452 1.62994235] [-0.01073145 0.99994001 -0.00219387 -0.52317489] [ 0.03528904 0.00257135 0.99937384 -0.31499375] [ 0. 0. 0. 1. ]] SLAMing on 28.723201007999997 meters Centerline goodness [0,1] 0.9225390156062425 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 9.99322634e-01 1.13000563e-02 -3.50225994e-02 1.62786817e+00] [-1.13506647e-02 9.99934802e-01 -1.24652724e-03 -5.23408054e-01] [ 3.50062302e-02 1.64321267e-03 9.99385743e-01 -3.12571719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.753201007999998 meters Centerline goodness [0,1] 0.9225166356933038 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 9.99325800e-01 1.14445661e-02 -3.48850560e-02 1.62747459e+00] [-1.15013135e-02 9.99932840e-01 -1.42645018e-03 -5.22288519e-01] [ 3.48663880e-02 1.82671243e-03 9.99390313e-01 -3.12699752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.783201008 meters Centerline goodness [0,1] 0.9225371039507869 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99932513 0.01140897 -0.03491586 1.62759341] [-0.01148169 0.99993231 -0.00188293 -0.52025787] [ 0.03489201 0.00228255 0.99938848 -0.31302305] [ 0. 0. 0. 1. ]] SLAMing on 28.813201007999997 meters Centerline goodness [0,1] 0.9208787924077119 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99932915 0.01190873 -0.03463275 1.62649045] [-0.01198516 0.99992617 -0.0020002 -0.51886564] [ 0.03460638 0.00241394 0.9993981 -0.31299625] [ 0. 0. 0. 1. ]] SLAMing on 28.843201007999998 meters Centerline goodness [0,1] 0.9205890243538916 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.31 [[ 0.99932226 0.01295532 -0.03445542 1.62478553] [-0.01303195 0.99991308 -0.0020006 -0.51713614] [ 0.03442651 0.00244826 0.99940423 -0.31252765] [ 0. 0. 0. 1. ]] SLAMing on 28.873201008 meters Centerline goodness [0,1] 0.9182481751824818 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.31 [[ 0.99932108 0.01321321 -0.0343916 1.62452548] [-0.01329718 0.99990914 -0.00221413 -0.51622943] [ 0.03435922 0.00266993 0.99940598 -0.31284753] [ 0. 0. 0. 1. ]] SLAMing on 28.903201008 meters Centerline goodness [0,1] 0.9180205915610308 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.31 [[ 0.99932178 0.01325335 -0.03435586 1.62470726] [-0.01335619 0.99990698 -0.00276555 -0.51481481] [ 0.03431601 0.00322254 0.99940584 -0.31378909] [ 0. 0. 0. 1. ]] SLAMing on 28.933201007999998 meters Centerline goodness [0,1] 0.9148841222146193 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.32 [[ 0.99932622 0.01383173 -0.03399676 1.62429147] [-0.01395967 0.99989633 -0.00352877 -0.51202822] [ 0.03394442 0.00400097 0.99941571 -0.31579303] [ 0. 0. 0. 1. ]] SLAMing on 28.963201008 meters Centerline goodness [0,1] 0.9137276984174026 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.32 [[ 0.99932674 0.01396698 -0.03392638 1.62447481] [-0.01410849 0.99989273 -0.00393522 -0.51070703] [ 0.03386778 0.00441122 0.99941659 -0.31674606] [ 0. 0. 0. 1. ]] SLAMing on 28.993201008 meters Centerline goodness [0,1] 0.912935101931808 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.32 [[ 0.99932704 0.01450839 -0.03368949 1.62364075] [-0.01465084 0.99988473 -0.00398526 -0.51014946] [ 0.03362779 0.00447616 0.9994244 -0.31702291] [ 0. 0. 0. 1. ]] SLAMing on 29.023201007999997 meters Centerline goodness [0,1] 0.9106289513519931 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.32 [[ 0.99930565 0.01600851 -0.03364436 1.62182321] [-0.01613686 0.9998635 -0.00354678 -0.51089301] [ 0.03358299 0.00408723 0.99942757 -0.31639012] [ 0. 0. 0. 1. ]] SLAMing on 29.053201008 meters Centerline goodness [0,1] 0.9101073478247941 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.32 [[ 0.99929846 0.01650741 -0.03361692 1.62113141] [-0.0166207 0.99985708 -0.00309329 -0.51166338] [ 0.03356105 0.00364986 0.99943 -0.31567619] [ 0. 0. 0. 1. ]] SLAMing on 29.083201008 meters Centerline goodness [0,1] 0.9104402141582392 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.51, Z:-0.31 [[ 0.99929388 0.01677176 -0.03362224 1.62083811] [-0.01685596 0.99985546 -0.00222223 -0.51389764] [ 0.03358011 0.0027874 0.99943214 -0.31469982] [ 0. 0. 0. 1. ]] SLAMing on 29.113201007999997 meters Centerline goodness [0,1] 0.9126115105767223 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.31 [[ 9.99291657e-01 1.65901873e-02 -3.37779365e-02 1.62138775e+00] [-1.66507176e-02 9.99860225e-01 -1.51148150e-03 -5.16041917e-01] [ 3.37481394e-02 2.07283774e-03 9.99428220e-01 -3.14016317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.143201008 meters Centerline goodness [0,1] 0.9122592205465133 Centerline is valid? [False, False] Translation: X:1.62, Y:-0.52, Z:-0.31 [[ 9.99294182e-01 1.55930968e-02 -3.41759179e-02 1.62358506e+00] [-1.56498306e-02 9.99876563e-01 -1.39316207e-03 -5.17622378e-01] [ 3.41499756e-02 1.92702608e-03 9.99414862e-01 -3.14373418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.173201008 meters Centerline goodness [0,1] 0.9124499671426011 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 9.99293736e-01 1.47380727e-02 -3.45661445e-02 1.62538260e+00] [-1.47868549e-02 9.99890000e-01 -1.15604351e-03 -5.18495707e-01] [ 3.45453044e-02 1.66635161e-03 9.99401744e-01 -3.14039788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.203201007999997 meters Centerline goodness [0,1] 0.9119479896938103 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 9.99287905e-01 1.47183714e-02 -3.47426708e-02 1.62550437e+00] [-1.47528146e-02 9.99890901e-01 -7.35219592e-04 -5.19458783e-01] [ 3.47280592e-02 1.24724823e-03 9.99396021e-01 -3.13191952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.233201007999998 meters Centerline goodness [0,1] 0.9130473851314922 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 9.99272254e-01 1.42093119e-02 -3.53985631e-02 1.62707859e+00] [-1.42325331e-02 9.99898631e-01 -4.04081620e-04 -5.20846316e-01] [ 3.53892331e-02 9.07598773e-04 9.99373193e-01 -3.12417909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.263201008 meters Centerline goodness [0,1] 0.9138014090443789 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99933264 0.01029225 -0.03504762 1.62621196] [-0.0104719 0.99993294 -0.0049461 -0.51972594] [ 0.03499436 0.00530981 0.9993734 -0.31333001] [ 0. 0. 0. 1. ]] SLAMing on 29.293201007999997 meters Centerline goodness [0,1] 0.9144564135059292 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99934796 0.00656689 -0.03550393 1.63082619] [-0.00678966 0.99995799 -0.00615767 -0.52227673] [ 0.03546201 0.00639472 0.99935057 -0.31405935] [ 0. 0. 0. 1. ]] SLAMing on 29.323201007999998 meters Centerline goodness [0,1] 0.9149142476213563 Centerline is valid? [False, False] Translation: X:1.63, Y:-0.52, Z:-0.31 [[ 0.99932777 0.00578362 -0.03620167 1.63316234] [-0.00601255 0.99996259 -0.00621795 -0.52284934] [ 0.03616435 0.00643143 0.99932516 -0.31420503] [ 0. 0. 0. 1. ]] SLAMing on 29.353201008 meters Centerline goodness [0,1] 0.9146183309708358 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.32 [[ 0.99930308 0.00469635 -0.03703092 1.63629906] [-0.00495095 0.99996472 -0.0067865 -0.52226206] [ 0.03699774 0.00696511 0.99929108 -0.31513157] [ 0. 0. 0. 1. ]] SLAMing on 29.383201007999997 meters Centerline goodness [0,1] 0.9143935961335146 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.32 [[ 0.99928281 0.0038757 -0.03766758 1.6388495 ] [-0.00415601 0.99996423 -0.00736629 -0.52160623] [ 0.03763769 0.00751755 0.99926317 -0.31626357] [ 0. 0. 0. 1. ]] SLAMing on 29.413201007999998 meters Centerline goodness [0,1] 0.9137868753762793 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.32 [[ 0.99926487 0.0029382 -0.03822413 1.64154215] [-0.00325188 0.99996153 -0.0081468 -0.52051429] [ 0.03819872 0.00826511 0.99923598 -0.31783413] [ 0. 0. 0. 1. ]] SLAMing on 29.443201008 meters Centerline goodness [0,1] 0.9140408899579074 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.32 [[ 9.99243658e-01 1.20515078e-03 -3.88671926e-02 1.64553359e+00] [-1.58006919e-03 9.99952509e-01 -9.61686591e-03 -5.18301225e-01] [ 3.88537570e-02 9.67100513e-03 9.99198107e-01 -3.20515320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.473201007999997 meters Centerline goodness [0,1] 0.9143105828681193 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.32 [[ 9.99227240e-01 6.81034705e-04 -3.92995955e-02 1.64664481e+00] [-1.04453904e-03 9.99956859e-01 -9.22977794e-03 -5.18524236e-01] [ 3.92916143e-02 9.26369551e-03 9.99184844e-01 -3.19459246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.503201007999998 meters Centerline goodness [0,1] 0.9160900174499067 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.32 [[ 9.99213914e-01 5.14746033e-04 -3.96394951e-02 1.64687455e+00] [-8.46726466e-04 9.99964707e-01 -8.35865842e-03 -5.19750823e-01] [ 3.96337936e-02 8.38565161e-03 9.99179085e-01 -3.17475385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.533201008 meters Centerline goodness [0,1] 0.9160900174499067 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.32 [[ 9.99213914e-01 5.14746033e-04 -3.96394951e-02 1.64687455e+00] [-8.46726466e-04 9.99964707e-01 -8.35865842e-03 -5.19750823e-01] [ 3.96337936e-02 8.38565161e-03 9.99179085e-01 -3.17475385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.563201007999997 meters Centerline goodness [0,1] 0.9172728912403054 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.31 [[ 9.99200862e-01 9.17296896e-04 -3.99599411e-02 1.64521518e+00] [-1.10993265e-03 9.99987870e-01 -4.79880316e-03 -5.23250058e-01] [ 3.99550544e-02 4.83932109e-03 9.99189759e-01 -3.09698207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.593201007999998 meters Centerline goodness [0,1] 0.9160763597070477 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.31 [[ 9.99196665e-01 1.29482738e-03 -4.00543029e-02 1.64417069e+00] [-1.45373049e-03 9.99991188e-01 -3.93832071e-03 -5.23626155e-01] [ 4.00488505e-02 3.99338508e-03 9.99189743e-01 -3.07385265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.623201008 meters Centerline goodness [0,1] 0.9171177673523397 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.31 [[ 9.99203053e-01 1.48870839e-03 -3.98878754e-02 1.64335966e+00] [-1.65555650e-03 9.99990017e-01 -4.15022299e-03 -5.21884640e-01] [ 3.98812988e-02 4.21295211e-03 9.99195543e-01 -3.07066350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.653201008 meters Centerline goodness [0,1] 0.9152880860830427 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.52, Z:-0.31 [[ 9.99185425e-01 5.52975201e-03 -3.99738502e-02 1.64391274e+00] [-5.56584063e-03 9.99984197e-01 -7.91572594e-04 -5.18691776e-01] [ 3.99688413e-02 1.01341588e-03 9.99200413e-01 -3.07767380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.683201007999998 meters Centerline goodness [0,1] 0.9120173587373301 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.31 [[ 0.99913947 0.00910943 -0.04046411 1.6459681 ] [-0.00900832 0.99995583 0.00268023 -0.51724155] [ 0.04048674 -0.00231341 0.9991774 -0.30869896] [ 0. 0. 0. 1. ]] SLAMing on 29.713201008 meters Centerline goodness [0,1] 0.9085719356365357 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.31 [[ 9.99137270e-01 8.95550983e-03 -4.05526071e-02 1.64681070e+00] [-8.91365811e-03 9.99959537e-01 1.21273171e-03 -5.13458264e-01] [ 4.05618269e-02 -8.50213379e-04 9.99176669e-01 -3.10901010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.743201008 meters Centerline goodness [0,1] 0.9081357838349758 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.31 [[ 9.99144429e-01 9.25952569e-03 -4.03072085e-02 1.64607089e+00] [-9.24089585e-03 9.99957092e-01 6.48488761e-04 -5.12000725e-01] [ 4.03114837e-02 -2.75459217e-04 9.99187124e-01 -3.11525453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.773201007999997 meters Centerline goodness [0,1] 0.9083392393101819 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.31 [[ 9.99134846e-01 9.75606392e-03 -4.04274546e-02 1.64514825e+00] [-9.72167701e-03 9.99952195e-01 1.04709221e-03 -5.12332121e-01] [ 4.04357375e-02 -6.53163656e-04 9.99181928e-01 -3.10090730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.803201008 meters Centerline goodness [0,1] 0.9083194873012106 Centerline is valid? [False, False] Translation: X:1.64, Y:-0.51, Z:-0.31 [[ 9.99136198e-01 1.06324162e-02 -4.01722582e-02 1.64287422e+00] [-1.05696403e-02 9.99942565e-01 1.77473939e-03 -5.13025463e-01] [ 4.01888207e-02 -1.34860005e-03 9.99191193e-01 -3.08074051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.833201008 meters Centerline goodness [0,1] 0.9078686291349543 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.31 [[ 9.99130789e-01 9.86699843e-03 -4.05007147e-02 1.64502258e+00] [-9.84004816e-03 9.99951212e-01 8.64724407e-04 -5.11869961e-01] [ 4.05072710e-02 -4.65443796e-04 9.99179135e-01 -3.10012236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.863201007999997 meters Centerline goodness [0,1] 0.9065927550838916 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.31 [[ 9.99121984e-01 7.31772507e-03 -4.12518168e-02 1.65111665e+00] [-7.37298597e-03 9.99972114e-01 -1.18761719e-03 -5.10297423e-01] [ 4.12419757e-02 1.49072351e-03 9.99148076e-01 -3.14874387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.893201008 meters Centerline goodness [0,1] 0.9070208166770306 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.32 [[ 9.99105406e-01 6.42155704e-03 -4.17989307e-02 1.65347087e+00] [-6.47501772e-03 9.99978383e-01 -1.14373694e-03 -5.11674364e-01] [ 4.17906825e-02 1.41336258e-03 9.99125388e-01 -3.15301927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.923201008 meters Centerline goodness [0,1] 0.9099598034836981 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.51, Z:-0.32 [[ 0.99913376 0.00228537 -0.04155126 1.65292223] [-0.00250815 0.99998276 -0.00531023 -0.51132682] [ 0.04153841 0.00540985 0.99912226 -0.31556116] [ 0. 0. 0. 1. ]] SLAMing on 29.953201007999997 meters Centerline goodness [0,1] 0.9113346066610959 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.31 [[ 0.99910349 0.00199356 -0.04228763 1.65393124] [-0.00214573 0.99999138 -0.00355355 -0.51550951] [ 0.04228018 0.0036411 0.99909916 -0.31246333] [ 0. 0. 0. 1. ]] SLAMing on 29.983201007999998 meters Centerline goodness [0,1] 0.9192025499158046 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.31 [[ 9.99098970e-01 -1.71718326e-03 -4.24063690e-02 1.65220194e+00] [ 1.53207325e-03 9.99989158e-01 -4.39725998e-03 -5.21063059e-01] [ 4.24134602e-02 4.32832825e-03 9.99090769e-01 -3.06429646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.013201008 meters Centerline goodness [0,1] 0.9209568226267489 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.52, Z:-0.30 [[ 0.99907987 -0.00189842 -0.04284641 1.65262523] [ 0.00177292 0.99999403 -0.00296702 -0.52380292] [ 0.04285179 0.00288833 0.99907727 -0.30380971] [ 0. 0. 0. 1. ]] SLAMing on 30.043201007999997 meters Centerline goodness [0,1] 0.9208783232011615 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.53, Z:-0.30 [[ 0.99906834 -0.00230416 -0.04309447 1.65344528] [ 0.00220245 0.99999468 -0.00240738 -0.52526588] [ 0.04309979 0.00231022 0.9990681 -0.30298853] [ 0. 0. 0. 1. ]] SLAMing on 30.073201007999998 meters Centerline goodness [0,1] 0.9199357303098284 Centerline is valid? [False, False] Translation: X:1.65, Y:-0.53, Z:-0.30 [[ 0.99905513 -0.00285697 -0.04336676 1.65486493] [ 0.00275692 0.9999934 -0.00236653 -0.52589008] [ 0.04337324 0.00224474 0.99905642 -0.30333977] [ 0. 0. 0. 1. ]] SLAMing on 30.103201008 meters Centerline goodness [0,1] 0.9142745027015605 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99903118 -0.00419651 -0.04380743 1.65806839] [ 0.00405733 0.99998644 -0.00326568 -0.52454919] [ 0.04382054 0.00308477 0.99903466 -0.30547871] [ 0. 0. 0. 1. ]] SLAMing on 30.133201007999997 meters Centerline goodness [0,1] 0.9158788171685747 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99902118 -0.00444133 -0.04401082 1.65884816] [ 0.00429028 0.99998458 -0.00352597 -0.52397081] [ 0.0440258 0.0033337 0.99902483 -0.30584792] [ 0. 0. 0. 1. ]] SLAMing on 30.163201007999998 meters Centerline goodness [0,1] 0.912024876973704 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99900479 -0.00449211 -0.04437614 1.65942718] [ 0.00434067 0.99998442 -0.00350838 -0.52372037] [ 0.04439121 0.00331227 0.99900873 -0.30544776] [ 0. 0. 0. 1. ]] SLAMing on 30.193201008 meters Centerline goodness [0,1] 0.9150100748849659 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99898012 -0.00472199 -0.0449045 1.66046244] [ 0.00456328 0.99998298 -0.00363619 -0.52344701] [ 0.04492091 0.00342757 0.99898467 -0.30511772] [ 0. 0. 0. 1. ]] SLAMing on 30.223201007999997 meters Centerline goodness [0,1] 0.9117487980769231 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99897252 -0.00461701 -0.04508416 1.66078407] [ 0.00442918 0.99998109 -0.00426534 -0.52137188] [ 0.045103 0.00406127 0.99897409 -0.30579773] [ 0. 0. 0. 1. ]] SLAMing on 30.253201007999998 meters Centerline goodness [0,1] 0.913962354777701 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99896983 -0.00472642 -0.04513256 1.66117176] [ 0.00451215 0.99997807 -0.00484811 -0.51929895] [ 0.04515448 0.00463947 0.99896924 -0.30653055] [ 0. 0. 0. 1. ]] SLAMing on 30.283201008 meters Centerline goodness [0,1] 0.9136798536336642 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99897313 -0.00468264 -0.04506403 1.66119615] [ 0.00444627 0.99997584 -0.00534388 -0.5174082 ] [ 0.04508797 0.00513802 0.99896981 -0.30723397] [ 0. 0. 0. 1. ]] SLAMing on 30.313201007999997 meters Centerline goodness [0,1] 0.9131373725254949 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 0.99897559 -0.0047624 -0.04500107 1.66145186] [ 0.00449449 0.99997158 -0.00605283 -0.51491903] [ 0.04502862 0.00584437 0.9989686 -0.30824198] [ 0. 0. 0. 1. ]] SLAMing on 30.343201007999998 meters Centerline goodness [0,1] 0.9067834480293145 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 9.98972470e-01 -9.83217067e-04 -4.53104488e-02 1.66295683e+00] [ 8.56034440e-04 9.99995640e-01 -2.82623423e-03 -5.11854046e-01] [ 4.53130300e-02 2.78454288e-03 9.98968956e-01 -3.09491071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.373201008 meters Centerline goodness [0,1] 0.9076781089047009 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 9.98982803e-01 -5.92356436e-04 -4.50889028e-02 1.66226102e+00] [ 4.45611389e-04 9.99994572e-01 -3.26455285e-03 -5.09509912e-01] [ 4.50905919e-02 3.24114002e-03 9.98977644e-01 -3.09989137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.403201008 meters Centerline goodness [0,1] 0.9069394542269205 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 9.98988472e-01 2.28613740e-04 -4.49664460e-02 1.66082461e+00] [-3.77420621e-04 9.99994481e-01 -3.30082503e-03 -5.07589040e-01] [ 4.49654433e-02 3.31445742e-03 9.98983045e-01 -3.09354892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.433201007999998 meters Centerline goodness [0,1] 0.9062757322667921 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.50, Z:-0.31 [[ 0.99917469 0.00378367 -0.04044272 1.67507744] [-0.0042298 0.99993109 -0.01095109 -0.5042513 ] [ 0.04039849 0.01111312 0.99912184 -0.31377207] [ 0. 0. 0. 1. ]] SLAMing on 30.463201008 meters Centerline goodness [0,1] 0.9052912535930075 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.50, Z:-0.31 [[ 0.99915068 0.01277781 -0.03917468 1.66532006] [-0.01296333 0.99990591 -0.0044854 -0.50350633] [ 0.03911368 0.00498942 0.99922231 -0.30830167] [ 0. 0. 0. 1. ]] SLAMing on 30.493201008 meters Centerline goodness [0,1] 0.9046586580720773 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99913695 0.01509008 -0.03869949 1.66158319] [-0.01524044 0.9998774 -0.00359338 -0.50109864] [ 0.03864052 0.00418008 0.99924443 -0.30650253] [ 0. 0. 0. 1. ]] SLAMing on 30.523201007999997 meters Centerline goodness [0,1] 0.9062199563000728 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 9.99053681e-01 1.93781838e-02 -3.89387907e-02 1.66185249e+00] [-1.93667174e-02 9.99812222e-01 6.71685754e-04 -5.00934032e-01] [ 3.89444949e-02 8.30664312e-05 9.99241372e-01 -3.05727452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.553201008 meters Centerline goodness [0,1] 0.9045231955028832 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99895283 0.02336723 -0.03933466 1.66310802] [-0.02319262 0.99971906 0.00488957 -0.50140637] [ 0.03943786 -0.00397217 0.99921413 -0.30554864] [ 0. 0. 0. 1. ]] SLAMing on 30.583201008 meters Centerline goodness [0,1] 0.904745319982586 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99895737 0.02470064 -0.0383934 1.66055696] [-0.02454531 0.99968854 0.00451182 -0.49963253] [ 0.03849288 -0.00356473 0.99925252 -0.30690983] [ 0. 0. 0. 1. ]] SLAMing on 30.613201007999997 meters Centerline goodness [0,1] 0.9054642587538471 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99895443 0.02487011 -0.03836037 1.66030261] [-0.02471374 0.99968424 0.00454525 -0.50001284] [ 0.0384613 -0.00359247 0.99925363 -0.3068854 ] [ 0. 0. 0. 1. ]] SLAMing on 30.643201008 meters Centerline goodness [0,1] 0.9039154176832811 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99894903 0.02514852 -0.03831958 1.65990013] [-0.02497764 0.99967584 0.00493179 -0.50136059] [ 0.03843118 -0.00396948 0.99925336 -0.30648034] [ 0. 0. 0. 1. ]] SLAMing on 30.673201008 meters Centerline goodness [0,1] 0.904474142940151 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 0.99894553 0.02516204 -0.03840194 1.66021342] [-0.02498376 0.99967477 0.00511544 -0.50249907] [ 0.03851817 -0.00415062 0.99924928 -0.30654354] [ 0. 0. 0. 1. ]] SLAMing on 30.703201007999997 meters Centerline goodness [0,1] 0.906811606908039 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.50, Z:-0.31 [[ 9.99045301e-01 2.18293358e-02 -3.78413227e-02 1.65844685e+00] [-2.18112834e-02 9.99761710e-01 8.89870624e-04 -5.02842833e-01] [ 3.78517307e-02 -6.36532535e-05 9.99283364e-01 -3.07523996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.733201007999998 meters Centerline goodness [0,1] 0.9059639065196408 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 9.99030565e-01 2.20043563e-02 -3.81279156e-02 1.65863199e+00] [-2.19546977e-02 9.99757486e-01 1.72067862e-03 -5.05797311e-01] [ 3.81565314e-02 -8.81923679e-04 9.99271385e-01 -3.06479016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.763201008 meters Centerline goodness [0,1] 0.9069064663771857 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 9.99023703e-01 2.21937239e-02 -3.81978871e-02 1.65866181e+00] [-2.21232110e-02 9.99752680e-01 2.26773726e-03 -5.08072974e-01] [ 3.82387695e-02 -1.42046335e-03 9.99267621e-01 -3.06154681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.793201007999997 meters Centerline goodness [0,1] 0.90567987246856 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 0.99901908 0.02208371 -0.0383822 1.66032809] [-0.0220035 0.99975474 0.00251101 -0.51188599] [ 0.03842824 -0.00166401 0.99925998 -0.30786945] [ 0. 0. 0. 1. ]] SLAMing on 30.823201007999998 meters Centerline goodness [0,1] 0.906603494225644 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.51, Z:-0.31 [[ 0.99901619 0.02202007 -0.03849367 1.66152936] [-0.02193838 0.99975609 0.00254328 -0.51393515] [ 0.03854028 -0.00169629 0.99925561 -0.30924832] [ 0. 0. 0. 1. ]] SLAMing on 30.853201008 meters Centerline goodness [0,1] 0.9028634426864516 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99911003 0.01784716 -0.03821818 1.661725 ] [-0.01792627 0.99983782 -0.00172818 -0.51528477] [ 0.03818114 0.00241175 0.99926792 -0.31093083] [ 0. 0. 0. 1. ]] SLAMing on 30.883201007999997 meters Centerline goodness [0,1] 0.9050459406537129 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99917085 0.01312407 -0.03854041 1.66330661] [-0.01331015 0.99990095 -0.00457557 -0.52263288] [ 0.03847654 0.00508475 0.99924657 -0.31074212] [ 0. 0. 0. 1. ]] SLAMing on 30.913201007999998 meters Centerline goodness [0,1] 0.903188686672925 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.53, Z:-0.31 [[ 0.99915745 0.01349818 -0.03875821 1.66295531] [-0.01365013 0.99990014 -0.00365833 -0.52513724] [ 0.03870496 0.0041843 0.99924192 -0.3092704 ] [ 0. 0. 0. 1. ]] SLAMing on 30.943201008 meters Centerline goodness [0,1] 0.9025755879059351 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.53, Z:-0.31 [[ 0.99915238 0.01362553 -0.03884404 1.662999 ] [-0.01377771 0.99989841 -0.00365257 -0.52509454] [ 0.03879033 0.00418465 0.99923861 -0.30923635] [ 0. 0. 0. 1. ]] SLAMing on 30.973201007999997 meters Centerline goodness [0,1] 0.9045444924863182 Centerline is valid? [False, False] Translation: X:1.66, Y:-0.52, Z:-0.31 [[ 0.99915081 0.01325287 -0.03901303 1.66413307] [-0.0134281 0.99990088 -0.00423302 -0.52406999] [ 0.03895306 0.0047533 0.99922974 -0.3103119 ] [ 0. 0. 0. 1. ]] SLAMing on 31.003201007999998 meters Centerline goodness [0,1] 0.9027890603845112 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.52, Z:-0.31 [[ 0.99915067 0.01284695 -0.0391521 1.66546277] [-0.01305269 0.99990229 -0.00500382 -0.522179 ] [ 0.03908399 0.00551061 0.99922073 -0.31185136] [ 0. 0. 0. 1. ]] SLAMing on 31.033201008 meters Centerline goodness [0,1] 0.8986419344153693 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.52, Z:-0.32 [[ 0.99907816 0.0149877 -0.04022682 1.67119035] [-0.01511822 0.99988138 -0.0029424 -0.51862318] [ 0.04017795 0.00354784 0.99918624 -0.31544447] [ 0. 0. 0. 1. ]] SLAMing on 31.063201007999997 meters Centerline goodness [0,1] 0.8993716337522442 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.52, Z:-0.32 [[ 9.98987154e-01 1.79156579e-02 -4.12758331e-02 1.67513661e+00] [-1.79033121e-02 9.99839499e-01 6.68758962e-04 -5.18333128e-01] [ 4.12811895e-02 7.08925095e-05 9.99147566e-01 -3.16195444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.093201007999998 meters Centerline goodness [0,1] 0.8994483375577754 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.52, Z:-0.32 [[ 9.98991447e-01 1.76448942e-02 -4.12885642e-02 1.67593220e+00] [-1.76734032e-02 9.99843760e-01 -3.25545638e-04 -5.15398539e-01] [ 4.12763691e-02 1.05492675e-03 9.99147211e-01 -3.17767496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.123201008 meters Centerline goodness [0,1] 0.8970470157908823 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.51, Z:-0.32 [[ 9.98991849e-01 1.79429839e-02 -4.11501612e-02 1.67484873e+00] [-1.79785435e-02 9.99838251e-01 -4.94206612e-04 -5.13748746e-01] [ 4.11346377e-02 1.23352834e-03 9.99152851e-01 -3.17077366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.153201008 meters Centerline goodness [0,1] 0.9001630837657524 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.51, Z:-0.32 [[ 9.98983826e-01 1.79354111e-02 -4.13477589e-02 1.67468271e+00] [-1.79703744e-02 9.99838407e-01 -4.74040780e-04 -5.13185867e-01] [ 4.13325753e-02 1.21659378e-03 9.99144703e-01 -3.16152399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.183201007999998 meters Centerline goodness [0,1] 0.9011405717671456 Centerline is valid? [False, False] Translation: X:1.67, Y:-0.51, Z:-0.32 [[ 9.98984295e-01 1.83328077e-02 -4.11617036e-02 1.67339377e+00] [-1.83622961e-02 9.99831342e-01 -3.38412636e-04 -5.12176030e-01] [ 4.11485573e-02 1.09389230e-03 9.99152441e-01 -3.15157341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.213201008 meters Centerline goodness [0,1] 0.9039044392939918 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.51, Z:-0.32 [[ 0.9992169 0.01833117 -0.03506492 1.68484254] [-0.01872742 0.99976405 -0.01100548 -0.50871352] [ 0.0348549 0.01165354 0.99932444 -0.3183046 ] [ 0. 0. 0. 1. ]] SLAMing on 31.243201008 meters Centerline goodness [0,1] 0.9060276266220175 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.51, Z:-0.32 [[ 0.99920943 0.01899501 -0.03492417 1.68325861] [-0.01935226 0.99976352 -0.00991973 -0.51037904] [ 0.03472749 0.01058775 0.99934073 -0.31627646] [ 0. 0. 0. 1. ]] SLAMing on 31.273201007999997 meters Centerline goodness [0,1] 0.9064021748872225 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.51, Z:-0.32 [[ 0.99920893 0.01916383 -0.03484628 1.68300652] [-0.01950883 0.99976371 -0.00958769 -0.51073515] [ 0.03465431 0.01025992 0.99934669 -0.31597403] [ 0. 0. 0. 1. ]] SLAMing on 31.303201008 meters Centerline goodness [0,1] 0.9025644091099289 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.51, Z:-0.32 [[ 0.9992173 0.01886697 -0.03476829 1.68374436] [-0.01922278 0.99976593 -0.00992793 -0.50966197] [ 0.03457284 0.0105885 0.99934609 -0.31704827] [ 0. 0. 0. 1. ]] SLAMing on 31.333201008 meters Centerline goodness [0,1] 0.8974074961082505 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.51, Z:-0.32 [[ 0.99922898 0.01836492 -0.03470133 1.68488663] [-0.01874141 0.99976865 -0.01055536 -0.50823061] [ 0.03449946 0.01119757 0.99934198 -0.3186762 ] [ 0. 0. 0. 1. ]] SLAMing on 31.363201007999997 meters Centerline goodness [0,1] 0.8981629032743017 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.51, Z:-0.32 [[ 0.99922743 0.0178783 -0.03499868 1.68613552] [-0.01822399 0.999788 -0.00958341 -0.51159405] [ 0.03481992 0.01021382 0.99934141 -0.31788697] [ 0. 0. 0. 1. ]] SLAMing on 31.393201008 meters Centerline goodness [0,1] 0.8999185594063885 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.51, Z:-0.32 [[ 0.99921429 0.01771286 -0.03545496 1.68688831] [-0.01802429 0.99980156 -0.00848353 -0.5149822 ] [ 0.03529766 0.00911591 0.99933527 -0.31634702] [ 0. 0. 0. 1. ]] SLAMing on 31.423201008 meters Centerline goodness [0,1] 0.8999185594063885 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.51, Z:-0.32 [[ 0.99921429 0.01771286 -0.03545496 1.68688831] [-0.01802429 0.99980156 -0.00848353 -0.5149822 ] [ 0.03529766 0.00911591 0.99933527 -0.31634702] [ 0. 0. 0. 1. ]] SLAMing on 31.453201007999997 meters Centerline goodness [0,1] 0.8946381021544421 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.52, Z:-0.32 [[ 0.99928938 0.01322843 -0.03529512 1.68710015] [-0.01366002 0.99983451 -0.01201513 -0.51714948] [ 0.03513034 0.01248872 0.9993047 -0.31639985] [ 0. 0. 0. 1. ]] SLAMing on 31.483201007999998 meters Centerline goodness [0,1] 0.8945680133151763 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.52, Z:-0.31 [[ 0.99927865 0.01279201 -0.03575675 1.68828913] [-0.01318972 0.9998535 -0.01090898 -0.52035521] [ 0.03561197 0.01137273 0.99930098 -0.31494257] [ 0. 0. 0. 1. ]] SLAMing on 31.513201008 meters Centerline goodness [0,1] 0.8937391779823203 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.52, Z:-0.31 [[ 0.99926204 0.01244523 -0.0363385 1.68938139] [-0.01281112 0.99986938 -0.00985357 -0.52369309] [ 0.03621112 0.01031183 0.99929096 -0.31324968] [ 0. 0. 0. 1. ]] SLAMing on 31.543201007999997 meters Centerline goodness [0,1] 0.8980009156111705 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.53, Z:-0.31 [[ 0.99924815 0.01227105 -0.03677705 1.69016327] [-0.01261272 0.9998793 -0.0090727 -0.52644279] [ 0.03666128 0.00952974 0.99928231 -0.31208405] [ 0. 0. 0. 1. ]] SLAMing on 31.573201007999998 meters Centerline goodness [0,1] 0.9011766140340182 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.53, Z:-0.31 [[ 0.99924011 0.01173714 -0.03716777 1.69117673] [-0.01205845 0.99989174 -0.00843237 -0.52819219] [ 0.03706478 0.00887415 0.99927346 -0.31086097] [ 0. 0. 0. 1. ]] SLAMing on 31.603201008 meters Centerline goodness [0,1] 0.8998172959805115 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.53, Z:-0.31 [[ 0.99923803 0.0113689 -0.0373377 1.69204871] [-0.01169225 0.99989591 -0.00845314 -0.52796064] [ 0.03723772 0.00888326 0.99926695 -0.31101804] [ 0. 0. 0. 1. ]] SLAMing on 31.633201007999997 meters Centerline goodness [0,1] 0.8981557439309695 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.53, Z:-0.31 [[ 0.99923604 0.01059335 -0.03761814 1.693893 ] [-0.01093867 0.9998998 -0.00898568 -0.52676263] [ 0.03751918 0.00939031 0.99925179 -0.31209467] [ 0. 0. 0. 1. ]] SLAMing on 31.663201007999998 meters Centerline goodness [0,1] 0.897710016400413 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99923778 0.00993051 -0.03775228 1.69541824] [-0.01030579 0.99989927 -0.00975895 -0.52466993] [ 0.03765157 0.01014058 0.99923947 -0.31356341] [ 0. 0. 0. 1. ]] SLAMing on 31.693201008 meters Centerline goodness [0,1] 0.900427000999364 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.32 [[ 0.99923165 0.00875245 -0.03820338 1.69830656] [-0.00918545 0.99989539 -0.01117327 -0.52152445] [ 0.03810159 0.0115156 0.99920752 -0.31594374] [ 0. 0. 0. 1. ]] SLAMing on 31.723201007999997 meters Centerline goodness [0,1] 0.8951872306851976 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99921486 0.00887291 -0.03861259 1.69821846] [-0.00927233 0.99990522 -0.01017763 -0.52329289] [ 0.03851862 0.01052767 0.99920242 -0.31371103] [ 0. 0. 0. 1. ]] SLAMing on 31.753201007999998 meters Centerline goodness [0,1] 0.8994959616202101 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.53, Z:-0.31 [[ 0.99919643 0.00913207 -0.03902695 1.69759863] [-0.00947522 0.99991798 -0.00861669 -0.52621723] [ 0.03894506 0.00897955 0.99920101 -0.31033769] [ 0. 0. 0. 1. ]] SLAMing on 31.783201008 meters Centerline goodness [0,1] 0.9024767332585564 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.53, Z:-0.31 [[ 0.99918272 0.00926031 -0.03934652 1.69720929] [-0.00955873 0.99992691 -0.00740319 -0.52827326] [ 0.03927509 0.00777325 0.9991982 -0.30771379] [ 0. 0. 0. 1. ]] SLAMing on 31.813201007999997 meters Centerline goodness [0,1] 0.9069116096973348 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.53, Z:-0.31 [[ 0.99917299 0.00764897 -0.03993535 1.70075849] [-0.00799503 0.9999318 -0.00851283 -0.52596894] [ 0.03986751 0.00882508 0.999166 -0.30959942] [ 0. 0. 0. 1. ]] SLAMing on 31.843201007999998 meters Centerline goodness [0,1] 0.90076381788657 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99917424 0.00684186 -0.04005039 1.70274698] [-0.00723451 0.9999271 -0.00966713 -0.52323239] [ 0.03998133 0.00994889 0.9991509 -0.31191208] [ 0. 0. 0. 1. ]] SLAMing on 31.873201008 meters Centerline goodness [0,1] 0.899372579628351 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99917953 0.00644394 -0.03998432 1.70357175] [-0.00687265 0.99992027 -0.01059359 -0.52051984] [ 0.03991287 0.0108597 0.99914415 -0.31345927] [ 0. 0. 0. 1. ]] SLAMing on 31.903201008 meters Centerline goodness [0,1] 0.8992656975872921 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99918181 0.00648932 -0.03992003 1.70352982] [-0.00693819 0.99991414 -0.01111613 -0.51828945] [ 0.03984447 0.01138401 0.99914104 -0.31401726] [ 0. 0. 0. 1. ]] SLAMing on 31.933201007999998 meters Centerline goodness [0,1] 0.9005053978886929 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99911768 0.01119616 -0.04047837 1.703113 ] [-0.01145348 0.99991561 -0.00613087 -0.51913588] [ 0.04040632 0.00658908 0.99916161 -0.31125651] [ 0. 0. 0. 1. ]] SLAMing on 31.963201008 meters Centerline goodness [0,1] 0.9025046326738 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99911174 0.0117998 -0.04045367 1.70217482] [-0.0120623 0.99990771 -0.00625091 -0.5177335 ] [ 0.04037617 0.00673332 0.99916186 -0.31087825] [ 0. 0. 0. 1. ]] SLAMing on 31.993201008 meters Centerline goodness [0,1] 0.902750432551757 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.52, Z:-0.31 [[ 0.99910958 0.01241105 -0.04032387 1.70128118] [-0.01268353 0.99989838 -0.00650845 -0.51603044] [ 0.04023899 0.00701411 0.99916546 -0.31101031] [ 0. 0. 0. 1. ]] SLAMing on 32.023201008 meters Centerline goodness [0,1] 0.9052719019788175 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.51, Z:-0.31 [[ 0.99903192 0.01687797 -0.04062455 1.70203658] [-0.01702226 0.99984996 -0.00320871 -0.51307223] [ 0.0405643 0.00389712 0.99916933 -0.31201684] [ 0. 0. 0. 1. ]] SLAMing on 32.053201008 meters Centerline goodness [0,1] 0.903387220939184 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.51, Z:-0.31 [[ 0.99902949 0.01793471 -0.04022953 1.70051843] [-0.01808711 0.99983054 -0.00342738 -0.50990432] [ 0.04016124 0.00415169 0.99918459 -0.31253495] [ 0. 0. 0. 1. ]] SLAMing on 32.083201008 meters Centerline goodness [0,1] 0.9032829475673122 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.51, Z:-0.31 [[ 9.98941859e-01 2.24003222e-02 -4.01669995e-02 1.69995172e+00] [-2.23727685e-02 9.99749054e-01 1.13540846e-03 -5.09927299e-01] [ 4.01823533e-02 -2.35560059e-04 9.99192335e-01 -3.11296467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.113201008000004 meters Centerline goodness [0,1] 0.8992000944537915 Centerline is valid? [False, False] Translation: X:1.70, Y:-0.51, Z:-0.31 [[ 9.98936729e-01 2.33919526e-02 -3.97269119e-02 1.69797973e+00] [-2.33749196e-02 9.99726370e-01 8.93252072e-04 -5.07331271e-01] [ 3.97369364e-02 3.63110670e-05 9.99210175e-01 -3.11297573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.143201008 meters Centerline goodness [0,1] 0.9013747934859571 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.51, Z:-0.31 [[ 0.99900843 0.02878641 -0.03396331 1.70735575] [-0.02901336 0.99955974 -0.00620841 -0.50505485] [ 0.03376964 0.00718764 0.9994038 -0.31451616] [ 0. 0. 0. 1. ]] SLAMing on 32.173201008 meters Centerline goodness [0,1] 0.9057264831444134 Centerline is valid? [False, False] Translation: X:1.72, Y:-0.50, Z:-0.32 [[ 0.99908023 0.03198789 -0.02855641 1.71904619] [-0.03238161 0.9993853 -0.01343317 -0.50465791] [ 0.02810916 0.01434552 0.99950192 -0.31633642] [ 0. 0. 0. 1. ]] SLAMing on 32.203201008 meters Centerline goodness [0,1] 0.9065586374120291 Centerline is valid? [False, False] Translation: X:1.71, Y:-0.51, Z:-0.31 [[ 0.99903535 0.03415467 -0.02760142 1.71379114] [-0.03448332 0.99933887 -0.01152018 -0.50655854] [ 0.0271897 0.01246086 0.99955262 -0.31264833] [ 0. 0. 0. 1. ]] SLAMing on 32.233201008 meters Centerline goodness [0,1] 0.9123177564610285 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.51, Z:-0.32 [[ 0.99901377 0.03876001 -0.02165989 1.72638242] [-0.03914775 0.99907536 -0.01777324 -0.50527751] [ 0.02095097 0.01860365 0.9996074 -0.31736625] [ 0. 0. 0. 1. ]] SLAMing on 32.263201008 meters Centerline goodness [0,1] 0.9126061821613969 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.50, Z:-0.32 [[ 0.99901018 0.03915187 -0.02111388 1.72570155] [-0.03953208 0.99905793 -0.01790141 -0.50452331] [ 0.02039312 0.01871837 0.9996168 -0.31854572] [ 0. 0. 0. 1. ]] SLAMing on 32.293201008000004 meters Centerline goodness [0,1] 0.9087451350395094 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.51, Z:-0.32 [[ 0.99901501 0.03903377 -0.02110376 1.7263658 ] [-0.03941211 0.99906415 -0.01781886 -0.5053331 ] [ 0.02038847 0.01863305 0.99961849 -0.31936038] [ 0. 0. 0. 1. ]] SLAMing on 32.323201008000005 meters Centerline goodness [0,1] 0.9061218468800708 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.51, Z:-0.32 [[ 0.99901965 0.03881497 -0.02128713 1.72746074] [-0.03919218 0.9990767 -0.01759876 -0.50648022] [ 0.02058438 0.0184158 0.9996185 -0.31991474] [ 0. 0. 0. 1. ]] SLAMing on 32.353201008 meters Centerline goodness [0,1] 0.9057318806252961 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.51, Z:-0.32 [[ 0.99901813 0.03856286 -0.02181033 1.72894596] [-0.0389274 0.99910508 -0.01654397 -0.5115057 ] [ 0.02115282 0.01737675 0.99962523 -0.3194853 ] [ 0. 0. 0. 1. ]] SLAMing on 32.383201008 meters Centerline goodness [0,1] 0.9074943539759895 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.52, Z:-0.32 [[ 0.99901321 0.03812461 -0.02278437 1.73119543] [-0.03848162 0.99913999 -0.01544169 -0.51579577] [ 0.02217607 0.01630323 0.99962114 -0.31838709] [ 0. 0. 0. 1. ]] SLAMing on 32.413201008 meters Centerline goodness [0,1] 0.908050453905384 Centerline is valid? [False, False] Translation: X:1.73, Y:-0.52, Z:-0.32 [[ 0.9990243 0.03736038 -0.02355084 1.73369975] [-0.03771983 0.99917565 -0.01500763 -0.51963299] [ 0.02297073 0.01588132 0.99960999 -0.31854993] [ 0. 0. 0. 1. ]] SLAMing on 32.443201008 meters Centerline goodness [0,1] 0.9082095152333783 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.52, Z:-0.32 [[ 0.99903471 0.03653333 -0.02439175 1.73668558] [-0.03689957 0.9992103 -0.01473747 -0.52236301] [ 0.02383408 0.01562329 0.99959384 -0.3191599 ] [ 0. 0. 0. 1. ]] SLAMing on 32.473201008000004 meters Centerline goodness [0,1] 0.9050522122291302 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.52, Z:-0.32 [[ 0.99911912 0.03371696 -0.02498285 1.7430156 ] [-0.03413616 0.9992802 -0.01654722 -0.52291968] [ 0.02440695 0.01738546 0.99955092 -0.32433808] [ 0. 0. 0. 1. ]] SLAMing on 32.503201008000005 meters Centerline goodness [0,1] 0.9036683386716625 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.52, Z:-0.33 [[ 0.99913212 0.03294845 -0.02548351 1.7456041 ] [-0.0333822 0.99930167 -0.01678688 -0.52364693] [ 0.02491261 0.01762301 0.99953429 -0.32581779] [ 0. 0. 0. 1. ]] SLAMing on 32.533201008 meters Centerline goodness [0,1] 0.90353824268289 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.53, Z:-0.33 [[ 0.99913339 0.03255296 -0.02593807 1.74728226] [-0.03298795 0.99931917 -0.01652241 -0.52519749] [ 0.02538256 0.01736374 0.999527 -0.32613715] [ 0. 0. 0. 1. ]] SLAMing on 32.563201008 meters Centerline goodness [0,1] 0.9028816341418932 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.53, Z:-0.32 [[ 0.99911111 0.03258982 -0.02673754 1.74791538] [-0.03296229 0.99936392 -0.0136101 -0.53135929] [ 0.02627698 0.01447933 0.99954983 -0.32136184] [ 0. 0. 0. 1. ]] SLAMing on 32.593201008 meters Centerline goodness [0,1] 0.9029268292682927 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.53, Z:-0.32 [[ 0.9990859 0.03334942 -0.02674303 1.7461844 ] [-0.03367032 0.99936521 -0.01164001 -0.53479042] [ 0.02633786 0.01252981 0.99957457 -0.31785738] [ 0. 0. 0. 1. ]] SLAMing on 32.623201008 meters Centerline goodness [0,1] 0.9039824089909602 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99906216 0.03412125 -0.02665613 1.74429113] [-0.03439302 0.99936029 -0.00980412 -0.53758137] [ 0.02630455 0.01071171 0.99959658 -0.31447627] [ 0. 0. 0. 1. ]] SLAMing on 32.653201008 meters Centerline goodness [0,1] 0.9041713641488163 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99905031 0.0344358 -0.02669541 1.74349786] [-0.03467836 0.99936086 -0.00867704 -0.53915664] [ 0.02637954 0.00959455 0.99960595 -0.31238041] [ 0. 0. 0. 1. ]] SLAMing on 32.683201008000005 meters Centerline goodness [0,1] 0.9004668477100052 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99905742 0.03441141 -0.02645987 1.74341944] [-0.03465185 0.99936173 -0.0086827 -0.53832753] [ 0.0261442 0.0095914 0.99961217 -0.31272044] [ 0. 0. 0. 1. ]] SLAMing on 32.713201008 meters Centerline goodness [0,1] 0.8995532322280643 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99906373 0.03426145 -0.02641617 1.7438233 ] [-0.03451479 0.99936189 -0.00919474 -0.5364286 ] [ 0.02608429 0.01009788 0.99960874 -0.31357228] [ 0. 0. 0. 1. ]] SLAMing on 32.743201008 meters Centerline goodness [0,1] 0.8989180646729881 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99906479 0.03430232 -0.02632311 1.74387428] [-0.03456128 0.99935793 -0.00944671 -0.535086 ] [ 0.02598216 0.01034763 0.99960885 -0.31404373] [ 0. 0. 0. 1. ]] SLAMing on 32.773201008 meters Centerline goodness [0,1] 0.8994853163790494 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.53, Z:-0.31 [[ 0.99905733 0.03438347 -0.02649971 1.74413111] [-0.03464495 0.9993548 -0.00947192 -0.53455266] [ 0.02615694 0.01038108 0.99960395 -0.31393455] [ 0. 0. 0. 1. ]] SLAMing on 32.803201008 meters Centerline goodness [0,1] 0.8984725421263183 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99904894 0.03448868 -0.02667844 1.74420654] [-0.03474349 0.9993544 -0.0091469 -0.53523015] [ 0.02634575 0.0100651 0.99960222 -0.31330766] [ 0. 0. 0. 1. ]] SLAMing on 32.833201008 meters Centerline goodness [0,1] 0.9027335335699767 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99903712 0.0347203 -0.02682024 1.74400338] [-0.03495966 0.99935251 -0.00850785 -0.53648675] [ 0.02650748 0.00943728 0.99960407 -0.31224012] [ 0. 0. 0. 1. ]] SLAMing on 32.863201008000004 meters Centerline goodness [0,1] 0.9059743566427207 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99902965 0.03474502 -0.02706534 1.74433144] [-0.03497437 0.99935581 -0.00804707 -0.53731134] [ 0.02676831 0.00898585 0.99960128 -0.31149158] [ 0. 0. 0. 1. ]] SLAMing on 32.893201008 meters Centerline goodness [0,1] 0.9042743327981582 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.9990371 0.03437702 -0.02725967 1.74542558] [-0.03461569 0.99936596 -0.00833225 -0.53638135] [ 0.02695595 0.00926784 0.99959366 -0.31217029] [ 0. 0. 0. 1. ]] SLAMing on 32.923201008 meters Centerline goodness [0,1] 0.9068345541497669 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.99904079 0.03425876 -0.02727346 1.7458701 ] [-0.0345039 0.99936783 -0.00856879 -0.53518641] [ 0.02696266 0.00950161 0.99959128 -0.31267216] [ 0. 0. 0. 1. ]] SLAMing on 32.953201008 meters Centerline goodness [0,1] 0.9045808437443419 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.53, Z:-0.31 [[ 0.99904027 0.03428415 -0.02726035 1.74599851] [-0.03453237 0.99936582 -0.00868739 -0.53411167] [ 0.02694522 0.00962042 0.99959062 -0.31289834] [ 0. 0. 0. 1. ]] SLAMing on 32.983201008 meters Centerline goodness [0,1] 0.9057296841598169 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.53, Z:-0.31 [[ 0.99903513 0.03442588 -0.02727009 1.74574517] [-0.03466808 0.99936308 -0.008459 -0.533713 ] [ 0.02696152 0.00939624 0.99959231 -0.31230191] [ 0. 0. 0. 1. ]] SLAMing on 33.013201008 meters Centerline goodness [0,1] 0.9078458049886622 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99901062 0.03517818 -0.02720814 1.74387151] [-0.03538744 0.99934739 -0.00724795 -0.53503372] [ 0.02693542 0.00820361 0.99960351 -0.30947265] [ 0. 0. 0. 1. ]] SLAMing on 33.043201008000004 meters Centerline goodness [0,1] 0.9084066382515643 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99899489 0.0355824 -0.02725992 1.74306247] [-0.03577125 0.99933905 -0.00647147 -0.53620659] [ 0.02701163 0.00744009 0.99960743 -0.30791497] [ 0. 0. 0. 1. ]] SLAMing on 33.073201008000005 meters Centerline goodness [0,1] 0.9098826660215313 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99898398 0.03592797 -0.0272064 1.74226667] [-0.03610158 0.99933061 -0.005917 -0.53683327] [ 0.02697561 0.00689318 0.99961233 -0.30679603] [ 0. 0. 0. 1. ]] SLAMing on 33.103201008 meters Centerline goodness [0,1] 0.9103683781088514 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.99897556 0.03616705 -0.02719873 1.74178099] [-0.03632327 0.99932619 -0.00527176 -0.53744366] [ 0.02698974 0.0062543 0.99961615 -0.30563007] [ 0. 0. 0. 1. ]] SLAMing on 33.133201008 meters Centerline goodness [0,1] 0.9116998459354138 Centerline is valid? [False, False] Translation: X:1.74, Y:-0.54, Z:-0.31 [[ 0.9989814 0.03573843 -0.02754869 1.74326739] [-0.0359026 0.99934023 -0.00548782 -0.53758862] [ 0.02733439 0.0064713 0.9996054 -0.306348 ] [ 0. 0. 0. 1. ]] SLAMing on 33.163201008 meters Centerline goodness [0,1] 0.9111151449143825 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.99899344 0.03509815 -0.0279326 1.74515627] [-0.03527621 0.99936014 -0.00590744 -0.53750941] [ 0.02770738 0.00688685 0.99959235 -0.30745362] [ 0. 0. 0. 1. ]] SLAMing on 33.193201008 meters Centerline goodness [0,1] 0.9110080901736206 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.99900603 0.03438765 -0.02836268 1.74719132] [-0.0345779 0.9993825 -0.00624441 -0.53744989] [ 0.02813043 0.00721892 0.99957819 -0.3084049 ] [ 0. 0. 0. 1. ]] SLAMing on 33.223201008000004 meters Centerline goodness [0,1] 0.914193822440682 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.99903459 0.03233716 -0.02973548 1.75180322] [-0.03252622 0.99945349 -0.00589661 -0.53916469] [ 0.02952855 0.00685811 0.99954041 -0.30726583] [ 0. 0. 0. 1. ]] SLAMing on 33.253201008000005 meters Centerline goodness [0,1] 0.916522109619891 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.31 [[ 0.99903768 0.0316843 -0.03032844 1.75337559] [-0.03186284 0.99947755 -0.00542164 -0.54105489] [ 0.03014081 0.00638278 0.99952528 -0.30637134] [ 0. 0. 0. 1. ]] SLAMing on 33.283201008 meters Centerline goodness [0,1] 0.9183903837940082 Centerline is valid? [False, False] Translation: X:1.75, Y:-0.54, Z:-0.30 [[ 0.9990351 0.03125934 -0.03084999 1.75432721] [-0.03141947 0.99949514 -0.00471942 -0.54263642] [ 0.03068689 0.00568416 0.99951288 -0.30481396] [ 0. 0. 0. 1. ]] SLAMing on 33.313201008 meters Centerline goodness [0,1] 0.9213993777832001 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99905784 0.03024735 -0.03112108 1.7551692 ] [-0.03039398 0.99952896 -0.00424921 -0.54287383] [ 0.0309779 0.0051911 0.99950659 -0.30282605] [ 0. 0. 0. 1. ]] SLAMing on 33.343201008 meters Centerline goodness [0,1] 0.9230301001308702 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99906806 0.02967272 -0.03134558 1.75634442] [-0.02983257 0.99954412 -0.00464429 -0.54171228] [ 0.03119348 0.00557508 0.99949782 -0.30326391] [ 0. 0. 0. 1. ]] SLAMing on 33.373201008 meters Centerline goodness [0,1] 0.9230301001308702 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99906806 0.02967272 -0.03134558 1.75634442] [-0.02983257 0.99954412 -0.00464429 -0.54171228] [ 0.03119348 0.00557508 0.99949782 -0.30326391] [ 0. 0. 0. 1. ]] SLAMing on 33.403201008 meters Centerline goodness [0,1] 0.9230652641789687 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99907943 0.02890424 -0.03169925 1.75819547] [-0.02909414 0.99956129 -0.00554569 -0.53947245] [ 0.03152505 0.00646285 0.99948207 -0.30454122] [ 0. 0. 0. 1. ]] SLAMing on 33.433201008000005 meters Centerline goodness [0,1] 0.924634693506336 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99908454 0.02859252 -0.03182054 1.75863499] [-0.02880344 0.99956593 -0.00618976 -0.53691026] [ 0.03162974 0.00710063 0.99947443 -0.30478826] [ 0. 0. 0. 1. ]] SLAMing on 33.463201008 meters Centerline goodness [0,1] 0.9270115117091395 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99907405 0.0290534 -0.03173223 1.7573514 ] [-0.02924408 0.99955683 -0.00556139 -0.53716788] [ 0.03155659 0.00648422 0.99948093 -0.30307696] [ 0. 0. 0. 1. ]] SLAMing on 33.493201008 meters Centerline goodness [0,1] 0.9273988369275503 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.54, Z:-0.30 [[ 0.99906431 0.02905681 -0.03203441 1.75748617] [-0.02924408 0.99955775 -0.00539293 -0.53688124] [ 0.03186354 0.00632471 0.99947222 -0.30211343] [ 0. 0. 0. 1. ]] SLAMing on 33.523201008 meters Centerline goodness [0,1] 0.9267688215915616 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.53, Z:-0.30 [[ 0.99906164 0.0290459 -0.03212763 1.75776096] [-0.02924801 0.99955513 -0.00583907 -0.53487331] [ 0.03194374 0.00677326 0.99946672 -0.30247059] [ 0. 0. 0. 1. ]] SLAMing on 33.553201008 meters Centerline goodness [0,1] 0.922538371779912 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.53, Z:-0.31 [[ 0.9989573 0.03201487 -0.03254786 1.76141267] [-0.03218369 0.99947103 -0.00467624 -0.52755222] [ 0.03238094 0.00571888 0.99945924 -0.30713261] [ 0. 0. 0. 1. ]] SLAMing on 33.583201008 meters Centerline goodness [0,1] 0.9191946308724832 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.31 [[ 0.99894736 0.03242371 -0.03244816 1.7615193 ] [-0.03262765 0.99945089 -0.00577518 -0.52296553] [ 0.03224309 0.00682781 0.99945673 -0.30900205] [ 0. 0. 0. 1. ]] SLAMing on 33.613201008000004 meters Centerline goodness [0,1] 0.9183995709944587 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.31 [[ 0.9989306 0.03299914 -0.03238379 1.76097735] [-0.03322323 0.99942742 -0.00640628 -0.51982888] [ 0.03215385 0.00747532 0.99945498 -0.30962075] [ 0. 0. 0. 1. ]] SLAMing on 33.643201008 meters Centerline goodness [0,1] 0.9185721090865785 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.31 [[ 0.99890983 0.03380505 -0.03219273 1.75931944] [-0.03402602 0.99940083 -0.00634099 -0.51841667] [ 0.03195909 0.00742947 0.99946156 -0.30865589] [ 0. 0. 0. 1. ]] SLAMing on 33.673201008 meters Centerline goodness [0,1] 0.9207829351129119 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.52, Z:-0.31 [[ 0.99896771 0.03682428 -0.02659863 1.768141 ] [-0.03720979 0.99920734 -0.01414663 -0.51802681] [ 0.02605661 0.01512176 0.99954609 -0.30794138] [ 0. 0. 0. 1. ]] SLAMing on 33.703201008 meters Centerline goodness [0,1] 0.9217007573498718 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99893454 0.03808108 -0.02606963 1.76481937] [-0.03842285 0.99918039 -0.0127369 -0.51891863] [ 0.02556323 0.013725 0.99957898 -0.30482752] [ 0. 0. 0. 1. ]] SLAMing on 33.733201008 meters Centerline goodness [0,1] 0.9231342393896041 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99891399 0.03896882 -0.0255398 1.76275196] [-0.0392897 0.99915357 -0.01218471 -0.51860172] [ 0.02504336 0.01317493 0.99959955 -0.30388409] [ 0. 0. 0. 1. ]] SLAMing on 33.763201008 meters Centerline goodness [0,1] 0.9233692586324634 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99873867 0.04316175 -0.02565398 1.76332907] [-0.04336022 0.99903333 -0.00723099 -0.52013557] [ 0.02531708 0.00833423 0.99964473 -0.3028422 ] [ 0. 0. 0. 1. ]] SLAMing on 33.793201008000004 meters Centerline goodness [0,1] 0.921008254193663 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99853199 0.04820978 -0.02469183 1.76238333] [-0.0483116 0.99882603 -0.00354335 -0.516993 ] [ 0.02449202 0.00473105 0.99968883 -0.30493591] [ 0. 0. 0. 1. ]] SLAMing on 33.823201008000005 meters Centerline goodness [0,1] 0.918630371309759 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.51, Z:-0.31 [[ 0.99848346 0.04946282 -0.02417027 1.76080929] [-0.049572 0.99876279 -0.00393869 -0.51399742] [ 0.02394554 0.00513089 0.9997001 -0.30614859] [ 0. 0. 0. 1. ]] SLAMing on 33.853201008 meters Centerline goodness [0,1] 0.9198562126167535 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.51, Z:-0.31 [[ 0.99847273 0.04968649 -0.02415471 1.76043054] [-0.04978946 0.99875296 -0.00367968 -0.51433505] [ 0.02394176 0.00487671 0.99970146 -0.30559212] [ 0. 0. 0. 1. ]] SLAMing on 33.883201008 meters Centerline goodness [0,1] 0.9206574435378976 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99858794 0.04755948 -0.02366889 1.75598294] [-0.04772463 0.99883963 -0.00646191 -0.5158777 ] [ 0.0233341 0.00758238 0.99969897 -0.30282881] [ 0. 0. 0. 1. ]] SLAMing on 33.913201008 meters Centerline goodness [0,1] 0.920643844128177 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99857 0.04785435 -0.02383102 1.75560718] [-0.0480025 0.99883104 -0.00568375 -0.51802205] [ 0.02353117 0.00681957 0.99969984 -0.30149225] [ 0. 0. 0. 1. ]] SLAMing on 33.943201008 meters Centerline goodness [0,1] 0.9210970589106419 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99856633 0.04776742 -0.02415707 1.75629857] [-0.04790625 0.9988383 -0.00520084 -0.52020174] [ 0.02388058 0.00635065 0.99969465 -0.30106246] [ 0. 0. 0. 1. ]] SLAMing on 33.973201008000004 meters Centerline goodness [0,1] 0.9197530864197531 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99857606 0.04733178 -0.02460801 1.75787402] [-0.04746366 0.99886142 -0.00480257 -0.5224339 ] [ 0.02435268 0.00596372 0.99968564 -0.30108591] [ 0. 0. 0. 1. ]] SLAMing on 34.003201008000005 meters Centerline goodness [0,1] 0.9177181287941911 Centerline is valid? [False, False] Translation: X:1.76, Y:-0.52, Z:-0.30 [[ 0.99860005 0.04648554 -0.02523938 1.76055561] [-0.04661675 0.99890209 -0.00463518 -0.52476941] [ 0.0249962 0.00580527 0.99967069 -0.30188374] [ 0. 0. 0. 1. ]] SLAMing on 34.033201008 meters Centerline goodness [0,1] 0.9161087866108787 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.99879492 0.04226779 -0.02494291 1.76609956] [-0.04245768 0.9990728 -0.00713288 -0.52689046] [ 0.02461829 0.0081833 0.99966343 -0.30729398] [ 0. 0. 0. 1. ]] SLAMing on 34.063201008 meters Centerline goodness [0,1] 0.9150725247004414 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.99882272 0.041253 -0.0255219 1.76916966] [-0.04145057 0.99911417 -0.0072607 -0.5286981 ] [ 0.02519977 0.00831005 0.9996479 -0.30876647] [ 0. 0. 0. 1. ]] SLAMing on 34.093201008 meters Centerline goodness [0,1] 0.9163551965276103 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.99883907 0.04049325 -0.02609218 1.77155294] [-0.04068579 0.99914823 -0.00689097 -0.53143629] [ 0.02579092 0.00794455 0.99963579 -0.30911802] [ 0. 0. 0. 1. ]] SLAMing on 34.123201008 meters Centerline goodness [0,1] 0.9177142511785326 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.31 [[ 0.99883436 0.04008099 -0.0268968 1.77294127] [-0.04023676 0.99917625 -0.00527508 -0.53642919] [ 0.02666322 0.00635118 0.9996243 -0.30625091] [ 0. 0. 0. 1. ]] SLAMing on 34.153201008 meters Centerline goodness [0,1] 0.919382244068208 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99881357 0.04048714 -0.02706009 1.77198415] [-0.04062079 0.99916491 -0.0044075 -0.53791268] [ 0.02685904 0.00550147 0.99962409 -0.30405414] [ 0. 0. 0. 1. ]] SLAMing on 34.183201008000005 meters Centerline goodness [0,1] 0.9193455362292444 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99879279 0.0411121 -0.02688408 1.77041248] [-0.04122175 0.99914376 -0.003537 -0.53914122] [ 0.02671565 0.00464094 0.9996323 -0.30219208] [ 0. 0. 0. 1. ]] SLAMing on 34.213201008 meters Centerline goodness [0,1] 0.9206118431016205 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99878214 0.04151552 -0.02665884 1.76911348] [-0.04160444 0.99913027 -0.00278948 -0.53918983] [ 0.02651985 0.00389521 0.9996407 -0.30047492] [ 0. 0. 0. 1. ]] SLAMing on 34.243201008 meters Centerline goodness [0,1] 0.920130794150595 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99879329 0.04117818 -0.02676428 1.76995361] [-0.04127239 0.9991435 -0.00297688 -0.53860559] [ 0.02661877 0.00407792 0.99963734 -0.30091782] [ 0. 0. 0. 1. ]] SLAMing on 34.273201008 meters Centerline goodness [0,1] 0.9196051201545707 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99880056 0.04096749 -0.02681629 1.77047974] [-0.04106485 0.99915171 -0.00308953 -0.5381045 ] [ 0.02666697 0.00418703 0.9996356 -0.30121947] [ 0. 0. 0. 1. ]] SLAMing on 34.303201008 meters Centerline goodness [0,1] 0.9204422219544524 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.54, Z:-0.30 [[ 0.99880804 0.04087407 -0.02667984 1.77055732] [-0.04097943 0.99915416 -0.003414 -0.53673378] [ 0.02651773 0.00450325 0.9996382 -0.3016894 ] [ 0. 0. 0. 1. ]] SLAMing on 34.333201008 meters Centerline goodness [0,1] 0.9191810344827587 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99883365 0.04032174 -0.02656127 1.77203201] [-0.04046892 0.99916815 -0.00502686 -0.53166428] [ 0.02633648 0.0060959 0.99963455 -0.30461059] [ 0. 0. 0. 1. ]] SLAMing on 34.363201008000004 meters Centerline goodness [0,1] 0.9185752151770558 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.99884533 0.0398943 -0.02676659 1.77340877] [-0.04007074 0.9991783 -0.00608791 -0.5288536 ] [ 0.02650172 0.00715343 0.99962317 -0.30620265] [ 0. 0. 0. 1. ]] SLAMing on 34.393201008 meters Centerline goodness [0,1] 0.9185205038863575 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.9988333 0.04018317 -0.02678338 1.7729151 ] [-0.04036117 0.9991663 -0.00613876 -0.52821687] [ 0.02651438 0.00721261 0.99962241 -0.30581549] [ 0. 0. 0. 1. ]] SLAMing on 34.423201008 meters Centerline goodness [0,1] 0.9205827909476324 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99881017 0.04072618 -0.02682563 1.77170019] [-0.04088791 0.99914856 -0.00550811 -0.5290219 ] [ 0.02657847 0.00659841 0.99962495 -0.30395158] [ 0. 0. 0. 1. ]] SLAMing on 34.453201008 meters Centerline goodness [0,1] 0.9224405686297933 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99878717 0.04126803 -0.02685387 1.77028274] [-0.04140328 0.99913238 -0.00450002 -0.52993795] [ 0.02664486 0.0056064 0.99962924 -0.30120064] [ 0. 0. 0. 1. ]] SLAMing on 34.483201008 meters Centerline goodness [0,1] 0.9222797927461139 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.9988015 0.04077975 -0.02706606 1.77162958] [-0.04092764 0.99914994 -0.00493254 -0.52886463] [ 0.0268419 0.00603438 0.99962148 -0.30203428] [ 0. 0. 0. 1. ]] SLAMing on 34.513201008 meters Centerline goodness [0,1] 0.9223074855931445 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.9988242 0.04018068 -0.02712427 1.77298514] [-0.04034114 0.9991714 -0.00539473 -0.52793038] [ 0.02688503 0.00648261 0.99961751 -0.30325056] [ 0. 0. 0. 1. ]] SLAMing on 34.543201008000004 meters Centerline goodness [0,1] 0.9202905021281662 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99884447 0.03971731 -0.02706022 1.77410075] [-0.03988995 0.99918684 -0.00586983 -0.52674254] [ 0.02680508 0.00694247 0.99961657 -0.30469146] [ 0. 0. 0. 1. ]] SLAMing on 34.573201008000005 meters Centerline goodness [0,1] 0.9170871525393366 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99888338 0.03875805 -0.02701494 1.77594446] [-0.0389483 0.99921975 -0.00655188 -0.52545249] [ 0.02673992 0.00759675 0.99961356 -0.30657381] [ 0. 0. 0. 1. ]] SLAMing on 34.603201008 meters Centerline goodness [0,1] 0.91876139522372 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99887809 0.03878573 -0.02717041 1.77590534] [-0.03896269 0.99922257 -0.00601369 -0.52643922] [ 0.02691605 0.00706558 0.99961273 -0.30545482] [ 0. 0. 0. 1. ]] SLAMing on 34.633201008 meters Centerline goodness [0,1] 0.9191246716025794 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99885972 0.0391185 -0.02736794 1.77515251] [-0.03926578 0.99921696 -0.00486476 -0.52851898] [ 0.02715621 0.00593384 0.99961359 -0.30297072] [ 0. 0. 0. 1. ]] SLAMing on 34.663201008 meters Centerline goodness [0,1] 0.9211346073204337 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99896519 0.03673897 -0.02681058 1.77141616] [-0.03697171 0.99928236 -0.00823738 -0.52831509] [ 0.02648871 0.00922009 0.99960659 -0.30146175] [ 0. 0. 0. 1. ]] SLAMing on 34.693201008 meters Centerline goodness [0,1] 0.9269380425022449 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99893648 0.03747575 -0.02686036 1.77013572] [-0.03767737 0.99926516 -0.00703962 -0.53038847] [ 0.0265768 0.00804416 0.99961441 -0.29905884] [ 0. 0. 0. 1. ]] SLAMing on 34.723201008000004 meters Centerline goodness [0,1] 0.9259702564409468 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99893968 0.0375422 -0.0266476 1.77038559] [-0.03775439 0.99925887 -0.00750468 -0.52952792] [ 0.02634611 0.00850279 0.99961672 -0.3005344 ] [ 0. 0. 0. 1. ]] SLAMing on 34.753201008000005 meters Centerline goodness [0,1] 0.9244731028718133 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99895119 0.03736866 -0.02645932 1.77117372] [-0.03759727 0.99925936 -0.00819557 -0.52790173] [ 0.02613346 0.00918178 0.99961629 -0.30246278] [ 0. 0. 0. 1. ]] SLAMing on 34.783201008 meters Centerline goodness [0,1] 0.9231641791044776 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.30 [[ 0.99896676 0.03693076 -0.02648661 1.77243336] [-0.03716986 0.99927202 -0.00859236 -0.52750489] [ 0.02615 0.00956799 0.99961224 -0.30390988] [ 0. 0. 0. 1. ]] SLAMing on 34.813201008 meters Centerline goodness [0,1] 0.9219383312817125 Centerline is valid? [False, False] Translation: X:1.77, Y:-0.53, Z:-0.31 [[ 0.99912528 0.03220011 -0.02668019 1.77398893] [-0.03256179 0.9993821 -0.01323416 -0.52722407] [ 0.02623757 0.01409133 0.99955641 -0.30582356] [ 0. 0. 0. 1. ]] SLAMing on 34.843201008 meters Centerline goodness [0,1] 0.9226365325819795 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.9991249 0.03176654 -0.02720882 1.77570515] [-0.03214199 0.99939248 -0.01347453 -0.52711041] [ 0.02676425 0.01433729 0.99953895 -0.3062963 ] [ 0. 0. 0. 1. ]] SLAMing on 34.873201008 meters Centerline goodness [0,1] 0.9235664965475833 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99912714 0.03148609 -0.02745141 1.77705738] [-0.03188187 0.99939217 -0.01410067 -0.52604109] [ 0.02699075 0.01496356 0.99952368 -0.3076889 ] [ 0. 0. 0. 1. ]] SLAMing on 34.903201008 meters Centerline goodness [0,1] 0.9198849507145639 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.52, Z:-0.31 [[ 0.99901488 0.03430978 -0.02814429 1.78125534] [-0.03464028 0.9993355 -0.01134045 -0.52477527] [ 0.0277365 0.0123042 0.99953954 -0.31065646] [ 0. 0. 0. 1. ]] SLAMing on 34.933201008000005 meters Centerline goodness [0,1] 0.9201428146385005 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99887699 0.03748262 -0.02897942 1.78423598] [-0.0377002 0.99926459 -0.0069983 -0.52643628] [ 0.02869579 0.00808297 0.99955551 -0.31017705] [ 0. 0. 0. 1. ]] SLAMing on 34.963201008 meters Centerline goodness [0,1] 0.9232786885245902 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99886536 0.03786462 -0.02888365 1.78348744] [-0.03807219 0.99925273 -0.00667047 -0.52671778] [ 0.0286095 0.00776256 0.99956052 -0.30949968] [ 0. 0. 0. 1. ]] SLAMing on 34.993201008 meters Centerline goodness [0,1] 0.9212413341664435 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99884782 0.03813272 -0.02913632 1.78316384] [-0.03831551 0.9992492 -0.00574132 -0.52835091] [ 0.02889551 0.00685108 0.99955896 -0.30758253] [ 0. 0. 0. 1. ]] SLAMing on 35.023201008 meters Centerline goodness [0,1] 0.9239713506547994 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99897542 0.03511658 -0.02854703 1.78048806] [-0.03540318 0.99932703 -0.00959664 -0.5277211 ] [ 0.02819082 0.01059746 0.99954638 -0.30728884] [ 0. 0. 0. 1. ]] SLAMing on 35.053201008 meters Centerline goodness [0,1] 0.9240271587952024 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99897555 0.0350002 -0.02868526 1.78083909] [-0.03525445 0.99934301 -0.00840613 -0.53022235] [ 0.0283722 0.0094088 0.99955315 -0.3057245 ] [ 0. 0. 0. 1. ]] SLAMing on 35.083201008 meters Centerline goodness [0,1] 0.9239332096474954 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99898831 0.03479956 -0.02848412 1.78137357] [-0.03506032 0.99934727 -0.00870692 -0.52920974] [ 0.02816253 0.00969677 0.99955632 -0.30688188] [ 0. 0. 0. 1. ]] SLAMing on 35.113201008000004 meters Centerline goodness [0,1] 0.9268714583954667 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99900021 0.03460514 -0.02830299 1.78173267] [-0.03488169 0.99934784 -0.00933623 -0.52679479] [ 0.02796145 0.01031415 0.99955579 -0.30806992] [ 0. 0. 0. 1. ]] SLAMing on 35.143201008 meters Centerline goodness [0,1] 0.9248296992593034 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.52, Z:-0.31 [[ 0.99898892 0.03544374 -0.02765663 1.77932663] [-0.03570296 0.99932249 -0.00893599 -0.52484695] [ 0.02732116 0.00991438 0.99957754 -0.30684314] [ 0. 0. 0. 1. ]] SLAMing on 35.173201008 meters Centerline goodness [0,1] 0.9276721135815698 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.52, Z:-0.31 [[ 0.99897395 0.0360094 -0.02746593 1.77799016] [-0.03625342 0.999307 -0.00843873 -0.52496058] [ 0.02714302 0.0094258 0.99958712 -0.30562407] [ 0. 0. 0. 1. ]] SLAMing on 35.203201008 meters Centerline goodness [0,1] 0.9277290954997772 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99896 0.03632067 -0.02756326 1.77749564] [-0.0365539 0.99929962 -0.00800534 -0.52511837] [ 0.02725319 0.00900456 0.99958801 -0.30448711] [ 0. 0. 0. 1. ]] SLAMing on 35.233201008 meters Centerline goodness [0,1] 0.9290843538631149 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.9989491 0.03667028 -0.02749511 1.77672457] [-0.03689184 0.99929041 -0.0075945 -0.52545848] [ 0.02719711 0.00860087 0.99959309 -0.3035422 ] [ 0. 0. 0. 1. ]] SLAMing on 35.263201008 meters Centerline goodness [0,1] 0.9290843538631149 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.9989491 0.03667028 -0.02749511 1.77672457] [-0.03689184 0.99929041 -0.0075945 -0.52545848] [ 0.02719711 0.00860087 0.99959309 -0.3035422 ] [ 0. 0. 0. 1. ]] SLAMing on 35.293201008000004 meters Centerline goodness [0,1] 0.9274431057563588 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.9989445 0.03659245 -0.02776473 1.77704982] [-0.03679868 0.99929851 -0.00695363 -0.52681423] [ 0.0274908 0.007968 0.9995903 -0.30231057] [ 0. 0. 0. 1. ]] SLAMing on 35.323201008 meters Centerline goodness [0,1] 0.9265787358204067 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99894794 0.03608035 -0.02830583 1.77869994] [-0.03628586 0.99931845 -0.0067803 -0.52743035] [ 0.0280419 0.00780026 0.99957631 -0.30205893] [ 0. 0. 0. 1. ]] SLAMing on 35.353201008 meters Centerline goodness [0,1] 0.9241832015515441 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99895202 0.03579457 -0.02852389 1.77987139] [-0.03600728 0.99932716 -0.00697875 -0.52740404] [ 0.0282549 0.00799851 0.99956875 -0.30286338] [ 0. 0. 0. 1. ]] SLAMing on 35.383201008 meters Centerline goodness [0,1] 0.9239865368004051 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99896706 0.03531724 -0.028592 1.78151541] [-0.03555381 0.99933726 -0.00780817 -0.52616831] [ 0.02829729 0.00881666 0.99956067 -0.30512657] [ 0. 0. 0. 1. ]] SLAMing on 35.413201008 meters Centerline goodness [0,1] 0.9216 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99887266 0.0375743 -0.02901001 1.78610168] [-0.03773082 0.99927609 -0.00486674 -0.52563007] [ 0.02880615 0.00595583 0.99956727 -0.30823661] [ 0. 0. 0. 1. ]] SLAMing on 35.443201008 meters Centerline goodness [0,1] 0.9212880673065529 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99887137 0.03762952 -0.0289829 1.78599324] [-0.03778025 0.99927516 -0.00467069 -0.52588328] [ 0.02878614 0.0057604 0.999569 -0.3079211 ] [ 0. 0. 0. 1. ]] SLAMing on 35.473201008000004 meters Centerline goodness [0,1] 0.9219019316493313 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99885067 0.03819005 -0.02896289 1.78454415] [-0.03830235 0.99926064 -0.00333225 -0.52872752] [ 0.02881422 0.00443776 0.99957493 -0.30529378] [ 0. 0. 0. 1. ]] SLAMing on 35.503201008000005 meters Centerline goodness [0,1] 0.9249813349260863 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99896618 0.03551315 -0.02837927 1.78088019] [-0.03570868 0.99934167 -0.00641289 -0.52960187] [ 0.02813285 0.00741965 0.99957666 -0.30325066] [ 0. 0. 0. 1. ]] SLAMing on 35.533201008 meters Centerline goodness [0,1] 0.9233252623083131 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99893387 0.03648129 -0.02828845 1.7788871 ] [-0.03662946 0.99931769 -0.00473725 -0.53270521] [ 0.02809633 0.00576839 0.99958858 -0.30013741] [ 0. 0. 0. 1. ]] SLAMing on 35.563201008 meters Centerline goodness [0,1] 0.9219703313793516 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99893657 0.0365792 -0.02806594 1.77879246] [-0.036739 0.99931137 -0.00519893 -0.53129807] [ 0.02785644 0.00622452 0.99959255 -0.30116975] [ 0. 0. 0. 1. ]] SLAMing on 35.593201008 meters Centerline goodness [0,1] 0.9211750671040859 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99894864 0.03640007 -0.02786854 1.77944517] [-0.03657602 0.99931387 -0.00583001 -0.52954759] [ 0.0276372 0.0068432 0.9995946 -0.30287192] [ 0. 0. 0. 1. ]] SLAMing on 35.623201008 meters Centerline goodness [0,1] 0.9209575833557208 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99896483 0.0359661 -0.02785168 1.78061567] [-0.03615852 0.99932534 -0.00643594 -0.52841236] [ 0.02760141 0.00743636 0.99959135 -0.304472 ] [ 0. 0. 0. 1. ]] SLAMing on 35.653201008 meters Centerline goodness [0,1] 0.9177014925373135 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99898532 0.03483982 -0.02853991 1.78407411] [-0.0350515 0.99936134 -0.00695059 -0.52921981] [ 0.02827952 0.00794391 0.99956849 -0.30638271] [ 0. 0. 0. 1. ]] SLAMing on 35.683201008000005 meters Centerline goodness [0,1] 0.917487205578667 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99898028 0.03479165 -0.02877409 1.78464239] [-0.03498993 0.99936707 -0.00641633 -0.53126323] [ 0.02853264 0.00741659 0.99956535 -0.30598174] [ 0. 0. 0. 1. ]] SLAMing on 35.713201008 meters Centerline goodness [0,1] 0.9165542262600821 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99897046 0.03486487 -0.02902503 1.78486983] [-0.03504255 0.99936993 -0.00563539 -0.5332795 ] [ 0.02881026 0.0066467 0.9995628 -0.30487686] [ 0. 0. 0. 1. ]] SLAMing on 35.743201008 meters Centerline goodness [0,1] 0.9176332712302422 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.54, Z:-0.30 [[ 0.9989604 0.0349755 -0.02923768 1.78487773] [-0.03513059 0.99937117 -0.00480757 -0.53529936] [ 0.02905115 0.00582971 0.99956093 -0.30356509] [ 0. 0. 0. 1. ]] SLAMing on 35.773201008 meters Centerline goodness [0,1] 0.9176367957163915 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.54, Z:-0.30 [[ 0.99894924 0.0350928 -0.02947725 1.78466232] [-0.03521137 0.99937371 -0.00351295 -0.53878846] [ 0.02933551 0.00454719 0.99955928 -0.30133229] [ 0. 0. 0. 1. ]] SLAMing on 35.803201008 meters Centerline goodness [0,1] 0.9182857142857143 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.54, Z:-0.30 [[ 0.99894973 0.03515436 -0.02938724 1.78459433] [-0.03527639 0.99937095 -0.0036442 -0.53810132] [ 0.02924064 0.00467705 0.99956146 -0.30160008] [ 0. 0. 0. 1. ]] SLAMing on 35.833201008 meters Centerline goodness [0,1] 0.9166341799862057 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.54, Z:-0.30 [[ 0.99896054 0.03497887 -0.0292288 1.78518825] [-0.03512393 0.99937299 -0.00446402 -0.53545515] [ 0.02905433 0.00548601 0.99956278 -0.30326045] [ 0. 0. 0. 1. ]] SLAMing on 35.863201008000004 meters Centerline goodness [0,1] 0.914111347114608 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99897405 0.03475513 -0.02903315 1.78587119] [-0.0349304 0.99937433 -0.00555141 -0.5319649 ] [ 0.02882205 0.00655985 0.99956303 -0.30531752] [ 0. 0. 0. 1. ]] SLAMing on 35.893201008 meters Centerline goodness [0,1] 0.9147674799654423 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.9988352 0.03810731 -0.02959865 1.78827659] [-0.03817766 0.99926932 -0.00181524 -0.5314232 ] [ 0.02950784 0.00294313 0.99956022 -0.30571065] [ 0. 0. 0. 1. ]] SLAMing on 35.923201008 meters Centerline goodness [0,1] 0.9159107185485796 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 9.98826990e-01 3.83291616e-02 -2.95891653e-02 1.78784610e+00] [-3.83905179e-02 9.99261674e-01 -1.50809578e-03 -5.31786010e-01] [ 2.95095148e-02 2.64227015e-03 9.99561007e-01 -3.05067851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.953201008 meters Centerline goodness [0,1] 0.9138023791021579 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.30 [[ 9.98819477e-01 3.86634541e-02 -2.94073089e-02 1.78698089e+00] [-3.87151261e-02 9.99249580e-01 -1.18955708e-03 -5.32352447e-01] [ 2.93392487e-02 2.32666046e-03 9.99566804e-01 -3.04498013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.983201008 meters Centerline goodness [0,1] 0.9149710603257951 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.30 [[ 9.98819934e-01 3.88628935e-02 -2.91275723e-02 1.78620932e+00] [-3.89093394e-02 9.99242215e-01 -1.02926304e-03 -5.31997252e-01] [ 2.90654997e-02 2.16138303e-03 9.99575172e-01 -3.04145992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.013201008 meters Centerline goodness [0,1] 0.9146954684757059 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.30 [[ 9.98819770e-01 3.88394603e-02 -2.91644340e-02 1.78610559e+00] [-3.88778343e-02 9.99243690e-01 -7.49677652e-04 -5.32044702e-01] [ 2.91132596e-02 1.88264289e-03 9.99574346e-01 -3.03377180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.043201008000004 meters Centerline goodness [0,1] 0.9145403600810779 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.30 [[ 9.98811543e-01 3.90945274e-02 -2.91053059e-02 1.78537630e+00] [-3.91186675e-02 9.99234538e-01 -2.60251321e-04 -5.32855110e-01] [ 2.90728525e-02 1.39850281e-03 9.99576317e-01 -3.02342823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.073201008 meters Centerline goodness [0,1] 0.9163107434067083 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 9.98803994e-01 3.92679161e-02 -2.91309508e-02 1.78498588e+00] [-3.92781416e-02 9.99228292e-01 2.21347073e-04 -5.34221098e-01] [ 2.91171621e-02 9.23127270e-04 9.99575579e-01 -3.01490246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.103201008 meters Centerline goodness [0,1] 0.9156276225872197 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99893156 0.03623487 -0.02868393 1.7830333 ] [-0.03635323 0.99933246 -0.00361557 -0.53457005] [ 0.02853377 0.00465446 0.99958199 -0.30194768] [ 0. 0. 0. 1. ]] SLAMing on 36.133201008 meters Centerline goodness [0,1] 0.9147205379119889 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.54, Z:-0.30 [[ 0.99893471 0.03615957 -0.02866947 1.78349658] [-0.03627931 0.99933496 -0.00366738 -0.53501794] [ 0.02851779 0.00470359 0.99958222 -0.30261903] [ 0. 0. 0. 1. ]] SLAMing on 36.163201008 meters Centerline goodness [0,1] 0.9127877314606404 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.30 [[ 0.99893885 0.0360457 -0.02866842 1.78408517] [-0.03618054 0.99933645 -0.0041984 -0.53367961] [ 0.02849806 0.00523118 0.99958016 -0.30378104] [ 0. 0. 0. 1. ]] SLAMing on 36.193201008 meters Centerline goodness [0,1] 0.913403546673868 Centerline is valid? [False, False] Translation: X:1.78, Y:-0.53, Z:-0.31 [[ 0.99894594 0.03586154 -0.02865245 1.78484457] [-0.03601595 0.99933924 -0.00489137 -0.53183107] [ 0.0284581 0.00591816 0.99957747 -0.30524995] [ 0. 0. 0. 1. ]] SLAMing on 36.223201008000004 meters Centerline goodness [0,1] 0.9168360028687544 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.9989624 0.03477246 -0.02941103 1.78851835] [-0.03497199 0.99936845 -0.00629714 -0.53021367] [ 0.02917349 0.00731917 0.99954757 -0.30828328] [ 0. 0. 0. 1. ]] SLAMing on 36.253201008000005 meters Centerline goodness [0,1] 0.9179955123410621 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99895356 0.03450611 -0.03001872 1.79010467] [-0.03470709 0.9993783 -0.00619997 -0.53131604] [ 0.02978612 0.00723534 0.99953011 -0.30840826] [ 0. 0. 0. 1. ]] SLAMing on 36.283201008 meters Centerline goodness [0,1] 0.9224549908328574 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99894308 0.03431838 -0.03057736 1.79121402] [-0.03451173 0.99938736 -0.00581806 -0.53290321] [ 0.03035896 0.00686719 0.99951547 -0.30779851] [ 0. 0. 0. 1. ]] SLAMing on 36.313201008 meters Centerline goodness [0,1] 0.925830125120308 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.9989481 0.03371688 -0.03107847 1.79267801] [-0.03390015 0.9994107 -0.00538908 -0.53458437] [ 0.03087846 0.00643697 0.99950242 -0.30708621] [ 0. 0. 0. 1. ]] SLAMing on 36.343201008 meters Centerline goodness [0,1] 0.9255443760324373 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.53, Z:-0.31 [[ 0.99896416 0.0330335 -0.03129523 1.79442591] [-0.03324112 0.99942852 -0.00613735 -0.53306729] [ 0.03107461 0.00717128 0.99949134 -0.30863801] [ 0. 0. 0. 1. ]] SLAMing on 36.373201008 meters Centerline goodness [0,1] 0.9230792263009762 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99898562 0.0323082 -0.03136737 1.7959468 ] [-0.03255326 0.9994431 -0.00733349 -0.52955821] [ 0.03111297 0.00834716 0.99948102 -0.31051344] [ 0. 0. 0. 1. ]] SLAMing on 36.403201008 meters Centerline goodness [0,1] 0.9199581714968629 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99900904 0.03096131 -0.03197385 1.79879872] [-0.03124108 0.99947752 -0.00828755 -0.52688907] [ 0.03170055 0.00927823 0.99945435 -0.31158468] [ 0. 0. 0. 1. ]] SLAMing on 36.433201008000005 meters Centerline goodness [0,1] 0.9185754440523892 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99900478 0.03049042 -0.03255423 1.7999922 ] [-0.03076388 0.9994952 -0.00793247 -0.52766142] [ 0.03229593 0.00892607 0.99943849 -0.31053578] [ 0. 0. 0. 1. ]] SLAMing on 36.463201008 meters Centerline goodness [0,1] 0.9277483463529975 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99899603 0.02994077 -0.03332383 1.80148235] [-0.03020337 0.99951634 -0.00740496 -0.52888989] [ 0.033086 0.00840401 0.99941717 -0.30907702] [ 0. 0. 0. 1. ]] SLAMing on 36.493201008 meters Centerline goodness [0,1] 0.932245508982036 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99898954 0.02945579 -0.03394482 1.80249637] [-0.02969994 0.99953633 -0.00671063 -0.53075799] [ 0.03373142 0.00771201 0.99940118 -0.30730295] [ 0. 0. 0. 1. ]] SLAMing on 36.523201008 meters Centerline goodness [0,1] 0.9336394741581128 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.99909459 0.02460525 -0.03470698 1.8038249 ] [-0.02498611 0.99963178 -0.01058286 -0.53133843] [ 0.0344338 0.01144047 0.9993415 -0.3061509 ] [ 0. 0. 0. 1. ]] SLAMing on 36.553201008 meters Centerline goodness [0,1] 0.9334115664680749 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.53, Z:-0.31 [[ 0.9990969 0.02407116 -0.03501387 1.80499573] [-0.02445917 0.99964361 -0.01069576 -0.53108173] [ 0.03474394 0.01154251 0.99932959 -0.30624034] [ 0. 0. 0. 1. ]] SLAMing on 36.583201008 meters Centerline goodness [0,1] 0.9274229902329076 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.99910202 0.02350827 -0.03524921 1.80637009] [-0.02390615 0.99965469 -0.01090897 -0.53024214] [ 0.03498058 0.01174185 0.99931901 -0.30676795] [ 0. 0. 0. 1. ]] SLAMing on 36.613201008000004 meters Centerline goodness [0,1] 0.925443857965451 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.99911248 0.02303577 -0.03526476 1.80724754] [-0.02344378 0.99966241 -0.01120056 -0.52900154] [ 0.03499484 0.01201736 0.99931524 -0.30739158] [ 0. 0. 0. 1. ]] SLAMing on 36.643201008 meters Centerline goodness [0,1] 0.9210746518438826 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.99911887 0.02268413 -0.03531157 1.80806716] [-0.02310357 0.99966675 -0.01151577 -0.52771005] [ 0.03503858 0.01232144 0.99931 -0.30808487] [ 0. 0. 0. 1. ]] SLAMing on 36.673201008 meters Centerline goodness [0,1] 0.9161388170220359 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.99904106 0.02521891 -0.03579074 1.81165065] [-0.02552813 0.9996404 -0.00820902 -0.52671156] [ 0.03557084 0.00911482 0.99932559 -0.30958498] [ 0. 0. 0. 1. ]] SLAMing on 36.703201008 meters Centerline goodness [0,1] 0.9154908658844497 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.99904221 0.02532764 -0.03568146 1.81138874] [-0.02564779 0.99963453 -0.0085433 -0.52502348] [ 0.03545204 0.00945027 0.9993267 -0.30979731] [ 0. 0. 0. 1. ]] SLAMing on 36.733201008 meters Centerline goodness [0,1] 0.9171334578109718 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99902918 0.02583817 -0.03568044 1.8101072 ] [-0.02614146 0.99962576 -0.0080599 -0.5244354 ] [ 0.03545884 0.00898481 0.99933075 -0.30791912] [ 0. 0. 0. 1. ]] SLAMing on 36.763201008 meters Centerline goodness [0,1] 0.9315372988352449 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.30 [[ 0.99897221 0.02827084 -0.0354299 1.80503815] [-0.028507 0.9995745 -0.00617803 -0.52469131] [ 0.03524017 0.00718168 0.99935307 -0.30267679] [ 0. 0. 0. 1. ]] SLAMing on 36.793201008000004 meters Centerline goodness [0,1] 0.9335085957346252 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.52, Z:-0.30 [[ 0.99895884 0.02890223 -0.03529731 1.80409582] [-0.02914927 0.99955391 -0.00650425 -0.52254264] [ 0.03509358 0.00752637 0.99935569 -0.30274478] [ 0. 0. 0. 1. ]] SLAMing on 36.823201008 meters Centerline goodness [0,1] 0.9321370789822032 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.30 [[ 0.99883083 0.03257056 -0.03572309 1.80601888] [-0.03269975 0.9994606 -0.00303787 -0.52120914] [ 0.03560488 0.00420245 0.99935711 -0.30358803] [ 0. 0. 0. 1. ]] SLAMing on 36.853201008 meters Centerline goodness [0,1] 0.9297690233321608 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 9.98694013e-01 3.62601319e-02 -3.59926544e-02 1.80794722e+00] [-3.62758921e-02 9.99341790e-01 2.15289340e-04 -5.19006099e-01] [ 3.59767701e-02 1.09065747e-03 9.99352031e-01 -3.05023339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.883201008 meters Centerline goodness [0,1] 0.9247396287892011 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99854779 0.03989466 -0.03620387 1.80982774] [-0.03979615 0.99920191 0.00343774 -0.51693588] [ 0.03631213 -0.00199198 0.99933851 -0.30648438] [ 0. 0. 0. 1. ]] SLAMing on 36.913201008 meters Centerline goodness [0,1] 0.9244649115185217 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99837506 0.04401777 -0.03618937 1.81055013] [-0.04379983 0.99901723 0.00679343 -0.51508535] [ 0.03645284 -0.0051973 0.99932186 -0.30751392] [ 0. 0. 0. 1. ]] SLAMing on 36.943201008 meters Centerline goodness [0,1] 0.9260010430549922 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.51, Z:-0.31 [[ 9.98479015e-01 4.14533616e-02 -3.63493455e-02 1.80925605e+00] [-4.13800363e-02 9.99139646e-01 2.76756652e-03 -5.12341942e-01] [ 3.64327971e-02 -1.25921986e-03 9.99335312e-01 -3.07772361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.973201008000004 meters Centerline goodness [0,1] 0.9244751589767415 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.51, Z:-0.31 [[ 9.98461091e-01 4.17339332e-02 -3.65202539e-02 1.80874580e+00] [-4.16486316e-02 9.99127530e-01 3.09371978e-03 -5.13074084e-01] [ 3.66175042e-02 -1.56794022e-03 9.99328124e-01 -3.06629367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.003201008000005 meters Centerline goodness [0,1] 0.927188000582496 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.30 [[ 0.99842238 0.04238709 -0.03682519 1.80771179] [-0.04226199 0.99909786 0.00416924 -0.51582358] [ 0.03696869 -0.00260635 0.99931303 -0.3041827 ] [ 0. 0. 0. 1. ]] SLAMing on 37.033201008 meters Centerline goodness [0,1] 0.9296451669288586 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.30 [[ 0.99842353 0.0419599 -0.03728025 1.80936497] [-0.04184493 0.99911666 0.0038593 -0.5160672 ] [ 0.03740926 -0.00229323 0.9992974 -0.30498154] [ 0. 0. 0. 1. ]] SLAMing on 37.063201008 meters Centerline goodness [0,1] 0.9250248262164846 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 9.98436562e-01 4.15378324e-02 -3.74037520e-02 1.81092477e+00] [-4.14427524e-02 9.99135384e-01 3.31407651e-03 -5.15818017e-01] [ 3.75090717e-02 -1.75878073e-03 9.99294739e-01 -3.06794742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.093201008 meters Centerline goodness [0,1] 0.9254901960784314 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 9.98453418e-01 4.10751112e-02 -3.74647379e-02 1.81231254e+00] [-4.10006382e-02 9.99155324e-01 2.75428693e-03 -5.15230271e-01] [ 3.75462250e-02 -1.21394904e-03 9.99294155e-01 -3.08510922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.123201008 meters Centerline goodness [0,1] 0.9229282576866764 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 9.98461424e-01 4.09718527e-02 -3.73643099e-02 1.81250874e+00] [-4.08953579e-02 9.99159485e-01 2.80957769e-03 -5.15535638e-01] [ 3.74480182e-02 -1.27722812e-03 9.99297761e-01 -3.08855649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.153201008 meters Centerline goodness [0,1] 0.920165599859064 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99845821 0.04101278 -0.03740529 1.81219643] [-0.04088419 0.99915508 0.00419647 -0.51870864] [ 0.03754579 -0.00266072 0.99929137 -0.30677142] [ 0. 0. 0. 1. ]] SLAMing on 37.183201008000005 meters Centerline goodness [0,1] 0.920165599859064 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99845821 0.04101278 -0.03740529 1.81219643] [-0.04088419 0.99915508 0.00419647 -0.51870864] [ 0.03754579 -0.00266072 0.99929137 -0.30677142] [ 0. 0. 0. 1. ]] SLAMing on 37.213201008 meters Centerline goodness [0,1] 0.918722187840745 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 9.98617409e-01 3.74511474e-02 -3.68874291e-02 1.81096898e+00] [-3.74872193e-02 9.99297066e-01 -2.86493829e-04 -5.17631979e-01] [ 3.68507702e-02 1.66890487e-03 9.99319386e-01 -3.08237318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.243201008 meters Centerline goodness [0,1] 0.9234627255460589 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99874912 0.03395313 -0.03670657 1.80987806] [-0.03412893 0.99940873 -0.00417312 -0.51889259] [ 0.03654318 0.00542065 0.99931737 -0.30860109] [ 0. 0. 0. 1. ]] SLAMing on 37.273201008 meters Centerline goodness [0,1] 0.9225502400853637 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99873404 0.03391076 -0.03715342 1.8105796 ] [-0.03405663 0.99941446 -0.00330031 -0.52162567] [ 0.03701975 0.00456145 0.99930412 -0.30736535] [ 0. 0. 0. 1. ]] SLAMing on 37.303201008 meters Centerline goodness [0,1] 0.9219923691427209 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.52, Z:-0.31 [[ 0.99872601 0.03397836 -0.03730714 1.81086889] [-0.0340979 0.99941519 -0.00257244 -0.52445351] [ 0.03719791 0.00384125 0.99930054 -0.30681661] [ 0. 0. 0. 1. ]] SLAMing on 37.333201008 meters Centerline goodness [0,1] 0.9240362472709872 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.53, Z:-0.31 [[ 0.9987237 0.03379384 -0.03753599 1.81179997] [-0.03389275 0.99942347 -0.00200173 -0.5269513 ] [ 0.0374467 0.00327137 0.99929327 -0.30674738] [ 0. 0. 0. 1. ]] SLAMing on 37.363201008000004 meters Centerline goodness [0,1] 0.9213243681335175 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99876922 0.03215613 -0.03776283 1.81590037] [-0.03228348 0.99947492 -0.00276722 -0.52959457] [ 0.03765402 0.00398293 0.9992829 -0.31054274] [ 0. 0. 0. 1. ]] SLAMing on 37.393201008 meters Centerline goodness [0,1] 0.9225043520019209 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.9987737 0.03177762 -0.03796412 1.81754643] [-0.03191528 0.999486 -0.00302527 -0.53038575] [ 0.03784847 0.0042332 0.99927452 -0.31204455] [ 0. 0. 0. 1. ]] SLAMing on 37.423201008 meters Centerline goodness [0,1] 0.9236416150189543 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99876722 0.03207463 -0.03788478 1.81739469] [-0.03220942 0.99947678 -0.0029529 -0.53114415] [ 0.03777025 0.0041695 0.99927775 -0.3124583 ] [ 0. 0. 0. 1. ]] SLAMing on 37.453201008 meters Centerline goodness [0,1] 0.924849911002504 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99875365 0.03246999 -0.03790575 1.81685728] [-0.03259048 0.9994655 -0.00256493 -0.53208049] [ 0.0378022 0.0037971 0.99927803 -0.31179978] [ 0. 0. 0. 1. ]] SLAMing on 37.483201008 meters Centerline goodness [0,1] 0.9274694148134756 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99872348 0.03311424 -0.03814268 1.81605933] [-0.03321446 0.99944625 -0.00199678 -0.53307494] [ 0.03805543 0.00326112 0.99927031 -0.31031221] [ 0. 0. 0. 1. ]] SLAMing on 37.513201008 meters Centerline goodness [0,1] 0.9286403667511159 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99872219 0.03319518 -0.03810607 1.81617286] [-0.03331176 0.99944206 -0.00242857 -0.53225604] [ 0.03800419 0.00369485 0.99927075 -0.31111564] [ 0. 0. 0. 1. ]] SLAMing on 37.543201008000004 meters Centerline goodness [0,1] 0.9277561959827747 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99872603 0.03313 -0.03806193 1.81671373] [-0.03326853 0.99944191 -0.00301178 -0.5310058 ] [ 0.03794091 0.00427421 0.99927084 -0.31245214] [ 0. 0. 0. 1. ]] SLAMing on 37.573201008 meters Centerline goodness [0,1] 0.9236959851055524 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99873422 0.03306066 -0.03790713 1.81721235] [-0.03322525 0.99944097 -0.00372 -0.52857654] [ 0.03776295 0.00497477 0.99927434 -0.31403429] [ 0. 0. 0. 1. ]] SLAMing on 37.603201008 meters Centerline goodness [0,1] 0.9209104011530147 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99874059 0.03290343 -0.0378761 1.81751114] [-0.03307927 0.99944463 -0.00402525 -0.52741442] [ 0.03772262 0.00527309 0.99927434 -0.31447506] [ 0. 0. 0. 1. ]] SLAMing on 37.633201008 meters Centerline goodness [0,1] 0.918971022350744 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99874259 0.03259865 -0.03808625 1.81832213] [-0.03277773 0.99945431 -0.00408682 -0.52713233] [ 0.03793224 0.00533007 0.9992661 -0.31454292] [ 0. 0. 0. 1. ]] SLAMing on 37.663201008 meters Centerline goodness [0,1] 0.9192238267148014 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99874397 0.03189042 -0.03864566 1.82024666] [-0.03206439 0.99947824 -0.00388998 -0.52776257] [ 0.03850145 0.00512425 0.99924541 -0.31424514] [ 0. 0. 0. 1. ]] SLAMing on 37.693201008 meters Centerline goodness [0,1] 0.9171865111653558 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.99874492 0.03127749 -0.03911919 1.82176902] [-0.03144266 0.99949902 -0.00361404 -0.52891816] [ 0.03898655 0.00483952 0.99922802 -0.31381101] [ 0. 0. 0. 1. ]] SLAMing on 37.723201008000004 meters Centerline goodness [0,1] 0.912023637240714 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.9988807 0.02649295 -0.03918498 1.82257118] [-0.02684131 0.99960449 -0.00839073 -0.52687894] [ 0.03894719 0.00943311 0.99919674 -0.31487198] [ 0. 0. 0. 1. ]] SLAMing on 37.753201008000005 meters Centerline goodness [0,1] 0.9130212253499925 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.53, Z:-0.31 [[ 0.9988806 0.02569399 -0.03971602 1.82450489] [-0.02604773 0.99962528 -0.00841497 -0.52714617] [ 0.03948492 0.00944006 0.99917557 -0.31480721] [ 0. 0. 0. 1. ]] SLAMing on 37.783201008 meters Centerline goodness [0,1] 0.9139995776899641 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.32 [[ 0.99887637 0.02462681 -0.04049093 1.82728265] [-0.02500096 0.99964905 -0.00875995 -0.52744333] [ 0.04026099 0.00976242 0.99914151 -0.31528839] [ 0. 0. 0. 1. ]] SLAMing on 37.813201008 meters Centerline goodness [0,1] 0.9124947285981083 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.31 [[ 0.99886568 0.02343639 -0.0414498 1.83023 ] [-0.0238117 0.99967961 -0.00858409 -0.52844344] [ 0.04123534 0.00956134 0.99910371 -0.3146222 ] [ 0. 0. 0. 1. ]] SLAMing on 37.843201008 meters Centerline goodness [0,1] 0.9096296296296297 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.31 [[ 0.99895397 0.0181306 -0.04197909 1.83211316] [-0.01868609 0.99974246 -0.01287837 -0.52790355] [ 0.04173479 0.01364932 0.99903549 -0.31449422] [ 0. 0. 0. 1. ]] SLAMing on 37.873201008 meters Centerline goodness [0,1] 0.9036962915794899 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.53, Z:-0.31 [[ 0.99894649 0.01730173 -0.04250366 1.83399785] [-0.01785717 0.99975959 -0.01272331 -0.52863043] [ 0.04227331 0.0134689 0.99901529 -0.31416735] [ 0. 0. 0. 1. ]] SLAMing on 37.903201008 meters Centerline goodness [0,1] 0.8996972449288525 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.31 [[ 0.99893333 0.01623718 -0.04322687 1.83696557] [-0.01681794 0.99977268 -0.01310549 -0.5280229 ] [ 0.04300425 0.0138185 0.99897932 -0.31496683] [ 0. 0. 0. 1. ]] SLAMing on 37.933201008000005 meters Centerline goodness [0,1] 0.8930513595166163 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.32 [[ 0.99892574 0.01514006 -0.04379669 1.83980341] [-0.0157644 0.99977848 -0.01394531 -0.52599373] [ 0.04357585 0.01462076 0.99894313 -0.3163732 ] [ 0. 0. 0. 1. ]] SLAMing on 37.963201008 meters Centerline goodness [0,1] 0.8792347429120615 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.52, Z:-0.32 [[ 0.99891454 0.01388666 -0.0444624 1.84272972] [-0.01455509 0.99978534 -0.01474529 -0.52349014] [ 0.04424809 0.01537644 0.99890223 -0.3172602 ] [ 0. 0. 0. 1. ]] SLAMing on 37.993201008 meters Centerline goodness [0,1] 0.8879855465221319 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.52, Z:-0.32 [[ 0.9988975 0.0138799 -0.04484566 1.84281339] [-0.01451976 0.99979693 -0.01397382 -0.52464077] [ 0.0446426 0.01460956 0.99889619 -0.31532361] [ 0. 0. 0. 1. ]] SLAMing on 38.023201008 meters Centerline goodness [0,1] 0.8745107484795568 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.31 [[ 0.99887925 0.0142501 -0.04513513 1.84190653] [-0.01483526 0.99980985 -0.01265637 -0.52663728] [ 0.04494619 0.01331177 0.99890071 -0.3122331 ] [ 0. 0. 0. 1. ]] SLAMing on 38.053201008 meters Centerline goodness [0,1] 0.8825920684151887 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.53, Z:-0.31 [[ 0.99887187 0.01462717 -0.04517779 1.84088439] [-0.01518945 0.99981108 -0.01212795 -0.52675299] [ 0.04499186 0.01280049 0.99890534 -0.31055328] [ 0. 0. 0. 1. ]] SLAMing on 38.083201008 meters Centerline goodness [0,1] 0.8870745858005862 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.52, Z:-0.31 [[ 0.9987977 0.01870625 -0.04531248 1.84147651] [-0.01911632 0.99977999 -0.00863337 -0.52347636] [ 0.04514101 0.0094892 0.99893556 -0.3107826 ] [ 0. 0. 0. 1. ]] SLAMing on 38.113201008000004 meters Centerline goodness [0,1] 0.8925927027268131 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.52, Z:-0.31 [[ 0.9987043 0.02272056 -0.04553571 1.8423773 ] [-0.02295101 0.99972626 -0.00454455 -0.5227645 ] [ 0.04541999 0.00558375 0.99895237 -0.3105593 ] [ 0. 0. 0. 1. ]] SLAMing on 38.143201008 meters Centerline goodness [0,1] 0.8997064144005219 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.52, Z:-0.31 [[ 9.98596466e-01 2.68595596e-02 -4.56471517e-02 1.84311678e+00] [-2.69117084e-02 9.99637675e-01 -5.28162476e-04 -5.22303323e-01] [ 4.56164264e-02 1.75586402e-03 9.98957486e-01 -3.10663672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.173201008 meters Centerline goodness [0,1] 0.8997349823321554 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.52, Z:-0.32 [[ 0.99856594 0.03408201 -0.04128544 1.85692744] [-0.03432499 0.99939724 -0.00519056 -0.51934998] [ 0.04108365 0.00660024 0.99913391 -0.31510665] [ 0. 0. 0. 1. ]] SLAMing on 38.203201008 meters Centerline goodness [0,1] 0.898645863997645 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 0.99854505 0.03525416 -0.04080343 1.85475055] [-0.03549115 0.99935699 -0.00509802 -0.51768406] [ 0.04059747 0.00653876 0.99915419 -0.31483426] [ 0. 0. 0. 1. ]] SLAMing on 38.233201008 meters Centerline goodness [0,1] 0.8939220351928556 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 0.99852631 0.03625212 -0.04038554 1.85307045] [-0.03648713 0.99932112 -0.00509713 -0.51560816] [ 0.04017335 0.00656317 0.99917117 -0.31476789] [ 0. 0. 0. 1. ]] SLAMing on 38.263201008 meters Centerline goodness [0,1] 0.8916744675871753 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 9.98334786e-01 4.15516554e-02 -4.00139435e-02 1.85123344e+00] [-4.15951108e-02 9.99134517e-01 -2.53733339e-04 -5.16155351e-01] [ 3.99687690e-02 1.91769523e-03 9.99199089e-01 -3.13212416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.293201008000004 meters Centerline goodness [0,1] 0.8910841821800726 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 9.98323293e-01 4.19776121e-02 -3.98557709e-02 1.85070663e+00] [-4.20236344e-02 9.99116567e-01 -3.17280538e-04 -5.16038226e-01] [ 3.98072423e-02 1.99163290e-03 9.99205393e-01 -3.13491281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.323201008 meters Centerline goodness [0,1] 0.8901498489780358 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 9.98312075e-01 4.22513676e-02 -3.98474827e-02 1.85056733e+00] [-4.22903138e-02 9.99105355e-01 -1.34594537e-04 -5.16733891e-01] [ 3.98061466e-02 1.81952990e-03 9.99205765e-01 -3.13531116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.353201008 meters Centerline goodness [0,1] 0.8926180408738549 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.31 [[ 9.98313681e-01 4.21690191e-02 -3.98944572e-02 1.85125403e+00] [-4.22103793e-02 9.99108726e-01 -1.94619109e-04 -5.17470988e-01] [ 3.98506934e-02 1.87825109e-03 9.99203880e-01 -3.14380750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.383201008 meters Centerline goodness [0,1] 0.889068468997943 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.32 [[ 9.98325261e-01 4.16131901e-02 -4.01872467e-02 1.85309756e+00] [-4.16652974e-02 9.99131519e-01 -4.59575701e-04 -5.18094009e-01] [ 4.01332204e-02 2.13321962e-03 9.99192061e-01 -3.15702840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.413201008 meters Centerline goodness [0,1] 0.8907640289476806 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.52, Z:-0.32 [[ 0.99850035 0.03716801 -0.04019434 1.85430729] [-0.03738961 0.99928935 -0.00477522 -0.51991163] [ 0.03998829 0.00627091 0.99918047 -0.31803599] [ 0. 0. 0. 1. ]] SLAMing on 38.443201008 meters Centerline goodness [0,1] 0.8894647484585828 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.52, Z:-0.32 [[ 0.99849481 0.03669549 -0.04076209 1.8556639 ] [-0.03687874 0.9993127 -0.00375266 -0.5237903 ] [ 0.04059637 0.00525026 0.99916183 -0.31671888] [ 0. 0. 0. 1. ]] SLAMing on 38.473201008000004 meters Centerline goodness [0,1] 0.8987896494156928 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99849138 0.03602445 -0.04143919 1.85760673] [-0.03617015 0.9993418 -0.00277144 -0.52761809] [ 0.04131207 0.00426612 0.99913718 -0.31558208] [ 0. 0. 0. 1. ]] SLAMing on 38.503201008000005 meters Centerline goodness [0,1] 0.9035481055704355 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99864652 0.03123653 -0.04158611 1.85897548] [-0.03152992 0.9994822 -0.00641778 -0.53119417] [ 0.04136411 0.0077203 0.99911431 -0.31646279] [ 0. 0. 0. 1. ]] SLAMing on 38.533201008 meters Centerline goodness [0,1] 0.904992143116161 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99864368 0.03072038 -0.04203649 1.86077038] [-0.03099377 0.99950236 -0.00586734 -0.53399771] [ 0.04183533 0.00716226 0.99909885 -0.31647621] [ 0. 0. 0. 1. ]] SLAMing on 38.563201008 meters Centerline goodness [0,1] 0.9021544801672676 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99863769 0.03055993 -0.04229485 1.86167929] [-0.0308075 0.99951174 -0.00521391 -0.53646166] [ 0.04211487 0.0065098 0.99909157 -0.31616014] [ 0. 0. 0. 1. ]] SLAMing on 38.593201008 meters Centerline goodness [0,1] 0.9014421620311459 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99863008 0.03066509 -0.04239834 1.86182604] [-0.03088596 0.99951249 -0.00456402 -0.53792479] [ 0.04223771 0.00586728 0.99909036 -0.31543975] [ 0. 0. 0. 1. ]] SLAMing on 38.623201008 meters Centerline goodness [0,1] 0.9012854717438759 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99862643 0.03166713 -0.04174256 1.85960069] [-0.03186891 0.99948333 -0.0041774 -0.53753368] [ 0.04158871 0.00550196 0.99911967 -0.3150019 ] [ 0. 0. 0. 1. ]] SLAMing on 38.653201008 meters Centerline goodness [0,1] 0.9022952009434818 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99862312 0.03193583 -0.04161685 1.85917789] [-0.03214338 0.9994739 -0.00432741 -0.53633099] [ 0.04145676 0.00565916 0.99912427 -0.31511118] [ 0. 0. 0. 1. ]] SLAMing on 38.683201008000005 meters Centerline goodness [0,1] 0.8977516869912548 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99862 0.03254483 -0.04121817 1.85791857] [-0.03275162 0.99945405 -0.0043515 -0.53507739] [ 0.04105405 0.00569546 0.99914069 -0.31518759] [ 0. 0. 0. 1. ]] SLAMing on 38.713201008 meters Centerline goodness [0,1] 0.8984845276626637 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99861353 0.03327506 -0.04078964 1.8565016 ] [-0.03347975 0.99942995 -0.00434532 -0.53352905] [ 0.0406218 0.00570492 0.99915831 -0.31525018] [ 0. 0. 0. 1. ]] SLAMing on 38.743201008 meters Centerline goodness [0,1] 0.8924481677917069 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99861234 0.03373645 -0.04043829 1.85576061] [-0.03395648 0.99941195 -0.0047664 -0.53147061] [ 0.0402537 0.00613293 0.99917067 -0.31612404] [ 0. 0. 0. 1. ]] SLAMing on 38.773201008 meters Centerline goodness [0,1] 0.8904587266277881 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.53, Z:-0.32 [[ 0.99860251 0.03483812 -0.03974079 1.85354567] [-0.03504636 0.99937531 -0.0045551 -0.53055828] [ 0.03955728 0.0059415 0.99919964 -0.31619063] [ 0. 0. 0. 1. ]] SLAMing on 38.803201008 meters Centerline goodness [0,1] 0.8934834445081645 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.53, Z:-0.32 [[ 0.99859108 0.03524298 -0.03967112 1.85287911] [-0.03543027 0.99936403 -0.00402785 -0.53176891] [ 0.03950393 0.00542774 0.99920467 -0.31546887] [ 0. 0. 0. 1. ]] SLAMing on 38.833201008 meters Centerline goodness [0,1] 0.8997651451282669 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.53, Z:-0.31 [[ 0.99857329 0.03562171 -0.03978029 1.85248876] [-0.0357787 0.99935448 -0.0032411 -0.53342902] [ 0.03963916 0.00465976 0.99920319 -0.31429912] [ 0. 0. 0. 1. ]] SLAMing on 38.863201008000004 meters Centerline goodness [0,1] 0.8973239818187291 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.53, Z:-0.31 [[ 0.99856643 0.03571736 -0.03986682 1.85257932] [-0.03585647 0.99935308 -0.00277949 -0.53452109] [ 0.03974175 0.00420499 0.99920114 -0.31376148] [ 0. 0. 0. 1. ]] SLAMing on 38.893201008 meters Centerline goodness [0,1] 0.9013763531140364 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99857292 0.03512583 -0.04022805 1.85538293] [-0.03530867 0.99936906 -0.00384349 -0.53353517] [ 0.04006767 0.00525841 0.99918313 -0.31699969] [ 0. 0. 0. 1. ]] SLAMing on 38.923201008 meters Centerline goodness [0,1] 0.9023413988202721 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.9985829 0.03460691 -0.04042958 1.85743004] [-0.03483258 0.9993812 -0.00489047 -0.53228459] [ 0.04023532 0.0062918 0.99917042 -0.31965909] [ 0. 0. 0. 1. ]] SLAMing on 38.953201008 meters Centerline goodness [0,1] 0.8992656353458135 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99858604 0.03429721 -0.04061554 1.85885662] [-0.0345446 0.99938854 -0.00540494 -0.53197466] [ 0.04040533 0.00680034 0.99916023 -0.32120707] [ 0. 0. 0. 1. ]] SLAMing on 38.983201008 meters Centerline goodness [0,1] 0.9048265869781762 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99855481 0.03486389 -0.04089983 1.85803282] [-0.03506476 0.9993762 -0.00420406 -0.53414568] [ 0.04072775 0.00563212 0.99915441 -0.31868108] [ 0. 0. 0. 1. ]] SLAMing on 39.013201008 meters Centerline goodness [0,1] 0.904553150320474 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.9985419 0.03517216 -0.04095107 1.85731574] [-0.03534721 0.99936876 -0.00355827 -0.53508017] [ 0.04080006 0.00500059 0.99915482 -0.31722793] [ 0. 0. 0. 1. ]] SLAMing on 39.043201008000004 meters Centerline goodness [0,1] 0.9042257772411711 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99854636 0.03506795 -0.04093174 1.85757954] [-0.0352411 0.99937265 -0.00351626 -0.53494978] [ 0.04078275 0.00495363 0.99915576 -0.3173494 ] [ 0. 0. 0. 1. ]] SLAMing on 39.073201008 meters Centerline goodness [0,1] 0.9042257772411711 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99854636 0.03506795 -0.04093174 1.85757954] [-0.0352411 0.99937265 -0.00351626 -0.53494978] [ 0.04078275 0.00495363 0.99915576 -0.3173494 ] [ 0. 0. 0. 1. ]] SLAMing on 39.103201008 meters Centerline goodness [0,1] 0.9040043387869475 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99855187 0.03475847 -0.04106116 1.85850099] [-0.03493919 0.99938262 -0.00369163 -0.53439165] [ 0.04090749 0.00512093 0.99914982 -0.31793182] [ 0. 0. 0. 1. ]] SLAMing on 39.133201008 meters Centerline goodness [0,1] 0.9070076386582531 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99857592 0.03370449 -0.04135395 1.86087053] [-0.03390311 0.99941667 -0.0041108 -0.53429233] [ 0.04119127 0.00550697 0.9991361 -0.31926388] [ 0. 0. 0. 1. ]] SLAMing on 39.163201008 meters Centerline goodness [0,1] 0.9059676688321499 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99856573 0.03333196 -0.04189822 1.86198599] [-0.03350942 0.99943213 -0.00354006 -0.53572043] [ 0.04175643 0.00493897 0.99911561 -0.31805995] [ 0. 0. 0. 1. ]] SLAMing on 39.193201008 meters Centerline goodness [0,1] 0.9064470389477177 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99854761 0.0330985 -0.04251065 1.86280025] [-0.03323461 0.99944445 -0.00249873 -0.53780474] [ 0.04240433 0.00390792 0.99909289 -0.31587924] [ 0. 0. 0. 1. ]] SLAMing on 39.223201008000004 meters Centerline goodness [0,1] 0.9066812572192838 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.9986769 0.0295234 -0.04210486 1.86096311] [-0.0298351 0.99953175 -0.0067939 -0.53643141] [ 0.04188457 0.00804111 0.9990901 -0.31602027] [ 0. 0. 0. 1. ]] SLAMing on 39.253201008000005 meters Centerline goodness [0,1] 0.9097500303361242 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.31 [[ 0.99866357 0.02951874 -0.04242297 1.86120052] [-0.02979728 0.99953826 -0.00594841 -0.53772424] [ 0.04222779 0.00720455 0.99908203 -0.3143872 ] [ 0. 0. 0. 1. ]] SLAMing on 39.283201008 meters Centerline goodness [0,1] 0.9116678250883926 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.54, Z:-0.32 [[ 0.99867115 0.02841856 -0.04299206 1.86406997] [-0.02873602 0.99956401 -0.00678413 -0.5366937 ] [ 0.04278052 0.00801054 0.99905238 -0.31604392] [ 0. 0. 0. 1. ]] SLAMing on 39.313201008 meters Centerline goodness [0,1] 0.9087233336350744 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.32 [[ 0.99868123 0.02772943 -0.04320741 1.86605672] [-0.02809308 0.99957463 -0.00783179 -0.53474791] [ 0.04297186 0.00903529 0.99903543 -0.31825191] [ 0. 0. 0. 1. ]] SLAMing on 39.343201008 meters Centerline goodness [0,1] 0.9114575495831703 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.32 [[ 0.99868907 0.02723526 -0.04334021 1.86754473] [-0.02764387 0.9995786 -0.00885658 -0.53220741] [ 0.04308074 0.01004306 0.99902111 -0.32017879] [ 0. 0. 0. 1. ]] SLAMing on 39.373201008 meters Centerline goodness [0,1] 0.9026484895802054 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.32 [[ 0.9986907 0.0273425 -0.04323516 1.86738372] [-0.02776469 0.9995722 -0.0091947 -0.53052272] [ 0.04296526 0.01038307 0.99902261 -0.32061214] [ 0. 0. 0. 1. ]] SLAMing on 39.403201008 meters Centerline goodness [0,1] 0.9016137271989663 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.9986789 0.02868134 -0.04263605 1.8641684 ] [-0.02906792 0.99954151 -0.00847471 -0.5298294 ] [ 0.04237344 0.00970286 0.99905473 -0.31872074] [ 0. 0. 0. 1. ]] SLAMing on 39.433201008000005 meters Centerline goodness [0,1] 0.8993135697371182 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99866899 0.0291827 -0.04252776 1.86312256] [-0.02955013 0.99953099 -0.00803683 -0.52970343] [ 0.04227328 0.00928283 0.99906296 -0.31763277] [ 0. 0. 0. 1. ]] SLAMing on 39.463201008 meters Centerline goodness [0,1] 0.899053438773065 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99866577 0.02958791 -0.04232296 1.8622259 ] [-0.02995032 0.99951974 -0.00795452 -0.52897131] [ 0.04206728 0.0092115 0.99907232 -0.31732778] [ 0. 0. 0. 1. ]] SLAMing on 39.493201008 meters Centerline goodness [0,1] 0.8979086488260389 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99866337 0.03008889 -0.04202534 1.86156843] [-0.03046844 0.99950026 -0.00842026 -0.52697394] [ 0.04175098 0.00968946 0.99908106 -0.31836735] [ 0. 0. 0. 1. ]] SLAMing on 39.523201008 meters Centerline goodness [0,1] 0.8986931023190736 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99865736 0.03028132 -0.04202994 1.86140975] [-0.03064682 0.99949762 -0.00807912 -0.52707225] [ 0.04176418 0.00935635 0.99908369 -0.31786905] [ 0. 0. 0. 1. ]] SLAMing on 39.553201008 meters Centerline goodness [0,1] 0.9001104906381581 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99864615 0.03060384 -0.04206265 1.86092954] [-0.03093873 0.99949438 -0.00733379 -0.52839107] [ 0.04181694 0.00862522 0.99908806 -0.31672507] [ 0. 0. 0. 1. ]] SLAMing on 39.583201008 meters Centerline goodness [0,1] 0.9002189365084126 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99863687 0.03079537 -0.04214319 1.86077339] [-0.03109887 0.99949475 -0.00656496 -0.53003762] [ 0.04191973 0.00786662 0.99909001 -0.31571118] [ 0. 0. 0. 1. ]] SLAMing on 39.613201008000004 meters Centerline goodness [0,1] 0.8969174378079557 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.31 [[ 0.99863174 0.03078965 -0.04226875 1.86098642] [-0.03105933 0.99950107 -0.00573821 -0.53152611] [ 0.04207098 0.0070432 0.9990898 -0.31460153] [ 0. 0. 0. 1. ]] SLAMing on 39.643201008 meters Centerline goodness [0,1] 0.8996939510321651 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99863335 0.0306077 -0.04236278 1.86157614] [-0.03089108 0.99950444 -0.00605077 -0.53047985] [ 0.04215659 0.00735113 0.99908397 -0.31511797] [ 0. 0. 0. 1. ]] SLAMing on 39.673201008 meters Centerline goodness [0,1] 0.8977422445801893 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99863769 0.03016725 -0.04257583 1.86282543] [-0.03047483 0.99951379 -0.00659357 -0.52928312] [ 0.04235622 0.00788208 0.99907148 -0.31611778] [ 0. 0. 0. 1. ]] SLAMing on 39.703201008 meters Centerline goodness [0,1] 0.9014379868184541 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.53, Z:-0.32 [[ 0.99863827 0.02940955 -0.04308936 1.86489029] [-0.02974185 0.99953246 -0.00709112 -0.52865846] [ 0.04286067 0.00836302 0.99904606 -0.31695189] [ 0. 0. 0. 1. ]] SLAMing on 39.733201008 meters Centerline goodness [0,1] 0.9028564577526002 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.32 [[ 0.99863112 0.02862527 -0.04377753 1.8670528 ] [-0.02896975 0.99955396 -0.00725473 -0.52873001] [ 0.04355034 0.00851303 0.99901496 -0.31703472] [ 0. 0. 0. 1. ]] SLAMing on 39.763201008 meters Centerline goodness [0,1] 0.9044864686666467 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.32 [[ 0.99863329 0.02614925 -0.04525235 1.87225635] [-0.02650825 0.99962156 -0.00735126 -0.52983621] [ 0.045043 0.00854078 0.99894854 -0.31626406] [ 0. 0. 0. 1. ]] SLAMing on 39.793201008000004 meters Centerline goodness [0,1] 0.9092598142043752 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.53, Z:-0.31 [[ 0.99860993 0.02531762 -0.04623004 1.87457879] [-0.02565456 0.99964835 -0.0067095 -0.53183548] [ 0.04604391 0.00788618 0.99890829 -0.31478703] [ 0. 0. 0. 1. ]] SLAMing on 39.823201008 meters Centerline goodness [0,1] 0.908072556910325 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.99859863 0.02449591 -0.04691196 1.87647051] [-0.02482361 0.99967126 -0.00641563 -0.53326267] [ 0.04673938 0.00757116 0.99887842 -0.31400432] [ 0. 0. 0. 1. ]] SLAMing on 39.853201008 meters Centerline goodness [0,1] 0.9066502684704683 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.9985941 0.0237008 -0.04741416 1.87826979] [-0.02403311 0.99969035 -0.00645083 -0.5335582 ] [ 0.04724659 0.00758127 0.99885449 -0.3139492 ] [ 0. 0. 0. 1. ]] SLAMing on 39.883201008 meters Centerline goodness [0,1] 0.8878384826434451 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.32 [[ 0.99860616 0.02197001 -0.04799015 1.88160033] [-0.02234838 0.99972314 -0.00736199 -0.53154609] [ 0.04781512 0.00842423 0.99882068 -0.31513412] [ 0. 0. 0. 1. ]] SLAMing on 39.913201008 meters Centerline goodness [0,1] 0.8924984353112986 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.32 [[ 0.99860928 0.02150857 -0.04813408 1.88243572] [-0.02190594 0.99973005 -0.00774324 -0.53008068] [ 0.04795454 0.00878689 0.99881087 -0.31544218] [ 0. 0. 0. 1. ]] SLAMing on 39.943201008 meters Centerline goodness [0,1] 0.8890909632986495 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.99860479 0.02153138 -0.04821684 1.88207722] [-0.02191869 0.99973149 -0.00751837 -0.52937089] [ 0.04804201 0.00856473 0.9988086 -0.31430813] [ 0. 0. 0. 1. ]] SLAMing on 39.973201008000004 meters Centerline goodness [0,1] 0.8965671374932952 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.99859477 0.02189583 -0.04826039 1.88118521] [-0.02225611 0.99972821 -0.00694047 -0.52961774] [ 0.0480953 0.0080048 0.99881068 -0.31267539] [ 0. 0. 0. 1. ]] SLAMing on 40.003201008000005 meters Centerline goodness [0,1] 0.8974692911055202 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.9984659 0.02590636 -0.0489358 1.88179218] [-0.02605507 0.99965762 -0.00240333 -0.52930368] [ 0.04885678 0.00367466 0.99879903 -0.31013073] [ 0. 0. 0. 1. ]] SLAMing on 40.033201008 meters Centerline goodness [0,1] 0.8997874099444904 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.53, Z:-0.31 [[ 0.99846038 0.02586411 -0.04907055 1.88249442] [-0.02607168 0.99965361 -0.00359464 -0.52520663] [ 0.04896058 0.00486846 0.99878885 -0.31168595] [ 0. 0. 0. 1. ]] SLAMing on 40.063201008 meters Centerline goodness [0,1] 0.9000205961102774 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.52, Z:-0.31 [[ 0.99845051 0.02614038 -0.04912504 1.88269753] [-0.02639189 0.99964164 -0.00447803 -0.52148005] [ 0.04899037 0.0057676 0.9987826 -0.31281501] [ 0. 0. 0. 1. ]] SLAMing on 40.093201008 meters Centerline goodness [0,1] 0.9024526198439242 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.52, Z:-0.31 [[ 0.99843197 0.0265549 -0.04927918 1.88254662] [-0.02684103 0.99962643 -0.00515348 -0.51848111] [ 0.04912392 0.00646811 0.99877175 -0.31325104] [ 0. 0. 0. 1. ]] SLAMing on 40.123201008 meters Centerline goodness [0,1] 0.9026126178899889 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.52, Z:-0.31 [[ 9.98288308e-01 3.11157350e-02 -4.95203412e-02 1.88220968e+00] [-3.12098022e-02 9.99512220e-01 -1.12727921e-03 -5.16781077e-01] [ 4.94611101e-02 2.67086971e-03 9.98772479e-01 -3.11934491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.153201008 meters Centerline goodness [0,1] 0.9070752512269222 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.51, Z:-0.31 [[ 0.99829341 0.03073429 -0.04965552 1.88321528] [-0.0308733 0.99952124 -0.00203464 -0.513736 ] [ 0.04956921 0.0035642 0.99876433 -0.31304639] [ 0. 0. 0. 1. ]] SLAMing on 40.183201008000005 meters Centerline goodness [0,1] 0.9028304639626495 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.51, Z:-0.31 [[ 0.99829511 0.03013139 -0.04998967 1.88480541] [-0.03030999 0.99953657 -0.00281837 -0.51153647] [ 0.04988159 0.00432875 0.99874576 -0.31411286] [ 0. 0. 0. 1. ]] SLAMing on 40.213201008 meters Centerline goodness [0,1] 0.903294584964075 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99828715 0.0296922 -0.05040966 1.88595855] [-0.02987136 0.99954982 -0.00280429 -0.51153304] [ 0.0503037 0.00430529 0.99872469 -0.31387216] [ 0. 0. 0. 1. ]] SLAMing on 40.243201008 meters Centerline goodness [0,1] 0.9079055321143928 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99839484 0.02551808 -0.05056246 1.88545219] [-0.02588479 0.99964307 -0.00661091 -0.51134712] [ 0.05037572 0.0079091 0.99869902 -0.31282514] [ 0. 0. 0. 1. ]] SLAMing on 40.273201008 meters Centerline goodness [0,1] 0.9096796881868534 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99838469 0.02554122 -0.05075095 1.8854662 ] [-0.02588205 0.99964658 -0.00606994 -0.51188704] [ 0.05057798 0.00737368 0.99869289 -0.31167696] [ 0. 0. 0. 1. ]] SLAMing on 40.303201008 meters Centerline goodness [0,1] 0.9072249349434227 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99838258 0.02552788 -0.05079912 1.88557006] [-0.02587097 0.99964663 -0.00610784 -0.51080427] [ 0.05062525 0.00741218 0.99869021 -0.31152912] [ 0. 0. 0. 1. ]] SLAMing on 40.333201008 meters Centerline goodness [0,1] 0.9069509021259174 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.9983855 0.02554682 -0.05073222 1.88555815] [-0.02590809 0.99964335 -0.00647628 -0.50870719] [ 0.05054868 0.0077802 0.99869129 -0.31187494] [ 0. 0. 0. 1. ]] SLAMing on 40.363201008000004 meters Centerline goodness [0,1] 0.9087597622100478 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.51, Z:-0.31 [[ 0.99838296 0.02596112 -0.05057165 1.88480825] [-0.02633257 0.99963083 -0.00669265 -0.50658859] [ 0.05037923 0.00801351 0.99869801 -0.31185179] [ 0. 0. 0. 1. ]] SLAMing on 40.393201008 meters Centerline goodness [0,1] 0.9065068889660762 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.50, Z:-0.31 [[ 0.99847242 0.03192456 -0.04509591 1.89617666] [-0.0324684 0.99940799 -0.01137892 -0.50479891] [ 0.04470595 0.01282573 0.99891785 -0.31319301] [ 0. 0. 0. 1. ]] SLAMing on 40.423201008 meters Centerline goodness [0,1] 0.8969767105453493 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.51, Z:-0.31 [[ 0.99830562 0.03668514 -0.0451674 1.89518264] [-0.03698883 0.99929823 -0.00590621 -0.50680839] [ 0.04491903 0.00756689 0.99896197 -0.31022773] [ 0. 0. 0. 1. ]] SLAMing on 40.453201008 meters Centerline goodness [0,1] 0.8969916112236043 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99829094 0.03745898 -0.04485564 1.89384851] [-0.03777031 0.99926775 -0.0061131 -0.50475882] [ 0.0445938 0.00779687 0.99897478 -0.31025665] [ 0. 0. 0. 1. ]] SLAMing on 40.483201008 meters Centerline goodness [0,1] 0.89536427664242 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99826802 0.03824408 -0.04470288 1.89303971] [-0.0385717 0.99923476 -0.00648908 -0.50222025] [ 0.0444205 0.00820211 0.99897925 -0.31080243] [ 0. 0. 0. 1. ]] SLAMing on 40.513201008 meters Centerline goodness [0,1] 0.8932892656990947 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99807652 0.04349264 -0.04417745 1.89106489] [-0.04363807 0.99904468 -0.00233245 -0.50029987] [ 0.0440338 0.00425578 0.99902098 -0.3099821 ] [ 0. 0. 0. 1. ]] SLAMing on 40.543201008000004 meters Centerline goodness [0,1] 0.8973258973258973 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99805654 0.04432504 -0.04379995 1.88974529] [-0.04448041 0.99900693 -0.00257857 -0.49855602] [ 0.04364216 0.0045218 0.99903699 -0.3103958 ] [ 0. 0. 0. 1. ]] SLAMing on 40.573201008 meters Centerline goodness [0,1] 0.8918725487389425 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99804511 0.04488805 -0.04348597 1.88876019] [-0.04505319 0.9989806 -0.0028244 -0.49742629] [ 0.04331486 0.00477806 0.99905005 -0.31073614] [ 0. 0. 0. 1. ]] SLAMing on 40.603201008 meters Centerline goodness [0,1] 0.8939059046416167 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 0.99803185 0.04536823 -0.04329138 1.88814739] [-0.04553183 0.99895896 -0.00279995 -0.49743276] [ 0.04311928 0.00476557 0.99905857 -0.31100308] [ 0. 0. 0. 1. ]] SLAMing on 40.633201008 meters Centerline goodness [0,1] 0.8935470024323937 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 9.97862074e-01 4.84734977e-02 -4.38360821e-02 1.89096595e+00] [-4.84586550e-02 9.98824206e-01 1.40178889e-03 -5.00688806e-01] [ 4.38524895e-02 7.25445610e-04 9.99037753e-01 -3.11348443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.663201008 meters Centerline goodness [0,1] 0.8922709896237533 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 9.97862064e-01 4.83722121e-02 -4.39480340e-02 1.89168881e+00] [-4.83495385e-02 9.98829229e-01 1.57934315e-03 -5.02001120e-01] [ 4.39729772e-02 5.48900548e-04 9.99032570e-01 -3.11791989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.693201008 meters Centerline goodness [0,1] 0.8907718024093607 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.50, Z:-0.31 [[ 9.97852194e-01 4.83592706e-02 -4.41857481e-02 1.89243554e+00] [-4.83144754e-02 9.98830004e-01 2.08178232e-03 -5.04574936e-01] [ 4.42347245e-02 5.75001847e-05 9.99021164e-01 -3.11790400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.723201008000004 meters Centerline goodness [0,1] 0.8972019641456257 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 9.98032852e-01 4.49123115e-02 -4.37414028e-02 1.89112085e+00] [-4.50060348e-02 9.98986042e-01 -1.15974736e-03 -5.08893133e-01] [ 4.36449640e-02 3.12609306e-03 9.99042214e-01 -3.12363103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.753201008000005 meters Centerline goodness [0,1] 0.8982154852653407 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99820457 0.04134086 -0.04334236 1.89018915] [-0.04160622 0.99912036 -0.00523805 -0.50991185] [ 0.04308769 0.00703196 0.99904655 -0.31376873] [ 0. 0. 0. 1. ]] SLAMing on 40.783201008 meters Centerline goodness [0,1] 0.8992020652429007 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.51, Z:-0.31 [[ 0.99818918 0.04150719 -0.04353751 1.89077884] [-0.04174285 0.99911818 -0.00451728 -0.51321781] [ 0.04331161 0.00632648 0.99904158 -0.31375233] [ 0. 0. 0. 1. ]] SLAMing on 40.813201008 meters Centerline goodness [0,1] 0.8982342554443791 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.52, Z:-0.31 [[ 0.99817606 0.04187267 -0.0434882 1.8908496 ] [-0.04208695 0.99910585 -0.00402313 -0.51560056] [ 0.04328085 0.00584608 0.99904584 -0.31408976] [ 0. 0. 0. 1. ]] SLAMing on 40.843201008 meters Centerline goodness [0,1] 0.8989570715277573 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.52, Z:-0.31 [[ 0.99815463 0.04281995 -0.0430556 1.88932299] [-0.04299353 0.9990705 -0.00311317 -0.51836996] [ 0.04288227 0.00495854 0.99906783 -0.31372973] [ 0. 0. 0. 1. ]] SLAMing on 40.873201008 meters Centerline goodness [0,1] 0.8987547214353163 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.52, Z:-0.31 [[ 0.99813463 0.04361273 -0.04272231 1.88827684] [-0.0437601 0.99903889 -0.00252002 -0.52071464] [ 0.04257135 0.00438485 0.99908381 -0.31390238] [ 0. 0. 0. 1. ]] SLAMing on 40.903201008 meters Centerline goodness [0,1] 0.8985537374157336 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 9.98117377e-01 4.45448895e-02 -4.21598703e-02 1.88746538e+00] [-4.46586017e-02 9.99000759e-01 -1.75873302e-03 -5.25266934e-01] [ 4.20393998e-02 3.63822284e-03 9.99109329e-01 -3.15327763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.933201008000005 meters Centerline goodness [0,1] 0.899391249587669 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99828891 0.04050016 -0.04217799 1.88721479] [-0.0407594 0.99915491 -0.0053042 -0.52809458] [ 0.04192753 0.00701428 0.99909603 -0.3154276 ] [ 0. 0. 0. 1. ]] SLAMing on 40.963201008 meters Centerline goodness [0,1] 0.899391249587669 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99828891 0.04050016 -0.04217799 1.88721479] [-0.0407594 0.99915491 -0.0053042 -0.52809458] [ 0.04192753 0.00701428 0.99909603 -0.3154276 ] [ 0. 0. 0. 1. ]] SLAMing on 40.993201008 meters Centerline goodness [0,1] 0.9016516969075894 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.31 [[ 0.9984348 0.03646901 -0.04240244 1.88726956] [-0.03684539 0.99928792 -0.00812881 -0.53284212] [ 0.0420758 0.00967842 0.99906754 -0.31452255] [ 0. 0. 0. 1. ]] SLAMing on 41.023201008 meters Centerline goodness [0,1] 0.8997251502612582 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.31 [[ 0.9984332 0.03665048 -0.0422834 1.88703328] [-0.03702208 0.99928211 -0.00803882 -0.53294465] [ 0.04195842 0.00959164 0.99907332 -0.3146351 ] [ 0. 0. 0. 1. ]] SLAMing on 41.053201008 meters Centerline goodness [0,1] 0.8984377351675146 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99844188 0.03643089 -0.04226811 1.88772789] [-0.03682372 0.99928518 -0.00855245 -0.53160537] [ 0.04192633 0.0100956 0.9990697 -0.31575198] [ 0. 0. 0. 1. ]] SLAMing on 41.083201008 meters Centerline goodness [0,1] 0.8986431844729985 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99845171 0.03622443 -0.04221334 1.88832517] [-0.03664181 0.99928652 -0.00915573 -0.52943922] [ 0.04185156 0.01068833 0.99906667 -0.31688014] [ 0. 0. 0. 1. ]] SLAMing on 41.113201008000004 meters Centerline goodness [0,1] 0.8943859022444485 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99831289 0.03970024 -0.04237052 1.89025492] [-0.03996834 0.99918581 -0.00549911 -0.52788864] [ 0.04211771 0.00718331 0.99908683 -0.31772211] [ 0. 0. 0. 1. ]] SLAMing on 41.143201008 meters Centerline goodness [0,1] 0.8929879410451094 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99831162 0.03984728 -0.04226226 1.89008859] [-0.0401293 0.9991774 -0.00584547 -0.52632755] [ 0.04199457 0.00753155 0.99908945 -0.31824882] [ 0. 0. 0. 1. ]] SLAMing on 41.173201008 meters Centerline goodness [0,1] 0.8923981121434296 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99830726 0.03965621 -0.04254406 1.89085155] [-0.03993953 0.99918509 -0.00582987 -0.52607221] [ 0.0422782 0.00751919 0.99907758 -0.31804918] [ 0. 0. 0. 1. ]] SLAMing on 41.203201008 meters Centerline goodness [0,1] 0.8919578546342044 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99829723 0.03930387 -0.04310274 1.89200624] [-0.03957106 0.99920237 -0.00536303 -0.52770436] [ 0.04285757 0.00705952 0.99905625 -0.31710417] [ 0. 0. 0. 1. ]] SLAMing on 41.233201008 meters Centerline goodness [0,1] 0.8912972378318913 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99829048 0.03896063 -0.04356828 1.89315151] [-0.03921505 0.99921828 -0.00499988 -0.52909836] [ 0.04333943 0.00669987 0.99903794 -0.31650295] [ 0. 0. 0. 1. ]] SLAMing on 41.263201008 meters Centerline goodness [0,1] 0.8938377604865396 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.53, Z:-0.32 [[ 0.99829211 0.03850859 -0.04393118 1.89435476] [-0.03875505 0.99923735 -0.00477202 -0.5306709 ] [ 0.04371392 0.00646642 0.99902316 -0.31629806] [ 0. 0. 0. 1. ]] SLAMing on 41.293201008000004 meters Centerline goodness [0,1] 0.8942244715689194 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99828613 0.03818005 -0.04435193 1.89555645] [-0.03841603 0.99925179 -0.00448019 -0.53164803] [ 0.04414769 0.00617633 0.99900592 -0.31597708] [ 0. 0. 0. 1. ]] SLAMing on 41.323201008 meters Centerline goodness [0,1] 0.8925285131473154 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99828785 0.03786613 -0.04458166 1.89667486] [-0.03810955 0.99926288 -0.00462248 -0.53181373] [ 0.04437377 0.00631355 0.99899505 -0.31656301] [ 0. 0. 0. 1. ]] SLAMing on 41.353201008 meters Centerline goodness [0,1] 0.893779989866778 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99831065 0.03725317 -0.0445876 1.89843676] [-0.03752783 0.99928132 -0.00533851 -0.53110087] [ 0.04435668 0.00700277 0.99899121 -0.31887022] [ 0. 0. 0. 1. ]] SLAMing on 41.383201008 meters Centerline goodness [0,1] 0.8921155671570954 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99831529 0.03672331 -0.04492195 1.90004876] [-0.03700925 0.99929951 -0.00554981 -0.5307333 ] [ 0.04468668 0.00720299 0.99897508 -0.31948535] [ 0. 0. 0. 1. ]] SLAMing on 41.413201008 meters Centerline goodness [0,1] 0.893681162880936 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99830829 0.03670785 -0.04508983 1.90056949] [-0.0369929 0.99930037 -0.00550346 -0.53131976] [ 0.04485627 0.00716216 0.99896778 -0.31971796] [ 0. 0. 0. 1. ]] SLAMing on 41.443201008 meters Centerline goodness [0,1] 0.895121805588727 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99829418 0.03670862 -0.04540049 1.90110037] [-0.03697988 0.99930274 -0.00514903 -0.53233917] [ 0.04517982 0.00681915 0.9989556 -0.31913662] [ 0. 0. 0. 1. ]] SLAMing on 41.473201008000004 meters Centerline goodness [0,1] 0.8968156675138287 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99827832 0.03696095 -0.04554438 1.90074354] [-0.0372067 0.99929719 -0.00455968 -0.53382788] [ 0.04534384 0.00624639 0.99895191 -0.31799979] [ 0. 0. 0. 1. ]] SLAMing on 41.503201008000005 meters Centerline goodness [0,1] 0.9000748390959438 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.32 [[ 0.99827232 0.03713376 -0.04553522 1.90036595] [-0.03734167 0.99929562 -0.00372336 -0.53552689] [ 0.04536488 0.00541729 0.9989558 -0.31673926] [ 0. 0. 0. 1. ]] SLAMing on 41.533201008 meters Centerline goodness [0,1] 0.8993558052434457 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.32 [[ 0.99827422 0.03703697 -0.04557239 1.90061074] [-0.03723431 0.99930047 -0.0034889 -0.53579153] [ 0.04541129 0.00517974 0.99895495 -0.3165031 ] [ 0. 0. 0. 1. ]] SLAMing on 41.563201008 meters Centerline goodness [0,1] 0.8980649412892403 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.32 [[ 0.99828009 0.03710817 -0.0453855 1.90023733] [-0.03730317 0.99929802 -0.00345669 -0.53534092] [ 0.04522537 0.00514376 0.99896357 -0.31645168] [ 0. 0. 0. 1. ]] SLAMing on 41.593201008 meters Centerline goodness [0,1] 0.8979799796199724 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.32 [[ 0.99827848 0.03708012 -0.0454438 1.90025645] [-0.03726612 0.99930008 -0.00325238 -0.53524884] [ 0.04529139 0.0049403 0.9989616 -0.31593063] [ 0. 0. 0. 1. ]] SLAMing on 41.623201008 meters Centerline goodness [0,1] 0.9009151812417753 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.31 [[ 0.9982839 0.03601981 -0.04617165 1.90263027] [-0.03618884 0.99934096 -0.00283015 -0.53667842] [ 0.04603928 0.00449619 0.99892951 -0.31498425] [ 0. 0. 0. 1. ]] SLAMing on 41.653201008 meters Centerline goodness [0,1] 0.9023272639575546 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.53, Z:-0.32 [[ 0.99843784 0.03197033 -0.0458234 1.90183185] [-0.03234894 0.99944816 -0.00754451 -0.53451785] [ 0.04555691 0.00901506 0.99892107 -0.31618278] [ 0. 0. 0. 1. ]] SLAMing on 41.683201008000005 meters Centerline goodness [0,1] 0.9034902646331907 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.54, Z:-0.32 [[ 0.99843042 0.03151257 -0.0462997 1.90311116] [-0.03187095 0.99946732 -0.00702255 -0.53576124] [ 0.04605374 0.00848714 0.99890291 -0.31530115] [ 0. 0. 0. 1. ]] SLAMing on 41.713201008 meters Centerline goodness [0,1] 0.9051729323308271 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.54, Z:-0.31 [[ 0.9984233 0.03082993 -0.04690879 1.9050164 ] [-0.03118508 0.9994901 -0.0068579 -0.53616636] [ 0.04667344 0.00830994 0.99887564 -0.3149011 ] [ 0. 0. 0. 1. ]] SLAMing on 41.743201008 meters Centerline goodness [0,1] 0.9074180216597786 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.32 [[ 0.99842476 0.02997844 -0.04742668 1.90696043] [-0.03035875 0.99951227 -0.00731881 -0.53493718] [ 0.04718415 0.00874709 0.99884791 -0.315277 ] [ 0. 0. 0. 1. ]] SLAMing on 41.773201008 meters Centerline goodness [0,1] 0.9034457787701407 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.32 [[ 0.9984223 0.02956414 -0.04773755 1.90808699] [-0.02996161 0.99952191 -0.00763204 -0.53408519] [ 0.04748909 0.00905029 0.99883076 -0.31562222] [ 0. 0. 0. 1. ]] SLAMing on 41.803201008 meters Centerline goodness [0,1] 0.9060948081264109 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.32 [[ 0.99841873 0.02924416 -0.0480086 1.90904485] [-0.0296521 0.99952979 -0.00780693 -0.53298305] [ 0.04775771 0.00921814 0.99881641 -0.31571343] [ 0. 0. 0. 1. ]] SLAMing on 41.833201008 meters Centerline goodness [0,1] 0.9115532118887824 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.32 [[ 0.99841275 0.02877561 -0.04841424 1.91033485] [-0.02921337 0.99953825 -0.00835875 -0.53074457] [ 0.04815136 0.00975982 0.99879237 -0.31604962] [ 0. 0. 0. 1. ]] SLAMing on 41.863201008000004 meters Centerline goodness [0,1] 0.9085656118080296 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.32 [[ 0.99839942 0.02881361 -0.0486659 1.9105623 ] [-0.02924988 0.99953787 -0.00827634 -0.53030068] [ 0.04840494 0.00968657 0.99878082 -0.31550289] [ 0. 0. 0. 1. ]] SLAMing on 41.893201008 meters Centerline goodness [0,1] 0.9137555562184899 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.9983798 0.02875371 -0.049102 1.91120969] [-0.02918524 0.99954125 -0.00809404 -0.52976163] [ 0.04884674 0.00951398 0.99876097 -0.31466903] [ 0. 0. 0. 1. ]] SLAMing on 41.923201008 meters Centerline goodness [0,1] 0.9153117741647311 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99837367 0.02891607 -0.04913119 1.91095756] [-0.02934935 0.99953623 -0.0081203 -0.52889024] [ 0.0488736 0.00954907 0.99875932 -0.31434952] [ 0. 0. 0. 1. ]] SLAMing on 41.953201008 meters Centerline goodness [0,1] 0.9138530066815145 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99836879 0.02948092 -0.04889402 1.90955929] [-0.02991103 0.99951984 -0.00808848 -0.52676471] [ 0.04863209 0.00953776 0.99877122 -0.3136037 ] [ 0. 0. 0. 1. ]] SLAMing on 41.983201008 meters Centerline goodness [0,1] 0.9123212223505375 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99836452 0.02958473 -0.04891867 1.9093999 ] [-0.03001595 0.99951657 -0.0081039 -0.52538602] [ 0.04865527 0.00955898 0.99876989 -0.31325323] [ 0. 0. 0. 1. ]] SLAMing on 42.013201008 meters Centerline goodness [0,1] 0.9102541318642261 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.31 [[ 0.99836733 0.02988449 -0.04867854 1.90854545] [-0.03031391 0.99950755 -0.0081071 -0.52439021] [ 0.04841229 0.0095695 0.9987816 -0.31303508] [ 0. 0. 0. 1. ]] SLAMing on 42.043201008000004 meters Centerline goodness [0,1] 0.9112215909090909 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.52, Z:-0.31 [[ 0.99836316 0.03028853 -0.04851396 1.90743002] [-0.03069783 0.99949894 -0.00771399 -0.52382766] [ 0.048256 0.00919063 0.99879272 -0.31192278] [ 0. 0. 0. 1. ]] SLAMing on 42.073201008 meters Centerline goodness [0,1] 0.9100983762000712 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.9983492 0.0309303 -0.04839626 1.90527443] [-0.03124809 0.99949469 -0.00582357 -0.52518878] [ 0.04819168 0.00732625 0.99881124 -0.30767085] [ 0. 0. 0. 1. ]] SLAMing on 42.103201008 meters Centerline goodness [0,1] 0.9124107142857143 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99834324 0.03087588 -0.04855367 1.90510131] [-0.03115767 0.99950169 -0.0050573 -0.52639332] [ 0.04837333 0.00656174 0.99880777 -0.30596599] [ 0. 0. 0. 1. ]] SLAMing on 42.133201008 meters Centerline goodness [0,1] 0.9151389095231021 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.30 [[ 0.99832957 0.03022213 -0.04924117 1.90687034] [-0.03048689 0.99952442 -0.00463446 -0.52722464] [ 0.04907769 0.00612793 0.99877617 -0.30496741] [ 0. 0. 0. 1. ]] SLAMing on 42.163201008 meters Centerline goodness [0,1] 0.9137306161250074 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99832038 0.02935781 -0.04994536 1.90921635] [-0.02963269 0.99954946 -0.00477194 -0.52765745] [ 0.04978276 0.00624394 0.99874055 -0.30511696] [ 0. 0. 0. 1. ]] SLAMing on 42.193201008 meters Centerline goodness [0,1] 0.9188916577667022 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.53, Z:-0.31 [[ 0.99831527 0.02839831 -0.05059795 1.91188003] [-0.02869641 0.99957478 -0.00517486 -0.52787132] [ 0.05042948 0.00661812 0.9987057 -0.30599589] [ 0. 0. 0. 1. ]] SLAMing on 42.223201008000004 meters Centerline goodness [0,1] 0.9181241477441158 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.53, Z:-0.31 [[ 0.99829657 0.0264445 -0.05200627 1.9173082 ] [-0.02682823 0.99961764 -0.00669417 -0.52610041] [ 0.05180936 0.008078 0.99862432 -0.30836938] [ 0. 0. 0. 1. ]] SLAMing on 42.253201008 meters Centerline goodness [0,1] 0.9164081198475312 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 0.99828889 0.02582741 -0.05246184 1.91928172] [-0.02626118 0.99962626 -0.00759575 -0.52382583] [ 0.05224606 0.00896047 0.99859404 -0.30965771] [ 0. 0. 0. 1. ]] SLAMing on 42.283201008 meters Centerline goodness [0,1] 0.9178765344664778 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 0.99827664 0.02559851 -0.05280595 1.92042151] [-0.0260752 0.99962504 -0.00835784 -0.52141669] [ 0.0525722 0.00972036 0.99856982 -0.31055188] [ 0. 0. 0. 1. ]] SLAMing on 42.313201008 meters Centerline goodness [0,1] 0.9176183188132799 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 0.99812834 0.02922361 -0.05371971 1.92269021] [-0.02948658 0.99955673 -0.00410887 -0.52175564] [ 0.05357582 0.00568519 0.9985476 -0.30947753] [ 0. 0. 0. 1. ]] SLAMing on 42.343201008 meters Centerline goodness [0,1] 0.9186379300274516 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 9.97963058e-01 3.39603313e-02 -5.40039821e-02 1.92206558e+00] [-3.40078490e-02 9.99421565e-01 3.90797434e-05 -5.19145190e-01] [ 5.39740715e-02 1.79755913e-03 9.98540719e-01 -3.07511131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.373201008 meters Centerline goodness [0,1] 0.9205265154831743 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 9.97944131e-01 3.46339907e-02 -5.39258638e-02 1.92079752e+00] [-3.46845306e-02 9.99398311e-01 -1.33391215e-06 -5.17203233e-01] [ 5.38933710e-02 1.87172444e-03 9.98544942e-01 -3.06725068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.403201008 meters Centerline goodness [0,1] 0.9192354757881243 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.31 [[ 9.97927458e-01 3.49857380e-02 -5.40072784e-02 1.92024671e+00] [-3.50344112e-02 9.99386106e-01 4.55396723e-05 -5.15731413e-01] [ 5.39757169e-02 1.84666791e-03 9.98540541e-01 -3.05887492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.433201008000005 meters Centerline goodness [0,1] 0.9160717395089675 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.52, Z:-0.30 [[ 0.99775882 0.03952126 -0.05399459 1.91977063] [-0.03932641 0.99921552 0.00466679 -0.51544416] [ 0.05413666 -0.00253291 0.99853032 -0.30432117] [ 0. 0. 0. 1. ]] SLAMing on 42.463201008 meters Centerline goodness [0,1] 0.9149872596710679 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.30 [[ 0.99776311 0.04003603 -0.05353412 1.91846474] [-0.0398495 0.99919534 0.00454765 -0.51312273] [ 0.05367311 -0.00240417 0.99855567 -0.3043024 ] [ 0. 0. 0. 1. ]] SLAMing on 42.493201008 meters Centerline goodness [0,1] 0.915915134697653 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.30 [[ 0.99777053 0.04050096 -0.05304371 1.91715013] [-0.04032724 0.99917709 0.00434161 -0.51115939] [ 0.0531759 -0.00219282 0.99858275 -0.30439331] [ 0. 0. 0. 1. ]] SLAMing on 42.523201008 meters Centerline goodness [0,1] 0.9176385681293302 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.51, Z:-0.30 [[ 0.99775859 0.04084324 -0.05300587 1.91639536] [-0.0406718 0.99916327 0.00430947 -0.5099748 ] [ 0.05313753 -0.00214396 0.9985849 -0.30374392] [ 0. 0. 0. 1. ]] SLAMing on 42.553201008 meters Centerline goodness [0,1] 0.9175576489626076 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.99789275 0.04299263 -0.04859734 1.92939291] [-0.04329774 0.99904846 -0.00524268 -0.50849533] [ 0.0483257 0.00733578 0.99880469 -0.30774897] [ 0. 0. 0. 1. ]] SLAMing on 42.583201008 meters Centerline goodness [0,1] 0.9182984859408796 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.99786697 0.04317578 -0.04896281 1.92947543] [-0.04346871 0.99904261 -0.00493324 -0.50902154] [ 0.04870293 0.00705107 0.99878842 -0.30661728] [ 0. 0. 0. 1. ]] SLAMing on 42.613201008000004 meters Centerline goodness [0,1] 0.9206579023570973 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.99784709 0.04367308 -0.0489269 1.92863787] [-0.04394214 0.99902423 -0.0044366 -0.50989147] [ 0.04868539 0.006577 0.99879251 -0.30567005] [ 0. 0. 0. 1. ]] SLAMing on 42.643201008 meters Centerline goodness [0,1] 0.9202086049543676 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.9978331 0.04371108 -0.04917764 1.92908252] [-0.04397824 0.99902296 -0.00436304 -0.51026162] [ 0.04893888 0.00651633 0.99878052 -0.3054833 ] [ 0. 0. 0. 1. ]] SLAMing on 42.673201008 meters Centerline goodness [0,1] 0.9184064577949418 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.9978404 0.04320781 -0.04947341 1.93166745] [-0.04351739 0.99903915 -0.00519706 -0.51034375] [ 0.04920132 0.00733879 0.99876192 -0.30843863] [ 0. 0. 0. 1. ]] SLAMing on 42.703201008 meters Centerline goodness [0,1] 0.9166302543039413 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.51, Z:-0.31 [[ 0.99785235 0.04273113 -0.04964618 1.9336591 ] [-0.04307247 0.99905496 -0.00582573 -0.51017248] [ 0.04935032 0.0079516 0.99874988 -0.3106607 ] [ 0. 0. 0. 1. ]] SLAMing on 42.733201008 meters Centerline goodness [0,1] 0.9198388603456329 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.51, Z:-0.31 [[ 0.99785169 0.04224175 -0.05007633 1.93619973] [-0.04258996 0.99907518 -0.00590656 -0.51211945] [ 0.04978052 0.00802662 0.99872793 -0.3124796 ] [ 0. 0. 0. 1. ]] SLAMing on 42.763201008 meters Centerline goodness [0,1] 0.9177304133973533 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.31 [[ 0.9978232 0.04239876 -0.05050955 1.93660877] [-0.04269555 0.99907655 -0.00481095 -0.51525267] [ 0.05025893 0.00695701 0.99871199 -0.31094877] [ 0. 0. 0. 1. ]] SLAMing on 42.793201008000004 meters Centerline goodness [0,1] 0.9200835957966621 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.31 [[ 0.9977803 0.0427493 -0.05105851 1.93653743] [-0.04295524 0.99907267 -0.00294234 -0.51971946] [ 0.05088538 0.00512904 0.99869133 -0.30782989] [ 0. 0. 0. 1. ]] SLAMing on 42.823201008 meters Centerline goodness [0,1] 0.9201487252124646 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.31 [[ 9.97752771e-01 4.30983989e-02 -5.13023979e-02 1.93609855e+00] [-4.32238256e-02 9.99064519e-01 -1.33737594e-03 -5.24043274e-01] [ 5.11967667e-02 3.55185644e-03 9.98682269e-01 -3.05388919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.853201008 meters Centerline goodness [0,1] 0.9201487252124646 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.52, Z:-0.31 [[ 9.97752771e-01 4.30983989e-02 -5.13023979e-02 1.93609855e+00] [-4.32238256e-02 9.99064519e-01 -1.33737594e-03 -5.24043274e-01] [ 5.11967667e-02 3.55185644e-03 9.98682269e-01 -3.05388919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.883201008 meters Centerline goodness [0,1] 0.9237973479217458 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.53, Z:-0.30 [[ 0.99791589 0.03955114 -0.05098618 1.93467254] [-0.03982848 0.99919669 -0.00443457 -0.52684774] [ 0.05076983 0.00645603 0.99868951 -0.30483196] [ 0. 0. 0. 1. ]] SLAMing on 42.913201008 meters Centerline goodness [0,1] 0.9252918056217246 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.53, Z:-0.30 [[ 0.99790115 0.03939286 -0.05139548 1.93557051] [-0.03961935 0.99920908 -0.00339509 -0.52969149] [ 0.05122109 0.00542422 0.99867261 -0.30359267] [ 0. 0. 0. 1. ]] SLAMing on 42.943201008 meters Centerline goodness [0,1] 0.9270221689634511 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.53, Z:-0.30 [[ 0.99789055 0.0391409 -0.05179223 1.93670511] [-0.03932983 0.99922281 -0.00263322 -0.53313778] [ 0.05164891 0.00466465 0.99865441 -0.30306256] [ 0. 0. 0. 1. ]] SLAMing on 42.973201008000004 meters Centerline goodness [0,1] 0.9289795674155623 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.30 [[ 9.97873430e-01 3.87780014e-02 -5.23916487e-02 1.93826259e+00] [-3.89190151e-02 9.99240967e-01 -1.67361612e-03 -5.36478768e-01] [ 5.22869822e-02 3.70908843e-03 9.98625212e-01 -3.02053021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.003201008 meters Centerline goodness [0,1] 0.9297516957002421 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.30 [[ 9.97878675e-01 3.83438068e-02 -5.26108585e-02 1.93969553e+00] [-3.84885828e-02 9.99257523e-01 -1.74105883e-03 -5.37155393e-01] [ 5.25050374e-02 3.76228286e-03 9.98613572e-01 -3.02754635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.033201008 meters Centerline goodness [0,1] 0.929808351464934 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.30 [[ 0.99788263 0.03807453 -0.05273136 1.9404525 ] [-0.03823214 0.99926692 -0.00198314 -0.53657412] [ 0.0526172 0.00399497 0.99860676 -0.30315059] [ 0. 0. 0. 1. ]] SLAMing on 43.063201008 meters Centerline goodness [0,1] 0.9307001368151805 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.30 [[ 0.9978788 0.03760486 -0.05313924 1.94173251] [-0.03776992 0.99928424 -0.00210506 -0.53651419] [ 0.05302205 0.00410766 0.99858489 -0.30312376] [ 0. 0. 0. 1. ]] SLAMing on 43.093201008 meters Centerline goodness [0,1] 0.9301631812893411 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.54, Z:-0.30 [[ 0.99802383 0.0326687 -0.05367672 1.9434067 ] [-0.03307376 0.99943062 -0.00667515 -0.53584319] [ 0.05342809 0.00843725 0.99853605 -0.3037792 ] [ 0. 0. 0. 1. ]] SLAMing on 43.123201008 meters Centerline goodness [0,1] 0.9284240122035115 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.54, Z:-0.30 [[ 0.99800524 0.03155419 -0.05467967 1.94654264] [-0.03196235 0.99946724 -0.00660583 -0.5374578 ] [ 0.0544421 0.00834034 0.9984821 -0.30356484] [ 0. 0. 0. 1. ]] SLAMing on 43.153201008 meters Centerline goodness [0,1] 0.92952437930003 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.54, Z:-0.30 [[ 0.99799114 0.03010581 -0.05574341 1.95051036] [-0.03053122 0.99951071 -0.00679562 -0.53829655] [ 0.05551154 0.00848389 0.998422 -0.30397453] [ 0. 0. 0. 1. ]] SLAMing on 43.183201008000005 meters Centerline goodness [0,1] 0.922000898607159 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.54, Z:-0.31 [[ 0.99798279 0.02881546 -0.05656874 1.95414527] [-0.02929025 0.99954219 -0.0075818 -0.53769268] [ 0.05632437 0.00922342 0.99836992 -0.30550816] [ 0. 0. 0. 1. ]] SLAMing on 43.213201008 meters Centerline goodness [0,1] 0.9194140287018528 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.31 [[ 0.99799505 0.02627289 -0.05758132 1.95963457] [-0.02685128 0.99959623 -0.00929403 -0.53462639] [ 0.05731389 0.01082153 0.99829756 -0.30786249] [ 0. 0. 0. 1. ]] SLAMing on 43.243201008 meters Centerline goodness [0,1] 0.9187209717756342 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.31 [[ 0.99798558 0.02576474 -0.05797384 1.96072297] [-0.02633835 0.99961119 -0.00915189 -0.53404863] [ 0.0577155 0.01066039 0.99827615 -0.30706774] [ 0. 0. 0. 1. ]] SLAMing on 43.273201008 meters Centerline goodness [0,1] 0.915123548675201 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.31 [[ 0.99798281 0.02570781 -0.05804666 1.96041762] [-0.02626338 0.99961607 -0.00882837 -0.53324001] [ 0.05779742 0.01033507 0.99827483 -0.30568124] [ 0. 0. 0. 1. ]] SLAMing on 43.303201008 meters Centerline goodness [0,1] 0.9175104670843602 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.30 [[ 0.9979713 0.02589706 -0.05816036 1.95953721] [-0.02642495 0.99961613 -0.00832581 -0.53190924] [ 0.05792242 0.0098458 0.99827253 -0.30339845] [ 0. 0. 0. 1. ]] SLAMing on 43.333201008 meters Centerline goodness [0,1] 0.920494017753763 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.30 [[ 0.99797112 0.026569 -0.0578596 1.95740811] [-0.02706395 0.99960337 -0.00778738 -0.53058199] [ 0.05762975 0.00933749 0.99829436 -0.30134476] [ 0. 0. 0. 1. ]] SLAMing on 43.363201008000004 meters Centerline goodness [0,1] 0.923063260412658 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.30 [[ 0.99796957 0.02711451 -0.05763288 1.95581698] [-0.02760039 0.99958976 -0.00765114 -0.52824051] [ 0.05740178 0.00922629 0.99830852 -0.29990076] [ 0. 0. 0. 1. ]] SLAMing on 43.393201008 meters Centerline goodness [0,1] 0.9213986587401528 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.30 [[ 0.99783025 0.03271514 -0.05713586 1.95257754] [-0.03294841 0.9994521 -0.00314538 -0.52377649] [ 0.05700165 0.0050211 0.99836146 -0.29689999] [ 0. 0. 0. 1. ]] SLAMing on 43.423201008 meters Centerline goodness [0,1] 0.9239326693459141 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.30 [[ 9.97670080e-01 3.69932773e-02 -5.73228473e-02 1.95255536e+00] [-3.69884021e-02 9.99315037e-01 1.14642215e-03 -5.22556314e-01] [ 5.73259932e-02 9.76529448e-04 9.98355035e-01 -2.95239915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.453201008 meters Centerline goodness [0,1] 0.9217813718075514 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.30 [[ 9.97666560e-01 3.78611123e-02 -5.68152302e-02 1.95082629e+00] [-3.78705688e-02 9.99282238e-01 9.10615439e-04 -5.18504383e-01] [ 5.68089273e-02 1.24313451e-03 9.98384295e-01 -2.95199538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.483201008 meters Centerline goodness [0,1] 0.9222219022662481 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.30 [[ 9.97517245e-01 4.19973497e-02 -5.65293685e-02 1.95078435e+00] [-4.18343604e-02 9.99116294e-01 4.06409088e-03 -5.13780723e-01] [ 5.66500942e-02 -1.68913076e-03 9.98392665e-01 -2.95487590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.513201008 meters Centerline goodness [0,1] 0.9216461754506635 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.30 [[ 9.97528125e-01 4.19897273e-02 -5.63427253e-02 1.95067282e+00] [-4.18762633e-02 9.99117701e-01 3.19348080e-03 -5.10551796e-01] [ 5.64271075e-02 -8.26164115e-04 9.98406380e-01 -2.96418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.543201008000004 meters Centerline goodness [0,1] 0.9216617550284685 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.30 [[ 9.97530836e-01 4.20490077e-02 -5.62504355e-02 1.95045864e+00] [-4.19686983e-02 9.99115520e-01 2.60878803e-03 -5.08213141e-01] [ 5.63103800e-02 -2.41588947e-04 9.98413283e-01 -2.96815127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.573201008 meters Centerline goodness [0,1] 0.920135305584222 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.30 [[ 9.97511152e-01 4.24595476e-02 -5.62911042e-02 1.94957150e+00] [-4.24009056e-02 9.99098175e-01 2.23623883e-03 -5.06479875e-01] [ 5.63352892e-02 1.56120621e-04 9.98411894e-01 -2.96187111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.603201008 meters Centerline goodness [0,1] 0.917434869739479 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.30 [[ 9.97510518e-01 4.26263395e-02 -5.61761702e-02 1.94935703e+00] [-4.25833491e-02 9.99090990e-01 1.96263163e-03 -5.05683328e-01] [ 5.62087653e-02 4.34423775e-04 9.98418943e-01 -2.96569304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.633201008 meters Centerline goodness [0,1] 0.9185923619640664 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 9.97514888e-01 4.28683128e-02 -5.59138197e-02 1.94892674e+00] [-4.28448258e-02 9.99080427e-01 1.61928870e-03 -5.03986499e-01] [ 5.59318190e-02 7.80353280e-04 9.98434286e-01 -2.97152619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.663201008 meters Centerline goodness [0,1] 0.9176232660153246 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 9.97526101e-01 4.30456922e-02 -5.55764831e-02 1.94886490e+00] [-4.30522369e-02 9.99072239e-01 1.08006182e-03 -5.01543546e-01] [ 5.55714134e-02 1.31530206e-03 9.98453849e-01 -2.98495751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.693201008 meters Centerline goodness [0,1] 0.9187659937446687 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.9973746 0.04670275 -0.05534219 1.95028947] [-0.0465103 0.99890646 0.00476089 -0.50055655] [ 0.05550402 -0.00217441 0.9984561 -0.29969898] [ 0. 0. 0. 1. ]] SLAMing on 43.723201008000004 meters Centerline goodness [0,1] 0.9202419148754933 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 9.97387548e-01 4.66224682e-02 -5.51763098e-02 1.95052588e+00] [-4.64471526e-02 9.98910809e-01 4.45618490e-03 -5.00196942e-01] [ 5.53239706e-02 -1.88176085e-03 9.98466683e-01 -3.00541437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.753201008 meters Centerline goodness [0,1] 0.9184432395605644 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99738729 0.04687213 -0.05496906 1.94995195] [-0.04668804 0.99889879 0.0046291 -0.50072599] [ 0.05512551 -0.00205061 0.99847733 -0.30045507] [ 0. 0. 0. 1. ]] SLAMing on 43.783201008 meters Centerline goodness [0,1] 0.9184599245839358 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99738324 0.04710808 -0.05484068 1.94943381] [-0.04691617 0.99888738 0.00478222 -0.50108142] [ 0.05500494 -0.00219679 0.99848367 -0.30022038] [ 0. 0. 0. 1. ]] SLAMing on 43.813201008 meters Centerline goodness [0,1] 0.9184648187633262 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99737248 0.04789724 -0.05435069 1.94752183] [-0.0476793 0.99884863 0.00530014 -0.50222834] [ 0.05454198 -0.00269481 0.99850784 -0.29925894] [ 0. 0. 0. 1. ]] SLAMing on 43.843201008 meters Centerline goodness [0,1] 0.918329637841833 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99735218 0.04839957 -0.05427809 1.94659386] [-0.0481566 0.9988231 0.00577609 -0.50341795] [ 0.05449377 -0.00314694 0.99850915 -0.29831958] [ 0. 0. 0. 1. ]] SLAMing on 43.873201008 meters Centerline goodness [0,1] 0.914220575662582 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99734006 0.04886317 -0.05408516 1.94577408] [-0.04860051 0.99879929 0.00616184 -0.50469583] [ 0.05432131 -0.00351688 0.99851731 -0.29797513] [ 0. 0. 0. 1. ]] SLAMing on 43.903201008 meters Centerline goodness [0,1] 0.9140994248619099 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.99734632 0.04870733 -0.05411021 1.94663174] [-0.048465 0.99880814 0.00578243 -0.50473638] [ 0.05432737 -0.00314464 0.99851823 -0.29920989] [ 0. 0. 0. 1. ]] SLAMing on 43.933201008000005 meters Centerline goodness [0,1] 0.9119597530299566 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.30 [[ 0.9974026 0.04806056 -0.05364913 1.94906173] [-0.04788021 0.9988423 0.00464279 -0.50349958] [ 0.05381015 -0.002062 0.99854906 -0.30380927] [ 0. 0. 0. 1. ]] SLAMing on 43.963201008 meters Centerline goodness [0,1] 0.9105698030134088 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.31 [[ 9.97418981e-01 4.75583209e-02 -5.37920286e-02 1.95082478e+00] [-4.73946435e-02 9.98866922e-01 4.31507228e-03 -5.04271546e-01] [ 5.39362956e-02 -1.75448098e-03 9.98542837e-01 -3.05555258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.993201008 meters Centerline goodness [0,1] 0.9098612587251889 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.50, Z:-0.31 [[ 9.97618909e-01 4.37509939e-02 -5.33138219e-02 1.95030062e+00] [-4.38184973e-02 9.99039504e-01 -9.73516190e-05 -5.03961202e-01] [ 5.32583549e-02 2.43325138e-03 9.98577802e-01 -3.07603373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.023201008 meters Centerline goodness [0,1] 0.9089911647514004 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.31 [[ 0.9977921 0.04002528 -0.05299914 1.94926875] [-0.04029175 0.99918008 -0.00396849 -0.50517908] [ 0.05279684 0.00609516 0.99858667 -0.30819947] [ 0. 0. 0. 1. ]] SLAMing on 44.053201008 meters Centerline goodness [0,1] 0.9097965973093647 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.51, Z:-0.31 [[ 0.9979245 0.03630904 -0.05318226 1.9489726 ] [-0.03671296 0.99930381 -0.00663767 -0.51125677] [ 0.05290423 0.00857637 0.99856276 -0.30740848] [ 0. 0. 0. 1. ]] SLAMing on 44.083201008 meters Centerline goodness [0,1] 0.9068636070570306 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 0.99790065 0.0366266 -0.05341147 1.94907039] [-0.03696632 0.999302 -0.00538605 -0.51570049] [ 0.05317691 0.00734917 0.99855806 -0.30629609] [ 0. 0. 0. 1. ]] SLAMing on 44.113201008000004 meters Centerline goodness [0,1] 0.9073143495254048 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 0.9978927 0.03675949 -0.05346861 1.94944103] [-0.03706173 0.99930206 -0.00467183 -0.51874139] [ 0.05325956 0.00664363 0.9985586 -0.3062487 ] [ 0. 0. 0. 1. ]] SLAMing on 44.143201008 meters Centerline goodness [0,1] 0.9080608611201035 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 0.99789724 0.03682609 -0.05333799 1.95000487] [-0.03711397 0.99930128 -0.0044167 -0.52066182] [ 0.05313808 0.006387 0.99856675 -0.30731578] [ 0. 0. 0. 1. ]] SLAMing on 44.173201008 meters Centerline goodness [0,1] 0.9043894087433952 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 0.99793968 0.03668864 -0.05263393 1.95044354] [-0.03695769 0.99930823 -0.00414727 -0.52313642] [ 0.05244536 0.00608395 0.99860526 -0.30943352] [ 0. 0. 0. 1. ]] SLAMing on 44.203201008 meters Centerline goodness [0,1] 0.9020995658121691 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 0.99809519 0.0328361 -0.05222817 1.94905504] [-0.03328309 0.99941621 -0.00771163 -0.52449088] [ 0.05194446 0.00943525 0.9986054 -0.30918987] [ 0. 0. 0. 1. ]] SLAMing on 44.233201008 meters Centerline goodness [0,1] 0.9025023889154324 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99821763 0.02958333 -0.05183043 1.94605591] [-0.03011082 0.99950212 -0.00942608 -0.52915305] [ 0.05152577 0.01096994 0.99861141 -0.30525827] [ 0. 0. 0. 1. ]] SLAMing on 44.263201008 meters Centerline goodness [0,1] 0.9019701778549614 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.30 [[ 0.99819612 0.0298432 -0.05209498 1.94532949] [-0.03028087 0.99951229 -0.00763235 -0.53264781] [ 0.0518418 0.00919606 0.99861297 -0.30181368] [ 0. 0. 0. 1. ]] SLAMing on 44.293201008000004 meters Centerline goodness [0,1] 0.9017793169333652 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.30 [[ 0.99818793 0.02995341 -0.05218851 1.94522775] [-0.03035962 0.99951447 -0.00700811 -0.53337618] [ 0.05195326 0.00857984 0.99861266 -0.30071224] [ 0. 0. 0. 1. ]] SLAMing on 44.323201008 meters Centerline goodness [0,1] 0.8991548959297638 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.30 [[ 0.99820278 0.02968933 -0.05205539 1.94609132] [-0.0301388 0.99951474 -0.00787054 -0.5309035 ] [ 0.05179646 0.00942529 0.99861318 -0.30257551] [ 0. 0. 0. 1. ]] SLAMing on 44.353201008 meters Centerline goodness [0,1] 0.8992220440643743 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.30 [[ 0.99807098 0.03294904 -0.05261821 1.94926779] [-0.0332299 0.99943773 -0.00447158 -0.52991667] [ 0.05244129 0.00621145 0.99860469 -0.30407612] [ 0. 0. 0. 1. ]] SLAMing on 44.383201008 meters Centerline goodness [0,1] 0.8963539654711319 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99809039 0.03205265 -0.0528035 1.9517496 ] [-0.03241108 0.99945694 -0.00594552 -0.52685218] [ 0.05258425 0.00764559 0.99858722 -0.30711656] [ 0. 0. 0. 1. ]] SLAMing on 44.413201008 meters Centerline goodness [0,1] 0.8954376578986476 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99807808 0.03191056 -0.05312118 1.9525854 ] [-0.03226156 0.99946285 -0.00576294 -0.52743529] [ 0.05290875 0.00746563 0.99857144 -0.30692669] [ 0. 0. 0. 1. ]] SLAMing on 44.443201008 meters Centerline goodness [0,1] 0.8960040375252345 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99806668 0.03187161 -0.05335816 1.95312077] [-0.03220857 0.99946622 -0.00546696 -0.5280866 ] [ 0.05315544 0.00717498 0.99856047 -0.30651668] [ 0. 0. 0. 1. ]] SLAMing on 44.473201008000004 meters Centerline goodness [0,1] 0.8977309802758416 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99805657 0.031808 -0.05358474 1.95373119] [-0.03213807 0.99946934 -0.00530922 -0.52852177] [ 0.05338743 0.00702101 0.99854919 -0.30640381] [ 0. 0. 0. 1. ]] SLAMing on 44.503201008 meters Centerline goodness [0,1] 0.8988146519711239 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99804958 0.03172498 -0.05376397 1.95453306] [-0.03207108 0.99946998 -0.00558683 -0.52785729] [ 0.05355823 0.0073002 0.99853804 -0.30706929] [ 0. 0. 0. 1. ]] SLAMing on 44.533201008 meters Centerline goodness [0,1] 0.8988248527365835 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.31 [[ 0.99804673 0.03135536 -0.05403295 1.95589831] [-0.03173271 0.99947753 -0.00613988 -0.52654865] [ 0.0538122 0.0078425 0.99852028 -0.30811264] [ 0. 0. 0. 1. ]] SLAMing on 44.563201008 meters Centerline goodness [0,1] 0.894615110900249 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.53, Z:-0.31 [[ 0.99804902 0.03113799 -0.05411635 1.95664647] [-0.03153872 0.99948096 -0.00656669 -0.52509827] [ 0.05388379 0.00826064 0.99851304 -0.30887771] [ 0. 0. 0. 1. ]] SLAMing on 44.593201008 meters Centerline goodness [0,1] 0.8958586908119341 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 0.99804971 0.03172419 -0.05376202 1.95531566] [-0.03210801 0.99946461 -0.00629048 -0.52470855] [ 0.05353368 0.0080044 0.99853396 -0.30836793] [ 0. 0. 0. 1. ]] SLAMing on 44.623201008 meters Centerline goodness [0,1] 0.8951015673794724 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99804541 0.03233149 -0.05347937 1.95381411] [-0.03267995 0.99944988 -0.00565394 -0.52505208] [ 0.05326715 0.0073906 0.99855295 -0.30711802] [ 0. 0. 0. 1. ]] SLAMing on 44.653201008 meters Centerline goodness [0,1] 0.893630289532294 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99803697 0.03271969 -0.05340061 1.95302161] [-0.03303676 0.9994413 -0.00506551 -0.5251146 ] [ 0.05320504 0.00681975 0.99856032 -0.3058999 ] [ 0. 0. 0. 1. ]] SLAMing on 44.683201008000005 meters Centerline goodness [0,1] 0.8950355031343771 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.53, Z:-0.31 [[ 0.99803413 0.03324961 -0.05312563 1.95176759] [-0.03354292 0.99942651 -0.00463889 -0.52502016] [ 0.05294092 0.00641176 0.99857706 -0.30505994] [ 0. 0. 0. 1. ]] SLAMing on 44.713201008 meters Centerline goodness [0,1] 0.8947399614757742 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.30 [[ 0.99803239 0.03353792 -0.05297689 1.95109145] [-0.03382212 0.99941784 -0.00447693 -0.52432274] [ 0.0527959 0.00625991 0.9985857 -0.30454939] [ 0. 0. 0. 1. ]] SLAMing on 44.743201008 meters Centerline goodness [0,1] 0.8942500886420045 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.30 [[ 9.97880405e-01 3.76925592e-02 -5.30468472e-02 1.95158263e+00] [-3.77643013e-02 9.99286613e-01 -3.50379219e-04 -5.24042638e-01] [ 5.29957975e-02 2.35291368e-03 9.98591963e-01 -3.04118674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.773201008 meters Centerline goodness [0,1] 0.8913639984657599 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 9.97886032e-01 3.78427211e-02 -5.28336560e-02 1.95145631e+00] [-3.79412131e-02 9.99279601e-01 -8.62091317e-04 -5.22267549e-01] [ 5.27629709e-02 2.86484189e-03 9.98602955e-01 -3.05057927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.803201008 meters Centerline goodness [0,1] 0.8913639984657599 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 9.97886032e-01 3.78427211e-02 -5.28336560e-02 1.95145631e+00] [-3.79412131e-02 9.99279601e-01 -8.62091317e-04 -5.22267549e-01] [ 5.27629709e-02 2.86484189e-03 9.98602955e-01 -3.05057927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.833201008 meters Centerline goodness [0,1] 0.895640648011782 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 9.97887359e-01 3.76360684e-02 -5.29560712e-02 1.95222167e+00] [-3.77682268e-02 9.99285405e-01 -1.49675604e-03 -5.20552070e-01] [ 5.28618970e-02 3.49365084e-03 9.98595721e-01 -3.05956695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.863201008000004 meters Centerline goodness [0,1] 0.8965141291216077 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.52, Z:-0.31 [[ 9.97722900e-01 4.11448038e-02 -5.34426854e-02 1.95491359e+00] [-4.10978297e-02 9.99153169e-01 1.97810652e-03 -5.20143543e-01] [ 5.34788172e-02 2.22776205e-04 9.98568959e-01 -3.07280300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.893201008 meters Centerline goodness [0,1] 0.9021230234680957 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97729924e-01 4.06921767e-02 -5.36576722e-02 1.95636938e+00] [-4.06913056e-02 9.99171150e-01 1.10917561e-03 -5.18566949e-01] [ 5.36583328e-02 1.07674304e-03 9.98558773e-01 -3.08858910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.923201008 meters Centerline goodness [0,1] 0.9008266902863892 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97732811e-01 4.03642711e-02 -5.38513076e-02 1.95751696e+00] [-4.03862490e-02 9.99183911e-01 6.80476994e-04 -5.18161465e-01] [ 5.38348271e-02 1.49591809e-03 9.98548734e-01 -3.09825793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.953201008 meters Centerline goodness [0,1] 0.9065029801619073 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97712630e-01 3.95125991e-02 -5.48476233e-02 1.96061580e+00] [-3.95456345e-02 9.99217649e-01 4.83290329e-04 -5.19927705e-01] [ 5.48238092e-02 1.68679920e-03 9.98494619e-01 -3.10434457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.983201008 meters Centerline goodness [0,1] 0.90736710294863 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97698300e-01 3.93672272e-02 -5.52116322e-02 1.96137980e+00] [-3.93736372e-02 9.99224085e-01 9.72089762e-04 -5.21992361e-01] [ 5.52070611e-02 1.20403047e-03 9.98474201e-01 -3.09854176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.013201008 meters Centerline goodness [0,1] 0.9076096687555953 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97684997e-01 3.92395684e-02 -5.55418996e-02 1.96193669e+00] [-3.92224638e-02 9.99229525e-01 1.39843229e-03 -5.23713678e-01] [ 5.55539798e-02 7.83295230e-04 9.98455378e-01 -3.09131105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.043201008000004 meters Centerline goodness [0,1] 0.910852135554827 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97683997e-01 3.88766652e-02 -5.58143993e-02 1.96300053e+00] [-3.88635499e-02 9.99243654e-01 1.32079285e-03 -5.24327523e-01] [ 5.58235323e-02 8.51411804e-04 9.98440288e-01 -3.09382690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.073201008 meters Centerline goodness [0,1] 0.9062481386622193 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97705748e-01 3.84687212e-02 -5.57081476e-02 1.96398258e+00] [-3.84887200e-02 9.99258779e-01 7.14262701e-04 -5.22571223e-01] [ 5.56943324e-02 1.43151129e-03 9.98446840e-01 -3.10881701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.103201008 meters Centerline goodness [0,1] 0.9075049864547051 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.52, Z:-0.31 [[ 9.97714950e-01 3.82038656e-02 -5.57256143e-02 1.96476888e+00] [-3.82488767e-02 9.99268210e-01 2.58990256e-04 -5.21450081e-01] [ 5.56947293e-02 1.87304370e-03 9.98446087e-01 -3.11912713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.133201008 meters Centerline goodness [0,1] 0.9081738923438569 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 9.97714151e-01 3.76430858e-02 -5.61201421e-02 1.96652120e+00] [-3.77172841e-02 9.99288415e-01 -2.63159373e-04 -5.20612934e-01] [ 5.60703017e-02 2.37925717e-03 9.98423988e-01 -3.12825882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.163201008 meters Centerline goodness [0,1] 0.9112536754878375 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 9.97709494e-01 3.73938453e-02 -5.63690090e-02 1.96759817e+00] [-3.74836800e-02 9.99297096e-01 -5.36862599e-04 -5.20803928e-01] [ 5.63093116e-02 2.64855081e-03 9.98409859e-01 -3.13555757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.193201008 meters Centerline goodness [0,1] 0.9115136373100146 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 9.97705783e-01 3.74728948e-02 -5.63821986e-02 1.96745083e+00] [-3.75423881e-02 9.99295021e-01 -1.73468441e-04 -5.21957274e-01] [ 5.63359500e-02 2.28979285e-03 9.98409244e-01 -3.13087337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.223201008000004 meters Centerline goodness [0,1] 0.9138316586660306 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 9.97697774e-01 3.74768210e-02 -5.65211517e-02 1.96753987e+00] [-3.75215935e-02 9.99295781e-01 2.69259846e-04 -5.23377149e-01] [ 5.64914394e-02 1.85212373e-03 9.98401366e-01 -3.12406551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.253201008 meters Centerline goodness [0,1] 0.9136671338681299 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 9.97689652e-01 3.70498033e-02 -5.69444455e-02 1.96879780e+00] [-3.70836161e-02 9.99312059e-01 4.63174197e-04 -5.24502233e-01] [ 5.69224316e-02 1.64960185e-03 9.98377241e-01 -3.12144579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.283201008 meters Centerline goodness [0,1] 0.9068599611418323 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 0.99784546 0.03291435 -0.05675465 1.96829103] [-0.03317132 0.99944323 -0.00359138 -0.52457173] [ 0.05660485 0.00546627 0.9983817 -0.31257035] [ 0. 0. 0. 1. ]] SLAMing on 45.313201008 meters Centerline goodness [0,1] 0.9055254217082911 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.31 [[ 0.99785311 0.03261717 -0.0567917 1.96913947] [-0.03289521 0.99945093 -0.00396759 -0.52343492] [ 0.05663111 0.00582725 0.99837817 -0.31342595] [ 0. 0. 0. 1. ]] SLAMing on 45.343201008 meters Centerline goodness [0,1] 0.9018691588785047 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99787467 0.03229948 -0.0565941 1.97010295] [-0.032637 0.99945452 -0.0050494 -0.52018088] [ 0.05640013 0.00688573 0.9983845 -0.31569632] [ 0. 0. 0. 1. ]] SLAMing on 45.373201008 meters Centerline goodness [0,1] 0.8989473684210526 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99789391 0.03185168 -0.05650846 1.9713127 ] [-0.03225365 0.99946039 -0.00621543 -0.51709161] [ 0.05627999 0.00802495 0.99838277 -0.31798957] [ 0. 0. 0. 1. ]] SLAMing on 45.403201008 meters Centerline goodness [0,1] 0.89655069966428 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99788816 0.03175446 -0.0566646 1.97188567] [-0.03217064 0.9994616 -0.00644738 -0.51667478] [ 0.05642935 0.0082567 0.99837245 -0.31837457] [ 0. 0. 0. 1. ]] SLAMing on 45.433201008000005 meters Centerline goodness [0,1] 0.8990283184262918 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99786742 0.0319467 -0.0569211 1.97185881] [-0.03232625 0.99946077 -0.00575965 -0.51849462] [ 0.0567064 0.00758741 0.99836207 -0.31718911] [ 0. 0. 0. 1. ]] SLAMing on 45.463201008 meters Centerline goodness [0,1] 0.9006518051132474 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99784871 0.03215787 -0.05712982 1.97178128] [-0.032496 0.99945936 -0.00499941 -0.52065636] [ 0.05693817 0.00684514 0.99835424 -0.31603612] [ 0. 0. 0. 1. ]] SLAMing on 45.493201008 meters Centerline goodness [0,1] 0.902123483226267 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.52, Z:-0.32 [[ 0.99784611 0.03142966 -0.05757885 1.97420396] [-0.03179853 0.99947916 -0.00550105 -0.52059132] [ 0.05737597 0.00732012 0.99832581 -0.31749668] [ 0. 0. 0. 1. ]] SLAMing on 45.523201008 meters Centerline goodness [0,1] 0.8989931988951917 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 0.99785784 0.03062484 -0.05780872 1.97653115] [-0.03105557 0.99949609 -0.00656712 -0.51843133] [ 0.05757847 0.00834834 0.99830608 -0.31983438] [ 0. 0. 0. 1. ]] SLAMing on 45.553201008 meters Centerline goodness [0,1] 0.9020623158646549 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 0.99786452 0.02987226 -0.05808649 1.97886251] [-0.03036868 0.99950924 -0.00768202 -0.51595477] [ 0.0578285 0.00942962 0.998282 -0.3221324 ] [ 0. 0. 0. 1. ]] SLAMing on 45.583201008 meters Centerline goodness [0,1] 0.8986802390956975 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 0.99771156 0.03241066 -0.05933969 1.98373271] [-0.03268835 0.99945869 -0.00371469 -0.51720077] [ 0.05918717 0.00564591 0.99823094 -0.32219527] [ 0. 0. 0. 1. ]] SLAMing on 45.613201008000004 meters Centerline goodness [0,1] 0.9033148351485295 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 0.99767216 0.03258736 -0.05990266 1.98384885] [-0.03280855 0.99945797 -0.00271234 -0.51935705] [ 0.0597818 0.00467134 0.99820054 -0.31983314] [ 0. 0. 0. 1. ]] SLAMing on 45.643201008 meters Centerline goodness [0,1] 0.9018070133587787 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 9.97647539e-01 3.30771997e-02 -6.00440472e-02 1.98267112e+00] [-3.32204913e-02 9.99447081e-01 -1.38949110e-03 -5.22461935e-01] [ 5.99648873e-02 3.38091513e-03 9.98194761e-01 -3.17159170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.673201008 meters Centerline goodness [0,1] 0.9000479673821801 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.52, Z:-0.32 [[ 9.97632083e-01 3.32284335e-02 -6.02170988e-02 1.98224576e+00] [-3.33164597e-02 9.99444748e-01 -4.58103850e-04 -5.24743622e-01] [ 6.01684411e-02 2.46323964e-03 9.98185199e-01 -3.15356207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.703201008 meters Centerline goodness [0,1] 0.896676864015356 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.53, Z:-0.32 [[ 9.97631768e-01 3.27942419e-02 -6.04598557e-02 1.98345586e+00] [-3.28914906e-02 9.99458740e-01 -6.13700056e-04 -5.25067645e-01] [ 6.04070054e-02 2.60086145e-03 9.98170441e-01 -3.15881309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.733201008 meters Centerline goodness [0,1] 0.8911162818447587 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 9.97516825e-01 3.53526717e-02 -6.09128250e-02 1.98750555e+00] [-3.52834618e-02 9.99374897e-01 2.21178118e-03 -5.22990145e-01] [ 6.09529406e-02 -5.70736074e-05 9.98140639e-01 -3.18249288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.763201008 meters Centerline goodness [0,1] 0.8854995974595223 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 9.97534338e-01 3.49845626e-02 -6.08385125e-02 1.98812190e+00] [-3.49497776e-02 9.99387731e-01 1.63612309e-03 -5.21035745e-01] [ 6.08585020e-02 4.94203523e-04 9.98146281e-01 -3.19227299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.793201008000004 meters Centerline goodness [0,1] 0.8787418008348241 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 9.97530341e-01 3.42081570e-02 -6.13434588e-02 1.98919436e+00] [-3.41287719e-02 9.99414700e-01 2.34172454e-03 -5.22596679e-01] [ 6.13876605e-02 -2.42364365e-04 9.98113970e-01 -3.17241159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.823201008 meters Centerline goodness [0,1] 0.8835622587305862 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99766927 0.02936319 -0.06159401 1.98957935] [-0.02956738 0.99955989 -0.00240599 -0.52036024] [ 0.06149625 0.00422156 0.99809839 -0.31733267] [ 0. 0. 0. 1. ]] SLAMing on 45.853201008 meters Centerline goodness [0,1] 0.879731343283582 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99766113 0.02875178 -0.0620129 1.99110581] [-0.02897697 0.99957634 -0.00273488 -0.51979669] [ 0.06190799 0.00452543 0.9980716 -0.31764505] [ 0. 0. 0. 1. ]] SLAMing on 45.883201008 meters Centerline goodness [0,1] 0.8805992464565516 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99765387 0.02848369 -0.06225306 1.99189875] [-0.02871838 0.9995834 -0.00287821 -0.51903771] [ 0.06214514 0.00465927 0.99805625 -0.3176674 ] [ 0. 0. 0. 1. ]] SLAMing on 45.913201008 meters Centerline goodness [0,1] 0.8799785196455742 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99764061 0.02838952 -0.06250803 1.99256315] [-0.02865833 0.99958346 -0.00340789 -0.51723558] [ 0.06238525 0.00519122 0.99803864 -0.3181555 ] [ 0. 0. 0. 1. ]] SLAMing on 45.943201008 meters Centerline goodness [0,1] 0.878226912299529 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99763448 0.02839385 -0.06260385 1.99287175] [-0.02867478 0.99958234 -0.00359334 -0.51643625] [ 0.06247568 0.00537999 0.99803199 -0.31835882] [ 0. 0. 0. 1. ]] SLAMing on 45.973201008000004 meters Centerline goodness [0,1] 0.8788698884758365 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 0.99763285 0.02849663 -0.06258301 1.99296256] [-0.02878995 0.9995783 -0.00378992 -0.51531545] [ 0.06244861 0.00558271 0.99803257 -0.31876551] [ 0. 0. 0. 1. ]] SLAMing on 46.003201008 meters Centerline goodness [0,1] 0.8780794821075346 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.51, Z:-0.32 [[ 0.99764837 0.02866284 -0.06225897 1.99259573] [-0.02897702 0.99957147 -0.00414921 -0.51371465] [ 0.06211336 0.00594353 0.9980514 -0.31963999] [ 0. 0. 0. 1. ]] SLAMing on 46.033201008 meters Centerline goodness [0,1] 0.8745142583846476 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.51, Z:-0.32 [[ 9.97492460e-01 3.25419975e-02 -6.28475182e-02 1.99434576e+00] [-3.25970735e-02 9.99468563e-01 1.49066709e-04 -5.14889921e-01] [ 6.28189696e-02 1.89995225e-03 9.98023130e-01 -3.18992368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.063201008 meters Centerline goodness [0,1] 0.8802907867463727 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 9.97479401e-01 3.29900394e-02 -6.28211847e-02 1.99358938e+00] [-3.30198050e-02 9.99454538e-01 5.64606667e-04 -5.16127375e-01] [ 6.28055445e-02 1.51115975e-03 9.98024639e-01 -3.18318366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.093201008 meters Centerline goodness [0,1] 0.8805199483654048 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.52, Z:-0.32 [[ 9.97460761e-01 3.27774429e-02 -6.32271193e-02 1.99462009e+00] [-3.28035945e-02 9.99461622e-01 6.24699366e-04 -5.17305876e-01] [ 6.32135552e-02 1.45096367e-03 9.97998969e-01 -3.18277264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.123201008 meters Centerline goodness [0,1] 0.8869410951077968 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97433908e-01 3.20150173e-02 -6.40362184e-02 1.99726329e+00] [-3.20538409e-02 9.99486055e-01 4.21254131e-04 -5.18789537e-01] [ 6.40167938e-02 1.63243361e-03 9.97947486e-01 -3.18869691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.153201008 meters Centerline goodness [0,1] 0.884886452623336 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97414878e-01 3.16443769e-02 -6.45150725e-02 1.99882080e+00] [-3.16835836e-02 9.99497863e-01 4.15553020e-04 -5.19869759e-01] [ 6.44958270e-02 1.62958993e-03 9.97916646e-01 -3.19173287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.183201008000005 meters Centerline goodness [0,1] 0.8906014357241961 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97393436e-01 3.10974167e-02 -6.51097813e-02 2.00087958e+00] [-3.11352605e-02 9.99515086e-01 4.33615559e-04 -5.21289176e-01] [ 6.50916930e-02 1.59472469e-03 9.97878013e-01 -3.19574159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.213201008 meters Centerline goodness [0,1] 0.8916226415094339 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97374163e-01 3.04089986e-02 -6.57272506e-02 2.00321439e+00] [-3.04403976e-02 9.99536446e-01 5.23927895e-04 -5.22651843e-01] [ 6.57127147e-02 1.47821150e-03 9.97837489e-01 -3.19929025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.243201008 meters Centerline goodness [0,1] 0.8878265066055377 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97385769e-01 2.95978095e-02 -6.59211449e-02 2.00513008e+00] [-2.96641520e-02 9.99559922e-01 -2.75916062e-05 -5.22159950e-01] [ 6.58913178e-02 1.98301433e-03 9.97824835e-01 -3.21369975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.273201008 meters Centerline goodness [0,1] 0.8884077582318448 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97385431e-01 2.93372720e-02 -6.60426140e-02 2.00581151e+00] [-2.94348082e-02 9.99566575e-01 -5.04105441e-04 -5.20445663e-01] [ 6.59992004e-02 2.44673910e-03 9.97816676e-01 -3.21925098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.303201008 meters Centerline goodness [0,1] 0.8892990037210419 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97383781e-01 2.94550689e-02 -6.60150943e-02 2.00560844e+00] [-2.95657604e-02 9.99562592e-01 -7.00216802e-04 -5.19237166e-01] [ 6.59655938e-02 2.65017134e-03 9.97818379e-01 -3.21976110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.333201008 meters Centerline goodness [0,1] 0.8868958495538121 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97376344e-01 2.97109113e-02 -6.60128008e-02 2.00504436e+00] [-2.98057017e-02 9.99555609e-01 -4.51332989e-04 -5.18554875e-01] [ 6.59700558e-02 2.41770670e-03 9.97818674e-01 -3.21081350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.363201008000004 meters Centerline goodness [0,1] 0.8878549272250059 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97352850e-01 3.09670558e-02 -6.57900822e-02 2.00211934e+00] [-3.10066097e-02 9.99519091e-01 4.20016643e-04 -5.17984231e-01] [ 6.57714499e-02 1.62102261e-03 9.97833397e-01 -3.18442482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.393201008 meters Centerline goodness [0,1] 0.8869805929277295 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.52, Z:-0.32 [[ 9.97355738e-01 3.16726532e-02 -6.54092864e-02 2.00053381e+00] [-3.17183009e-02 9.99496790e-01 3.40713316e-04 -5.16516202e-01] [ 6.53871631e-02 1.73485905e-03 9.97858461e-01 -3.18368636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.423201008 meters Centerline goodness [0,1] 0.8893305253166435 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97360382e-01 3.21474833e-02 -6.51061206e-02 1.99960771e+00] [-3.22227704e-02 9.99480706e-01 -1.06369209e-04 -5.13868077e-01] [ 6.50688919e-02 2.20398801e-03 9.97878340e-01 -3.18896825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.453201008 meters Centerline goodness [0,1] 0.8816555801921655 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97358647e-01 3.29788585e-02 -6.47157106e-02 1.99815491e+00] [-3.30752069e-02 9.99452778e-01 -4.17702311e-04 -5.11118242e-01] [ 6.46665214e-02 2.55708453e-03 9.97903654e-01 -3.19349148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.483201008 meters Centerline goodness [0,1] 0.8854185047938357 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97202319e-01 3.77570098e-02 -6.45131304e-02 1.99707759e+00] [-3.75783506e-02 9.99285755e-01 3.98095173e-03 -5.10222561e-01] [ 6.46173611e-02 -1.54551727e-03 9.97908918e-01 -3.18102182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.513201008 meters Centerline goodness [0,1] 0.885528398100932 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97203759e-01 3.76855518e-02 -6.45326510e-02 1.99753959e+00] [-3.75575389e-02 9.99289356e-01 3.19608544e-03 -5.08105123e-01] [ 6.46072375e-02 -7.63460859e-04 9.97910478e-01 -3.19284917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.543201008000004 meters Centerline goodness [0,1] 0.8849653316169802 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97202494e-01 3.77343682e-02 -6.45236588e-02 1.99774178e+00] [-3.76375080e-02 9.99287766e-01 2.71645448e-03 -5.06681433e-01] [ 6.45802066e-02 -2.80345454e-04 9.97912480e-01 -3.20056579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.573201008 meters Centerline goodness [0,1] 0.8872200340955853 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97193425e-01 3.77785675e-02 -6.46378584e-02 1.99800358e+00] [-3.76868031e-02 9.99286116e-01 2.63879006e-03 -5.07259626e-01] [ 6.46914041e-02 -1.95389861e-04 9.97905298e-01 -3.20346113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.603201008 meters Centerline goodness [0,1] 0.885119030103287 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97162535e-01 3.75564770e-02 -6.52410174e-02 1.99908479e+00] [-3.74262281e-02 9.99294212e-01 3.21787870e-03 -5.09798162e-01] [ 6.53158232e-02 -7.67022886e-04 9.97864347e-01 -3.19309814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.633201008 meters Centerline goodness [0,1] 0.8866262745677553 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97307496e-01 3.36726069e-02 -6.51453316e-02 1.99848968e+00] [-3.38181562e-02 9.99427361e-01 -1.13248296e-03 -5.09577682e-01] [ 6.50698932e-02 3.33252874e-03 9.97875144e-01 -3.20201470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.663201008 meters Centerline goodness [0,1] 0.8873820404771796 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97282391e-01 3.32737868e-02 -6.57319342e-02 2.00012166e+00] [-3.33926464e-02 9.99442058e-01 -7.10101706e-04 -5.11745235e-01] [ 6.56716318e-02 2.90313516e-03 9.97837065e-01 -3.19841577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.693201008 meters Centerline goodness [0,1] 0.8873820404771796 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97282391e-01 3.32737868e-02 -6.57319342e-02 2.00012166e+00] [-3.33926464e-02 9.99442058e-01 -7.10101706e-04 -5.11745235e-01] [ 6.56716318e-02 2.90313516e-03 9.97837065e-01 -3.19841577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.723201008000004 meters Centerline goodness [0,1] 0.8794462888309225 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97299627e-01 3.22721889e-02 -6.59693911e-02 2.00262684e+00] [-3.24219971e-02 9.99473547e-01 -1.20126185e-03 -5.11763384e-01] [ 6.58958940e-02 3.33687741e-03 9.97820924e-01 -3.21637897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.753201008 meters Centerline goodness [0,1] 0.8801016638590892 Centerline is valid? [False, False] Translation: X:2.00, Y:-0.51, Z:-0.32 [[ 9.97291329e-01 3.15475971e-02 -6.64436172e-02 2.00467880e+00] [-3.17218163e-02 9.99495506e-01 -1.56840881e-03 -5.10908996e-01] [ 6.63606173e-02 3.67187273e-03 9.97788949e-01 -3.22299856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.783201008 meters Centerline goodness [0,1] 0.8785356751473506 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97286027e-01 3.14273268e-02 -6.65800563e-02 2.00505899e+00] [-3.15945965e-02 9.99499699e-01 -1.46058743e-03 -5.11078117e-01] [ 6.65008439e-02 3.56019345e-03 9.97780017e-01 -3.22106371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.813201008 meters Centerline goodness [0,1] 0.8787761884978337 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97277703e-01 3.12026223e-02 -6.68100191e-02 2.00543057e+00] [-3.13248023e-02 9.99508952e-01 -7.81718035e-04 -5.12680384e-01] [ 6.67528205e-02 2.87240061e-03 9.97765408e-01 -3.20864455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.843201008 meters Centerline goodness [0,1] 0.8799429573071096 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97268679e-01 3.11225697e-02 -6.69818427e-02 2.00576229e+00] [-3.12219160e-02 9.99512382e-01 -4.36613883e-04 -5.13409350e-01] [ 6.69355926e-02 2.52672282e-03 9.97754099e-01 -3.20319131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.873201008 meters Centerline goodness [0,1] 0.882108512406506 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97252310e-01 3.08345439e-02 -6.73577090e-02 2.00671190e+00] [-3.09110363e-02 9.99522135e-01 -9.34291517e-05 -5.14098861e-01] [ 6.73226403e-02 2.17526902e-03 9.97728886e-01 -3.19625654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.903201008 meters Centerline goodness [0,1] 0.8864904988123515 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97244456e-01 3.09143657e-02 -6.74373613e-02 2.00688786e+00] [-3.09894622e-02 9.99519709e-01 -6.74933468e-05 -5.14759042e-01] [ 6.74028852e-02 2.15715492e-03 9.97723508e-01 -3.19823957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.933201008000005 meters Centerline goodness [0,1] 0.8885070071997867 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97250995e-01 3.09082622e-02 -6.73433983e-02 2.00726594e+00] [-3.10150264e-02 9.99518772e-01 -5.40181184e-04 -5.13441093e-01] [ 6.72942947e-02 2.62735350e-03 9.97729710e-01 -3.20977310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.963201008 meters Centerline goodness [0,1] 0.8843335607701207 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97258010e-01 3.10213086e-02 -6.71873483e-02 2.00736834e+00] [-3.11711757e-02 9.99513361e-01 -1.18314339e-03 -5.11623680e-01] [ 6.71179497e-02 3.27420787e-03 9.97739676e-01 -3.22300174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.993201008 meters Centerline goodness [0,1] 0.8847965865655278 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97264495e-01 3.14629407e-02 -6.68850472e-02 2.00670917e+00] [-3.16344556e-02 9.99498370e-01 -1.50648719e-03 -5.10056949e-01] [ 6.68040972e-02 3.61823825e-03 9.97759551e-01 -3.23108048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.023201008 meters Centerline goodness [0,1] 0.8917860638960576 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97244602e-01 3.24037603e-02 -6.67322981e-02 2.00524265e+00] [-3.25422672e-02 9.99469871e-01 -9.89299205e-04 -5.10764413e-01] [ 6.66648644e-02 3.15819357e-03 9.97770425e-01 -3.22310521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.053201008 meters Centerline goodness [0,1] 0.8979210534120229 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97201579e-01 3.23878348e-02 -6.73798119e-02 2.00581960e+00] [-3.24280218e-02 9.99473950e-01 4.97517185e-04 -5.14087418e-01] [ 6.73604802e-02 1.68886909e-03 9.97727274e-01 -3.19534929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.083201008 meters Centerline goodness [0,1] 0.8911568674125209 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97186280e-01 3.24259952e-02 -6.75875591e-02 2.00610960e+00] [-3.24124506e-02 9.99473737e-01 1.29727327e-03 -5.16533428e-01] [ 6.75940556e-02 8.97055316e-04 9.97712503e-01 -3.18571124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.113201008000004 meters Centerline goodness [0,1] 0.902412150089339 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 9.97180483e-01 3.24737399e-02 -6.76501353e-02 2.00629700e+00] [-3.24540977e-02 9.99472261e-01 1.38964238e-03 -5.16631635e-01] [ 6.76595606e-02 8.09799834e-04 9.97708138e-01 -3.18552478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.143201008 meters Centerline goodness [0,1] 0.8959448210250922 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97190418e-01 3.24296273e-02 -6.75247354e-02 2.00679166e+00] [-3.24675342e-02 9.99472647e-01 5.36267974e-04 -5.13112419e-01] [ 6.75065169e-02 1.65760037e-03 9.97717456e-01 -3.20165865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.173201008 meters Centerline goodness [0,1] 0.8924322881129668 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97205601e-01 3.24504719e-02 -6.72900835e-02 2.00668690e+00] [-3.25111214e-02 9.99471355e-01 1.93858048e-04 -5.11658499e-01] [ 6.72608018e-02 1.99435975e-03 9.97733435e-01 -3.20937688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.203201008 meters Centerline goodness [0,1] 0.8959326954409456 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97199410e-01 3.24522216e-02 -6.73809365e-02 2.00671281e+00] [-3.25037359e-02 9.99471559e-01 3.31937878e-04 -5.11178941e-01] [ 6.73561018e-02 1.85912391e-03 9.97727267e-01 -3.20432605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.233201008 meters Centerline goodness [0,1] 0.8959168522642911 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97179069e-01 3.28248952e-02 -6.75013397e-02 2.00582921e+00] [-3.28173876e-02 9.99460619e-01 1.22039170e-03 -5.12637287e-01] [ 6.75049900e-02 9.98268562e-04 9.97718437e-01 -3.18400335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.263201008 meters Centerline goodness [0,1] 0.897936767107021 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97169111e-01 3.27885640e-02 -6.76659051e-02 2.00628911e+00] [-3.27746270e-02 9.99461901e-01 1.31639176e-03 -5.12984969e-01] [ 6.76726567e-02 9.05059600e-04 9.97707168e-01 -3.18337452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.293201008000004 meters Centerline goodness [0,1] 0.9005913994472347 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97158114e-01 3.25354927e-02 -6.79495147e-02 2.00725710e+00] [-3.25286694e-02 9.99470074e-01 1.20713990e-03 -5.12899451e-01] [ 6.79527814e-02 1.00659796e-03 9.97688031e-01 -3.18563670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.323201008 meters Centerline goodness [0,1] 0.8978080568720379 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97144281e-01 3.20616998e-02 -6.83763808e-02 2.00901826e+00] [-3.20778375e-02 9.99485002e-01 8.62226247e-04 -5.12685843e-01] [ 6.83688115e-02 1.33360246e-03 9.97659224e-01 -3.19375022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.353201008 meters Centerline goodness [0,1] 0.9048993927848553 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 9.97128008e-01 3.12458911e-02 -6.89886218e-02 2.01151143e+00] [-3.12618536e-02 9.99510869e-01 8.48517238e-04 -5.14378718e-01] [ 6.89813900e-02 1.31063189e-03 9.97617086e-01 -3.19919839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.383201008 meters Centerline goodness [0,1] 0.902998657317619 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 0.99725847 0.02674271 -0.06899551 2.01173719] [-0.02706038 0.99962705 -0.00367364 -0.51395232] [ 0.06887154 0.00553061 0.99761021 -0.32086149] [ 0. 0. 0. 1. ]] SLAMing on 47.413201008 meters Centerline goodness [0,1] 0.9049453502956459 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 0.99723388 0.02632347 -0.06951018 2.0128499 ] [-0.02658947 0.99964222 -0.00290409 -0.51644399] [ 0.06940886 0.00474429 0.99757702 -0.31952969] [ 0. 0. 0. 1. ]] SLAMing on 47.443201008 meters Centerline goodness [0,1] 0.9068593782661929 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.52, Z:-0.32 [[ 0.99721636 0.02602441 -0.06987325 2.01382971] [-0.02628225 0.99965072 -0.00277326 -0.51695704] [ 0.06977667 0.00460196 0.99755202 -0.31924726] [ 0. 0. 0. 1. ]] SLAMing on 47.473201008000004 meters Centerline goodness [0,1] 0.9046627190763828 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 0.9972191 0.02586237 -0.06989418 2.0145734 ] [-0.02616557 0.99965175 -0.00342581 -0.51485241] [ 0.06978124 0.0052451 0.99754853 -0.32048462] [ 0. 0. 0. 1. ]] SLAMing on 47.503201008 meters Centerline goodness [0,1] 0.903170114600387 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 0.99721957 0.02615028 -0.06978036 2.01428848] [-0.02644799 0.99964459 -0.00334571 -0.51436859] [ 0.06966807 0.00518196 0.99755677 -0.32063419] [ 0. 0. 0. 1. ]] SLAMing on 47.533201008 meters Centerline goodness [0,1] 0.9072030378545153 Centerline is valid? [False, False] Translation: X:2.01, Y:-0.51, Z:-0.32 [[ 0.99721285 0.02623447 -0.06984468 2.0146393 ] [-0.02653992 0.99964181 -0.00344869 -0.51354531] [ 0.06972919 0.00529275 0.99755192 -0.32097476] [ 0. 0. 0. 1. ]] SLAMing on 47.563201008 meters Centerline goodness [0,1] 0.9086810807604473 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 0.99720478 0.0258651 -0.07009723 2.01596531] [-0.02618114 0.99965076 -0.00359338 -0.5130821 ] [ 0.06997981 0.00541857 0.99753369 -0.32155325] [ 0. 0. 0. 1. ]] SLAMing on 47.593201008 meters Centerline goodness [0,1] 0.9076977798855855 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 0.99721066 0.02560042 -0.07011072 2.01678363] [-0.02595548 0.99965445 -0.00415787 -0.5113266 ] [ 0.06998005 0.00596603 0.99753055 -0.32268493] [ 0. 0. 0. 1. ]] SLAMing on 47.623201008 meters Centerline goodness [0,1] 0.9049479166666666 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 0.99720843 0.02559767 -0.07014352 2.01696975] [-0.02596103 0.99965382 -0.0042734 -0.51032995] [ 0.07000985 0.00608247 0.99752776 -0.32281196] [ 0. 0. 0. 1. ]] SLAMing on 47.653201008 meters Centerline goodness [0,1] 0.9076544527451678 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 0.99716533 0.02623785 -0.07051863 2.01607243] [-0.0265065 0.9996445 -0.00287642 -0.51314064] [ 0.07041809 0.00473746 0.99750632 -0.31989431] [ 0. 0. 0. 1. ]] SLAMing on 47.683201008000005 meters Centerline goodness [0,1] 0.9083139777261628 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 9.97131288e-01 2.68746792e-02 -7.07597786e-02 2.01517019e+00] [-2.70549273e-02 9.99632684e-01 -1.58998261e-03 -5.15906044e-01] [ 7.06910571e-02 3.49982208e-03 9.97492118e-01 -3.17570354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.713201008 meters Centerline goodness [0,1] 0.9118997912317328 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 9.97093809e-01 2.68360157e-02 -7.13005233e-02 2.01589186e+00] [-2.69519106e-02 9.99636511e-01 -6.63699811e-04 -5.18564658e-01] [ 7.12567953e-02 2.58345630e-03 9.97454658e-01 -3.15962365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.743201008 meters Centerline goodness [0,1] 0.9137389744356406 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 9.97076269e-01 2.61680922e-02 -7.17923742e-02 2.01810865e+00] [-2.62808043e-02 9.99654404e-01 -6.25661725e-04 -5.20360439e-01] [ 7.17511907e-02 2.51059380e-03 9.97419402e-01 -3.16615664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.773201008 meters Centerline goodness [0,1] 0.9164875835721108 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 9.97074931e-01 2.56336742e-02 -7.20034474e-02 2.01981430e+00] [-2.57913026e-02 9.99666555e-01 -1.26014095e-03 -5.19202339e-01] [ 7.19471361e-02 3.11351765e-03 9.97403587e-01 -3.18145896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.803201008 meters Centerline goodness [0,1] 0.9111475409836065 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 0.99708131 0.02519848 -0.07206874 2.02109823] [-0.0254102 0.99967506 -0.00202222 -0.51717959] [ 0.07199437 0.0038476 0.99739762 -0.31975287] [ 0. 0. 0. 1. ]] SLAMing on 47.833201008 meters Centerline goodness [0,1] 0.9140091454361898 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.52, Z:-0.32 [[ 0.99708352 0.0251638 -0.07205021 2.02137939] [-0.02540432 0.99967432 -0.00242368 -0.51526015] [ 0.07196576 0.00424699 0.99739806 -0.32040787] [ 0. 0. 0. 1. ]] SLAMing on 47.863201008000004 meters Centerline goodness [0,1] 0.9126135993605873 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 0.99707838 0.02549126 -0.07200626 2.02058524] [-0.02572399 0.99966642 -0.00230652 -0.51366253] [ 0.07192344 0.00415207 0.99740151 -0.31958021] [ 0. 0. 0. 1. ]] SLAMing on 47.893201008 meters Centerline goodness [0,1] 0.9111281703032271 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96925405e-01 2.94429505e-02 -7.26143957e-02 2.02208256e+00] [-2.94132844e-02 9.99566243e-01 1.47806811e-03 -5.12620998e-01] [ 7.26264173e-02 6.62304220e-04 9.97358995e-01 -3.19101440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.923201008 meters Centerline goodness [0,1] 0.9120671872697804 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96926491e-01 2.96930881e-02 -7.24975251e-02 2.02179379e+00] [-2.96984313e-02 9.99558400e-01 1.00448501e-03 -5.10764823e-01] [ 7.24953364e-02 1.15166505e-03 9.97368086e-01 -3.19803905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.953201008 meters Centerline goodness [0,1] 0.9140533239370449 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96928581e-01 2.98110864e-02 -7.24203305e-02 2.02171653e+00] [-2.98450923e-02 9.99554348e-01 6.12749669e-04 -5.08732547e-01] [ 7.24063229e-02 1.55052379e-03 9.97374012e-01 -3.20281588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.983201008 meters Centerline goodness [0,1] 0.9145123986298562 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96932886e-01 3.01196301e-02 -7.22331518e-02 2.02089883e+00] [-3.01681381e-02 9.99544750e-01 4.19601992e-04 -5.07001740e-01] [ 7.22129059e-02 1.76082467e-03 9.97387686e-01 -3.20188531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.013201008 meters Centerline goodness [0,1] 0.9134933896168616 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96941764e-01 3.06596738e-02 -7.18825652e-02 2.01937300e+00] [-3.06996126e-02 9.99528505e-01 5.49395358e-04 -5.05762753e-01] [ 7.18655172e-02 1.65905173e-03 9.97412951e-01 -3.19574123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.043201008000004 meters Centerline goodness [0,1] 0.9135964528455996 Centerline is valid? [False, False] Translation: X:2.02, Y:-0.51, Z:-0.32 [[ 9.96939968e-01 3.10121978e-02 -7.17561448e-02 2.01844233e+00] [-3.10403846e-02 9.99517870e-01 7.22528563e-04 -5.05166537e-01] [ 7.17439562e-02 1.50702073e-03 9.97421944e-01 -3.18812040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.073201008 meters Centerline goodness [0,1] 0.9168419207851385 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.50, Z:-0.32 [[ 0.99733044 0.03079554 -0.06620902 2.03117363] [-0.03147736 0.99946139 -0.0092793 -0.50406787] [ 0.0658876 0.01133861 0.99776263 -0.32126929] [ 0. 0. 0. 1. ]] SLAMing on 48.103201008 meters Centerline goodness [0,1] 0.9194196101421662 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.51, Z:-0.32 [[ 0.99730931 0.03100591 -0.06642869 2.03068779] [-0.03161115 0.99946759 -0.00807935 -0.50649362] [ 0.06614282 0.0101575 0.99775846 -0.31899836] [ 0. 0. 0. 1. ]] SLAMing on 48.133201008 meters Centerline goodness [0,1] 0.9172542938233315 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.51, Z:-0.32 [[ 0.99728817 0.03094012 -0.06677587 2.03126727] [-0.03148507 0.99947884 -0.00712375 -0.50877024] [ 0.06652066 0.00920687 0.99774257 -0.31766033] [ 0. 0. 0. 1. ]] SLAMing on 48.163201008 meters Centerline goodness [0,1] 0.9197430835862231 Centerline is valid? [False, False] Translation: X:2.03, Y:-0.51, Z:-0.32 [[ 0.99729744 0.02959506 -0.06724549 2.03455596] [-0.03014202 0.99952017 -0.00713362 -0.51137539] [ 0.06700211 0.00914125 0.99771096 -0.31894604] [ 0. 0. 0. 1. ]] SLAMing on 48.193201008 meters Centerline goodness [0,1] 0.9209829311359623 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 0.99728045 0.0290768 -0.06772188 2.03653395] [-0.02962679 0.99953559 -0.00713097 -0.51219201] [ 0.06748308 0.00911796 0.99767875 -0.31954973] [ 0. 0. 0. 1. ]] SLAMing on 48.223201008000004 meters Centerline goodness [0,1] 0.9200956372867347 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 0.99727031 0.02893311 -0.06793241 2.03706533] [-0.02947576 0.99954099 -0.00699917 -0.51252762] [ 0.06769872 0.00898242 0.99766537 -0.31923478] [ 0. 0. 0. 1. ]] SLAMing on 48.253201008 meters Centerline goodness [0,1] 0.9214270983707981 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 0.99724476 0.02821467 -0.06860634 2.03956407] [-0.02876158 0.99956181 -0.00699692 -0.513708 ] [ 0.06837886 0.00895087 0.99761927 -0.31970475] [ 0. 0. 0. 1. ]] SLAMing on 48.283201008 meters Centerline goodness [0,1] 0.9220476162344184 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 0.99722316 0.02776741 -0.069101 2.04116806] [-0.02831497 0.99957484 -0.00695714 -0.51448147] [ 0.06887844 0.00889441 0.99758541 -0.31981587] [ 0. 0. 0. 1. ]] SLAMing on 48.313201008 meters Centerline goodness [0,1] 0.9221459430668166 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 0.9972002 0.027653 -0.06947711 2.04183243] [-0.02815515 0.99958397 -0.00625868 -0.5160907 ] [ 0.06927514 0.00819729 0.99756391 -0.31869604] [ 0. 0. 0. 1. ]] SLAMing on 48.343201008 meters Centerline goodness [0,1] 0.9240352746212122 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 0.99717402 0.02751609 -0.06990595 2.04266955] [-0.02796787 0.99959374 -0.00549198 -0.51801813] [ 0.06972643 0.00743158 0.99753847 -0.31753983] [ 0. 0. 0. 1. ]] SLAMing on 48.373201008 meters Centerline goodness [0,1] 0.9241239932237644 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 0.9971536 0.02785649 -0.07006216 2.04213711] [-0.02822851 0.99959214 -0.00432522 -0.52034619] [ 0.0699131 0.00629066 0.99753325 -0.31548002] [ 0. 0. 0. 1. ]] SLAMing on 48.403201008 meters Centerline goodness [0,1] 0.9238504894690003 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 0.9971504 0.02815713 -0.06998757 2.04162301] [-0.02851978 0.99958446 -0.00418758 -0.51976128] [ 0.06984058 0.00617168 0.99753907 -0.31511988] [ 0. 0. 0. 1. ]] SLAMing on 48.433201008000005 meters Centerline goodness [0,1] 0.9224530870774877 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 0.99715085 0.02826733 -0.06993673 2.04172377] [-0.0286595 0.9995786 -0.00461026 -0.51794172] [ 0.06977694 0.00660147 0.99754078 -0.31582895] [ 0. 0. 0. 1. ]] SLAMing on 48.463201008 meters Centerline goodness [0,1] 0.9189332703994336 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 9.97018054e-01 3.23680983e-02 -7.00521703e-02 2.04269314e+00] [-3.24896552e-02 9.99471894e-01 -5.96244205e-04 -5.17144438e-01] [ 6.99958761e-02 2.87043709e-03 9.97543151e-01 -3.15924355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.493201008 meters Centerline goodness [0,1] 0.919113312109421 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.32 [[ 9.97019433e-01 3.26868518e-02 -6.98843263e-02 2.04210381e+00] [-3.28083126e-02 9.99461488e-01 -5.90629285e-04 -5.16602742e-01] [ 6.98273869e-02 2.88165570e-03 9.97554927e-01 -3.15937954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.523201008 meters Centerline goodness [0,1] 0.917307182613305 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.97001897e-01 3.27782060e-02 -7.00914217e-02 2.04209123e+00] [-3.28608765e-02 9.99459935e-01 -2.64300179e-05 -5.17363004e-01] [ 7.00527014e-02 2.32961633e-03 9.97540572e-01 -3.14764446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.553201008 meters Centerline goodness [0,1] 0.9167744210650053 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.96992584e-01 3.28566150e-02 -7.01871162e-02 2.04206588e+00] [-3.29172479e-02 9.99458038e-01 2.92872912e-04 -5.17550472e-01] [ 7.01587003e-02 2.01837458e-03 9.97533800e-01 -3.14080915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.583201008 meters Centerline goodness [0,1] 0.9151245918037128 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.96994994e-01 3.30852324e-02 -7.00453358e-02 2.04145183e+00] [-3.31324081e-02 9.99450852e-01 4.88521672e-04 -5.16945594e-01] [ 7.00230334e-02 1.83371699e-03 9.97543689e-01 -3.13432880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.613201008000004 meters Centerline goodness [0,1] 0.9151245918037128 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.96994994e-01 3.30852324e-02 -7.00453358e-02 2.04145183e+00] [-3.31324081e-02 9.99450852e-01 4.88521672e-04 -5.16945594e-01] [ 7.00230334e-02 1.83371699e-03 9.97543689e-01 -3.13432880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.643201008 meters Centerline goodness [0,1] 0.9126290706910246 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.96998323e-01 3.33791452e-02 -6.98582552e-02 2.04070234e+00] [-3.34259050e-02 9.99441073e-01 4.99832814e-04 -5.16284751e-01] [ 6.98358936e-02 1.83674293e-03 9.97556803e-01 -3.13215498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.673201008 meters Centerline goodness [0,1] 0.9114489897950181 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.52, Z:-0.31 [[ 9.97002965e-01 3.36183261e-02 -6.96770809e-02 2.03991499e+00] [-3.36704690e-02 9.99432898e-01 4.26304403e-04 -5.15262708e-01] [ 6.96518986e-02 1.92103324e-03 9.97569508e-01 -3.12866862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.703201008 meters Centerline goodness [0,1] 0.9100167287881901 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.31 [[ 9.97002185e-01 3.40780975e-02 -6.94645651e-02 2.03889443e+00] [-3.41541985e-02 9.99416571e-01 9.22035380e-05 -5.13002732e-01] [ 6.94271796e-02 2.28057941e-03 9.97584415e-01 -3.12828156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.733201008 meters Centerline goodness [0,1] 0.9101347393087288 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.31 [[ 9.97009777e-01 3.40152913e-02 -6.93863397e-02 2.03927038e+00] [-3.41364085e-02 9.99417026e-01 -5.60221803e-04 -5.11147739e-01] [ 6.93268332e-02 2.92714705e-03 9.97589706e-01 -3.14025127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.763201008 meters Centerline goodness [0,1] 0.9098885671667982 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 9.97020772e-01 3.39261191e-02 -6.92719203e-02 2.03984125e+00] [-3.41115431e-02 9.99416913e-01 -1.49526479e-03 -5.08861146e-01] [ 6.91808003e-02 3.85378216e-03 9.97596695e-01 -3.15828657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.793201008000004 meters Centerline goodness [0,1] 0.908613598576554 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 9.97030439e-01 3.39114905e-02 -6.91398166e-02 2.03999099e+00] [-3.41337089e-02 9.99415204e-01 -2.03482719e-03 -5.06978393e-01] [ 6.90303799e-02 4.38878302e-03 9.97604904e-01 -3.16801153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.823201008 meters Centerline goodness [0,1] 0.9090298071303331 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 9.97027627e-01 3.36670208e-02 -6.92996568e-02 2.04056586e+00] [-3.38702568e-02 9.99424690e-01 -1.75945893e-03 -5.07928573e-01] [ 6.92005522e-02 4.10142634e-03 9.97594337e-01 -3.16391922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.853201008 meters Centerline goodness [0,1] 0.9111286919831224 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.31 [[ 0.99713914 0.02933603 -0.06966305 2.04026588] [-0.029754 0.9995449 -0.00496966 -0.50991272] [ 0.06948555 0.0070282 0.9975582 -0.31443818] [ 0. 0. 0. 1. ]] SLAMing on 48.883201008 meters Centerline goodness [0,1] 0.9136314195843255 Centerline is valid? [False, False] Translation: X:2.04, Y:-0.51, Z:-0.32 [[ 0.99723419 0.02394145 -0.07036177 2.04277578] [-0.02465595 0.9996527 -0.00930365 -0.5111604 ] [ 0.07011459 0.01101275 0.99747815 -0.3150675 ] [ 0. 0. 0. 1. ]] SLAMing on 48.913201008 meters Centerline goodness [0,1] 0.9101291837933059 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:-0.32 [[ 0.99715227 0.02443283 -0.07134692 2.05099678] [-0.02502599 0.99965918 -0.00743159 -0.51011914] [ 0.07114103 0.00919595 0.99742388 -0.3194443 ] [ 0. 0. 0. 1. ]] SLAMing on 48.943201008 meters Centerline goodness [0,1] 0.9086784721205913 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:-0.32 [[ 0.99702841 0.02777307 -0.07185407 2.0545233 ] [-0.02813634 0.9995959 -0.0040483 -0.50992032] [ 0.0717126 0.00605798 0.99740694 -0.32165091] [ 0. 0. 0. 1. ]] SLAMing on 48.973201008000004 meters Centerline goodness [0,1] 0.9097920760139594 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:-0.32 [[ 0.99701729 0.02829332 -0.07180543 2.05334649] [-0.02858198 0.99958696 -0.0029956 -0.51141448] [ 0.07169102 0.005039 0.99741416 -0.31964113] [ 0. 0. 0. 1. ]] SLAMing on 49.003201008 meters Centerline goodness [0,1] 0.9097920760139594 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:-0.32 [[ 0.99701729 0.02829332 -0.07180543 2.05334649] [-0.02858198 0.99958696 -0.0029956 -0.51141448] [ 0.07169102 0.005039 0.99741416 -0.31964113] [ 0. 0. 0. 1. ]] SLAMing on 49.033201008 meters Centerline goodness [0,1] 0.9097920760139594 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.51, Z:-0.32 [[ 0.99701729 0.02829332 -0.07180543 2.05334649] [-0.02858198 0.99958696 -0.0029956 -0.51141448] [ 0.07169102 0.005039 0.99741416 -0.31964113] [ 0. 0. 0. 1. ]] SLAMing on 49.063201008 meters Centerline goodness [0,1] 0.9122925539726832 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99743502 0.028167 -0.06580269 2.06361153] [-0.02903945 0.9995021 -0.01233984 -0.51167873] [ 0.06542235 0.01421906 0.99775635 -0.319243 ] [ 0. 0. 0. 1. ]] SLAMing on 49.093201008 meters Centerline goodness [0,1] 0.912694209039548 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99742738 0.02882347 -0.06563398 2.06214248] [-0.02963208 0.99949609 -0.01137984 -0.51301735] [ 0.0652729 0.01329544 0.99777887 -0.31754018] [ 0. 0. 0. 1. ]] SLAMing on 49.123201008 meters Centerline goodness [0,1] 0.9121715280030672 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99743032 0.02917316 -0.06543458 2.06142771] [-0.02997152 0.99948741 -0.01125244 -0.51267433] [ 0.06507277 0.01318469 0.99779341 -0.31737944] [ 0. 0. 0. 1. ]] SLAMing on 49.153201008 meters Centerline goodness [0,1] 0.9101285558791516 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99731712 0.03228094 -0.06570003 2.06322343] [-0.03278737 0.99944026 -0.00664428 -0.51492803] [ 0.06544877 0.00878059 0.9978173 -0.31605862] [ 0. 0. 0. 1. ]] SLAMing on 49.183201008000005 meters Centerline goodness [0,1] 0.9091816074415329 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99731559 0.03230199 -0.06571301 2.06348958] [-0.0328204 0.99943797 -0.00682451 -0.51416527] [ 0.06545564 0.00896292 0.99781523 -0.31646127] [ 0. 0. 0. 1. ]] SLAMing on 49.213201008 meters Centerline goodness [0,1] 0.9087435709037472 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.32 [[ 0.99730617 0.03220526 -0.06590309 2.06422626] [-0.03273919 0.99943915 -0.00703749 -0.51355255] [ 0.06563949 0.00917615 0.99780121 -0.31690678] [ 0. 0. 0. 1. ]] SLAMing on 49.243201008 meters Centerline goodness [0,1] 0.9061059061940145 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99730008 0.0317263 -0.06622685 2.06588277] [-0.03230674 0.99944825 -0.0077116 -0.51213087] [ 0.06594565 0.00983035 0.99777479 -0.31817341] [ 0. 0. 0. 1. ]] SLAMing on 49.273201008 meters Centerline goodness [0,1] 0.9049353701527615 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99729229 0.03136568 -0.06651533 2.06723231] [-0.03198011 0.99945493 -0.00819252 -0.51058314] [ 0.06622211 0.0102975 0.99775177 -0.3190044 ] [ 0. 0. 0. 1. ]] SLAMing on 49.303201008 meters Centerline goodness [0,1] 0.9032731112153918 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99728294 0.03100434 -0.06682423 2.06862634] [-0.03165028 0.99946175 -0.00862906 -0.50947998] [ 0.06652073 0.01072062 0.99772745 -0.31982784] [ 0. 0. 0. 1. ]] SLAMing on 49.333201008 meters Centerline goodness [0,1] 0.9000264169773108 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99725058 0.03138573 -0.06712838 2.06837524] [-0.032002 0.99945478 -0.00812452 -0.50977282] [ 0.06683679 0.01025042 0.99771127 -0.31842625] [ 0. 0. 0. 1. ]] SLAMing on 49.363201008000004 meters Centerline goodness [0,1] 0.9012519424165127 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99723274 0.03159487 -0.0672951 2.06829121] [-0.03219859 0.99945023 -0.00790538 -0.50944842] [ 0.06700834 0.01005031 0.9977018 -0.31774245] [ 0. 0. 0. 1. ]] SLAMing on 49.393201008 meters Centerline goodness [0,1] 0.8999765821673205 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.32 [[ 0.99722687 0.03184647 -0.06726347 2.06791172] [-0.03243992 0.99944365 -0.00774865 -0.50888264] [ 0.06697928 0.00990919 0.99770516 -0.31735868] [ 0. 0. 0. 1. ]] SLAMing on 49.423201008 meters Centerline goodness [0,1] 0.8983929041889874 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 0.99721696 0.03293677 -0.06688428 2.06510765] [-0.03343957 0.99942018 -0.00641148 -0.50960189] [ 0.06663433 0.00863022 0.99774014 -0.31452775] [ 0. 0. 0. 1. ]] SLAMing on 49.453201008 meters Centerline goodness [0,1] 0.9008884848840278 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99719877 0.03352597 -0.06686266 2.06382113] [-0.03395086 0.99940983 -0.00522821 -0.51089647] [ 0.06664791 0.00748361 0.99774849 -0.3122158 ] [ 0. 0. 0. 1. ]] SLAMing on 49.483201008 meters Centerline goodness [0,1] 0.8988988401115842 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99719262 0.03407954 -0.06667433 2.06242111] [-0.03444473 0.9993972 -0.00433498 -0.51157609] [ 0.06648641 0.00661939 0.99776537 -0.31053816] [ 0. 0. 0. 1. ]] SLAMing on 49.513201008 meters Centerline goodness [0,1] 0.8974003772695119 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99722931 0.03369806 -0.06631849 2.06162531] [-0.03399714 0.99941619 -0.003386 -0.51301957] [ 0.06616567 0.00563126 0.99779276 -0.30858189] [ 0. 0. 0. 1. ]] SLAMing on 49.543201008000004 meters Centerline goodness [0,1] 0.8947368421052632 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99722997 0.03337531 -0.0664716 2.06254857] [-0.03367622 0.99942697 -0.00341126 -0.51305357] [ 0.06631966 0.00564032 0.99778249 -0.30887937] [ 0. 0. 0. 1. ]] SLAMing on 49.573201008 meters Centerline goodness [0,1] 0.8943888544526107 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99722284 0.03318921 -0.0666715 2.06360992] [-0.03352263 0.9994304 -0.00388809 -0.5120565 ] [ 0.06650448 0.0061123 0.9977674 -0.3099505 ] [ 0. 0. 0. 1. ]] SLAMing on 49.603201008 meters Centerline goodness [0,1] 0.8944097549481621 Centerline is valid? [False, False] Translation: X:2.06, Y:-0.51, Z:-0.31 [[ 0.99722235 0.033052 -0.06674691 2.06449832] [-0.03343083 0.9994306 -0.00456641 -0.51054222] [ 0.06655797 0.00678513 0.99775949 -0.31137827] [ 0. 0. 0. 1. ]] SLAMing on 49.633201008 meters Centerline goodness [0,1] 0.8925027887042799 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.97049865e-01 3.68815500e-02 -6.73150611e-02 2.06608817e+00] [-3.69497018e-02 9.99317100e-01 2.32762642e-04 -5.12549811e-01] [ 6.72776762e-02 2.25519547e-03 9.97731742e-01 -3.09743439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.663201008 meters Centerline goodness [0,1] 0.8925027887042799 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.97049865e-01 3.68815500e-02 -6.73150611e-02 2.06608817e+00] [-3.69497018e-02 9.99317100e-01 2.32762642e-04 -5.12549811e-01] [ 6.72776762e-02 2.25519547e-03 9.97731742e-01 -3.09743439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.693201008 meters Centerline goodness [0,1] 0.8921507943525806 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.97014276e-01 3.74751144e-02 -6.75140601e-02 2.06527610e+00] [-3.74953208e-02 9.99296334e-01 9.68306483e-04 -5.14840428e-01] [ 6.75028402e-02 1.56604595e-03 9.97717853e-01 -3.08254026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.723201008000004 meters Centerline goodness [0,1] 0.8928222583986977 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.97010413e-01 3.76128681e-02 -6.74945119e-02 2.06520842e+00] [-3.76212192e-02 9.99291412e-01 1.14777788e-03 -5.15739982e-01] [ 6.74898574e-02 1.39487933e-03 9.97718985e-01 -3.08245333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.753201008 meters Centerline goodness [0,1] 0.892394199467298 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.97014762e-01 3.74914378e-02 -6.74978302e-02 2.06560806e+00] [-3.75067102e-02 9.99295833e-01 1.04142382e-03 -5.15677520e-01] [ 6.74893449e-02 1.49330663e-03 9.97718877e-01 -3.08647118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.783201008 meters Centerline goodness [0,1] 0.8924622817677921 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.97015650e-01 3.72710048e-02 -6.76067017e-02 2.06645457e+00] [-3.72984897e-02 9.99303803e-01 8.56111099e-04 -5.15539911e-01] [ 6.75915422e-02 1.66807170e-03 9.97711682e-01 -3.09350028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.813201008 meters Centerline goodness [0,1] 0.8902167788618368 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.97024497e-01 3.69520938e-02 -6.76512765e-02 2.06731260e+00] [-3.70083005e-02 9.99314869e-01 4.22675453e-04 -5.14594628e-01] [ 6.76205452e-02 2.08224099e-03 9.97708939e-01 -3.10283989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.843201008 meters Centerline goodness [0,1] 0.8904665915693366 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.97010740e-01 3.66104963e-02 -6.80386353e-02 2.06855362e+00] [-3.66725602e-02 9.99327279e-01 3.37033327e-04 -5.14631216e-01] [ 6.80052032e-02 2.15912510e-03 9.97682630e-01 -3.10331902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.873201008 meters Centerline goodness [0,1] 0.888545810818835 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96996324e-01 3.68055029e-02 -6.81445931e-02 2.06837740e+00] [-3.68462630e-02 9.99320729e-01 6.59086375e-04 -5.15232799e-01] [ 6.81225624e-02 1.85376691e-03 9.97675238e-01 -3.09715405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.903201008 meters Centerline goodness [0,1] 0.8876554174067496 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96983780e-01 3.67086974e-02 -6.83799291e-02 2.06883729e+00] [-3.67419558e-02 9.99324488e-01 7.71663371e-04 -5.15214837e-01] [ 6.83620644e-02 1.74307647e-03 9.97659055e-01 -3.09294484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.933201008000005 meters Centerline goodness [0,1] 0.8831203486820648 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96988325e-01 3.66796574e-02 -6.83292152e-02 2.06910207e+00] [-3.67366903e-02 9.99324891e-01 4.22121132e-04 -5.14021322e-01] [ 6.82985688e-02 2.08933938e-03 9.97662739e-01 -3.10064040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.963201008 meters Centerline goodness [0,1] 0.8844241922120961 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96989837e-01 3.64132941e-02 -6.84495271e-02 2.07009922e+00] [-3.65054496e-02 9.99333449e-01 -9.55374420e-05 -5.12813539e-01] [ 6.84004232e-02 2.59403062e-03 9.97654576e-01 -3.11176695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.993201008 meters Centerline goodness [0,1] 0.8824242424242424 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96993070e-01 3.61927585e-02 -6.85193608e-02 2.07079941e+00] [-3.62975257e-02 9.99340987e-01 -2.84219705e-04 -5.12297237e-01] [ 6.84639190e-02 2.77044834e-03 9.97649746e-01 -3.11694022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.023201008 meters Centerline goodness [0,1] 0.8783496007098491 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96985965e-01 3.69924504e-02 -6.81948950e-02 2.06873142e+00] [-3.70537365e-02 9.99313207e-01 3.66435109e-04 -5.11859828e-01] [ 6.81616146e-02 2.16154501e-03 9.97671951e-01 -3.10097550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.053201008 meters Centerline goodness [0,1] 0.8787842916752981 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96982112e-01 3.73836223e-02 -6.80377284e-02 2.06756296e+00] [-3.74076204e-02 9.99299665e-01 9.21735636e-04 -5.12657927e-01] [ 6.80245370e-02 1.62617558e-03 9.97682323e-01 -3.08878135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.083201008 meters Centerline goodness [0,1] 0.8794720800165715 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.31 [[ 9.96959618e-01 3.73427228e-02 -6.83889033e-02 2.06783288e+00] [-3.73195468e-02 9.99302075e-01 1.61691896e-03 -5.14026547e-01] [ 6.84015531e-02 9.40239966e-04 9.97657428e-01 -3.07373293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.113201008000004 meters Centerline goodness [0,1] 0.8782165302976402 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96941754e-01 3.75328560e-02 -6.85450526e-02 2.06753510e+00] [-3.74577139e-02 9.99295375e-01 2.38165166e-03 -5.15864472e-01] [ 6.85861443e-02 1.93172991e-04 9.97645179e-01 -3.06012432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.143201008 meters Centerline goodness [0,1] 0.8780400784920022 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96944866e-01 3.74467548e-02 -6.85468731e-02 2.06780134e+00] [-3.73461721e-02 9.99298608e-01 2.74870937e-03 -5.17784849e-01] [ 6.86017251e-02 -1.80348379e-04 9.97644110e-01 -3.05921027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.173201008 meters Centerline goodness [0,1] 0.8766100484873725 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96936900e-01 3.73218849e-02 -6.87305866e-02 2.06833598e+00] [-3.72090759e-02 9.99303233e-01 2.92125253e-03 -5.18250426e-01] [ 6.87917241e-02 -3.54902822e-04 9.97630980e-01 -3.05751411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.203201008 meters Centerline goodness [0,1] 0.8769989893585399 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96935572e-01 3.72127781e-02 -6.88089773e-02 2.06881669e+00] [-3.70916840e-02 9.99307252e-01 3.03710074e-03 -5.18871659e-01] [ 6.88743290e-02 -4.75552924e-04 9.97625231e-01 -3.05861213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.233201008 meters Centerline goodness [0,1] 0.8769308761257232 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96923861e-01 3.73459492e-02 -6.89064208e-02 2.06868672e+00] [-3.72020213e-02 9.99302079e-01 3.37126701e-03 -5.19556209e-01] [ 6.89842326e-02 -7.97438396e-04 9.97617432e-01 -3.05250749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.263201008 meters Centerline goodness [0,1] 0.8794804731617428 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96918585e-01 3.70929295e-02 -6.91190922e-02 2.06942753e+00] [-3.69599296e-02 9.99311617e-01 3.20251129e-03 -5.19392910e-01] [ 6.91903023e-02 -6.38006243e-04 9.97603275e-01 -3.05410304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.293201008000004 meters Centerline goodness [0,1] 0.881315609480477 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96909076e-01 3.69057926e-02 -6.93560099e-02 2.07030894e+00] [-3.67854885e-02 9.99318648e-01 3.01140976e-03 -5.19279508e-01] [ 6.94198925e-02 -4.50807010e-04 9.97587427e-01 -3.05859003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.323201008 meters Centerline goodness [0,1] 0.8819676036207718 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96899195e-01 3.66015254e-02 -6.96586239e-02 2.07145675e+00] [-3.64962721e-02 9.99329913e-01 2.78350247e-03 -5.19600224e-01] [ 6.97138270e-02 -2.32591279e-04 9.97567004e-01 -3.06410068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.353201008 meters Centerline goodness [0,1] 0.8856214992253605 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96885997e-01 3.62514340e-02 -7.00295881e-02 2.07270035e+00] [-3.61463940e-02 9.99342675e-01 2.76698804e-03 -5.20537220e-01] [ 7.00838631e-02 -2.27054553e-04 9.97541077e-01 -3.06599401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.383201008 meters Centerline goodness [0,1] 0.8875677930746767 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96889064e-01 3.59651545e-02 -7.01334550e-02 2.07342969e+00] [-3.58768351e-02 9.99353045e-01 2.51894154e-03 -5.20387639e-01] [ 7.01786759e-02 5.06112869e-06 9.97534437e-01 -3.07143439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.413201008 meters Centerline goodness [0,1] 0.8853765559237038 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96915285e-01 3.59632877e-02 -6.97607062e-02 2.07324188e+00] [-3.59180199e-02 9.99352927e-01 1.90356228e-03 -5.18550733e-01] [ 6.97840243e-02 6.07976097e-04 9.97561938e-01 -3.08534200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.443201008 meters Centerline goodness [0,1] 0.8849036882186053 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96910913e-01 3.58508786e-02 -6.98809465e-02 2.07364164e+00] [-3.58119949e-02 9.99356906e-01 1.80957090e-03 -5.18513388e-01] [ 6.99008812e-02 6.98595120e-04 9.97553697e-01 -3.08602914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.473201008000004 meters Centerline goodness [0,1] 0.8908867879368119 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96904201e-01 3.61227131e-02 -6.98366971e-02 2.07302998e+00] [-3.60595306e-02 9.99347297e-01 2.16559784e-03 -5.19097742e-01] [ 6.98693418e-02 3.59384930e-04 9.97556087e-01 -3.07885216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.503201008 meters Centerline goodness [0,1] 0.8908867879368119 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96904201e-01 3.61227131e-02 -6.98366971e-02 2.07302998e+00] [-3.60595306e-02 9.99347297e-01 2.16559784e-03 -5.19097742e-01] [ 6.98693418e-02 3.59384930e-04 9.97556087e-01 -3.07885216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.533201008 meters Centerline goodness [0,1] 0.8874514490588586 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.52, Z:-0.31 [[ 9.96884116e-01 3.55079835e-02 -7.04360821e-02 2.07473551e+00] [-3.54368593e-02 9.99369363e-01 2.25947585e-03 -5.19883793e-01] [ 7.04718919e-02 2.43597948e-04 9.97513736e-01 -3.07500423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.563201008 meters Centerline goodness [0,1] 0.8950246364619637 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.97033885e-01 3.05569471e-02 -7.06378435e-02 2.07544849e+00] [-3.07700851e-02 9.99524624e-01 -1.93092653e-03 -5.19963747e-01] [ 7.05452608e-02 4.09873163e-03 9.97500159e-01 -3.07535709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.593201008 meters Centerline goodness [0,1] 0.8941045405275202 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.97020989e-01 3.01178367e-02 -7.10074820e-02 2.07664445e+00] [-3.03219645e-02 9.99538566e-01 -1.79834181e-03 -5.20705759e-01] [ 7.09205546e-02 3.94607088e-03 9.97474162e-01 -3.07339801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.623201008 meters Centerline goodness [0,1] 0.8933269120789814 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.97005078e-01 2.98292195e-02 -7.13518940e-02 2.07765094e+00] [-3.00287788e-02 9.99547545e-01 -1.72555734e-03 -5.21058039e-01] [ 7.12681385e-02 3.86299967e-03 9.97449713e-01 -3.07193254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.653201008 meters Centerline goodness [0,1] 0.8980393332533877 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 0.99699912 0.02921526 -0.07168838 2.07917512] [-0.0294557 0.99956344 -0.00229874 -0.51903327] [ 0.07158993 0.00440347 0.99742443 -0.30781998] [ 0. 0. 0. 1. ]] SLAMing on 50.683201008 meters Centerline goodness [0,1] 0.8975219488808318 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 0.99699572 0.02863121 -0.07197069 2.08078135] [-0.02892032 0.99957728 -0.00297805 -0.5174439 ] [ 0.071855 0.00505052 0.9974023 -0.3089745 ] [ 0. 0. 0. 1. ]] SLAMing on 50.713201008 meters Centerline goodness [0,1] 0.8992581957406078 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 0.99699187 0.02822893 -0.0721827 2.08200169] [-0.02854818 0.99958665 -0.00339466 -0.51621971] [ 0.07205704 0.00544514 0.99738565 -0.30973838] [ 0. 0. 0. 1. ]] SLAMing on 50.743201008 meters Centerline goodness [0,1] 0.8997555741027781 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 0.99698437 0.02762316 -0.07251983 2.08385983] [-0.02798958 0.99960005 -0.0040412 -0.51501819] [ 0.0723792 0.00605881 0.99735878 -0.31099647] [ 0. 0. 0. 1. ]] SLAMing on 50.773201008 meters Centerline goodness [0,1] 0.9040135973282443 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 0.99696263 0.02618745 -0.07334667 2.08816017] [-0.02666733 0.99962884 -0.00557088 -0.51283627] [ 0.07317356 0.00750992 0.99729095 -0.31391784] [ 0. 0. 0. 1. ]] SLAMing on 50.803201008 meters Centerline goodness [0,1] 0.9038490161640818 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 0.99693555 0.02580487 -0.07384866 2.08960331] [-0.02628812 0.99963884 -0.00557912 -0.51322932] [ 0.07367802 0.00750337 0.99725385 -0.31382207] [ 0. 0. 0. 1. ]] SLAMing on 50.833201008 meters Centerline goodness [0,1] 0.9065568862275449 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 0.9969263 0.02625057 -0.07381636 2.0888416 ] [-0.0266868 0.99963169 -0.00492935 -0.51472243] [ 0.07365978 0.00688412 0.99725967 -0.31284814] [ 0. 0. 0. 1. ]] SLAMing on 50.863201008000004 meters Centerline goodness [0,1] 0.9035071942446044 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.52, Z:-0.31 [[ 0.99691588 0.02707724 -0.07365832 2.08706663] [-0.02743025 0.99961655 -0.00378506 -0.51625609] [ 0.07352759 0.00579385 0.99727635 -0.31076465] [ 0. 0. 0. 1. ]] SLAMing on 50.893201008 meters Centerline goodness [0,1] 0.901047590541754 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 0.99693055 0.02902854 -0.07271051 2.0824085 ] [-0.02926842 0.99956909 -0.00223554 -0.51679849] [ 0.07261428 0.0043568 0.99735058 -0.30805385] [ 0. 0. 0. 1. ]] SLAMing on 50.923201008 meters Centerline goodness [0,1] 0.8983973208946299 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.96940745e-01 2.98346391e-02 -7.22429544e-02 2.08054601e+00] [-3.00478966e-02 9.99546717e-01 -1.86671327e-03 -5.16300191e-01] [ 7.21545152e-02 4.03175135e-03 9.97385317e-01 -3.07497427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.953201008 meters Centerline goodness [0,1] 0.8974834120389742 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.96946801e-01 3.04086201e-02 -7.19193392e-02 2.07924238e+00] [-3.06020274e-02 9.99530386e-01 -1.58863509e-03 -5.15544632e-01] [ 7.18372567e-02 3.78466226e-03 9.97409186e-01 -3.07008830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.983201008 meters Centerline goodness [0,1] 0.8947934081681395 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.96941564e-01 3.05343697e-02 -7.19386586e-02 2.07906067e+00] [-3.07061051e-02 9.99527634e-01 -1.28228845e-03 -5.15309671e-01] [ 7.18655234e-02 3.48732266e-03 9.97408234e-01 -3.06358261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.013201008 meters Centerline goodness [0,1] 0.893553402703026 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.31 [[ 9.96939855e-01 3.08073078e-02 -7.18459110e-02 2.07838014e+00] [-3.09440308e-02 9.99520806e-01 -7.90475707e-04 -5.16092437e-01] [ 7.17871304e-02 3.01125882e-03 9.97415430e-01 -3.05513197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.043201008000004 meters Centerline goodness [0,1] 0.8906711189290719 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.30 [[ 9.96925241e-01 3.10001793e-02 -7.19656391e-02 2.07787640e+00] [-3.10803590e-02 9.99516889e-01 5.67435360e-06 -5.17112484e-01] [ 7.19310476e-02 2.23106099e-03 9.97407112e-01 -3.03726784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.073201008 meters Centerline goodness [0,1] 0.88789664821099 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.30 [[ 9.96928528e-01 3.10347970e-02 -7.19051618e-02 2.07780521e+00] [-3.11164869e-02 9.99515765e-01 -1.59177994e-05 -5.16774032e-01] [ 7.18698488e-02 2.25330493e-03 9.97411473e-01 -3.03753358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.103201008 meters Centerline goodness [0,1] 0.8863920471456634 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.30 [[ 9.96932999e-01 3.11586490e-02 -7.17895103e-02 2.07746308e+00] [-3.12330154e-02 9.99512127e-01 8.66951729e-05 -5.16624130e-01] [ 7.17571874e-02 2.15577360e-03 9.97419801e-01 -3.03581783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.133201008 meters Centerline goodness [0,1] 0.8832712647102636 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.30 [[ 9.96922276e-01 3.08790441e-02 -7.20587274e-02 2.07840383e+00] [-3.09750447e-02 9.99520135e-01 -2.14905105e-04 -5.16242983e-01] [ 7.20175128e-02 2.44626599e-03 9.97400368e-01 -3.03961129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.163201008 meters Centerline goodness [0,1] 0.8877929948605211 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.52, Z:-0.30 [[ 9.96919397e-01 3.06315149e-02 -7.22040612e-02 2.07924000e+00] [-3.07499031e-02 9.99526970e-01 -5.28358688e-04 -5.15411018e-01] [ 7.21537221e-02 2.74699891e-03 9.97389740e-01 -3.04485250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.193201008 meters Centerline goodness [0,1] 0.8862273671712675 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96927084e-01 3.05642403e-02 -7.21263941e-02 2.07962234e+00] [-3.07192885e-02 9.99527509e-01 -1.04111293e-03 -5.14185024e-01] [ 7.20604942e-02 3.25358519e-03 9.97394957e-01 -3.05558933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.223201008000004 meters Centerline goodness [0,1] 0.8842011570983533 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96931926e-01 3.04686712e-02 -7.20998905e-02 2.07990746e+00] [-3.06506663e-02 9.99529151e-01 -1.41890359e-03 -5.12924624e-01] [ 7.20227102e-02 3.62445998e-03 9.97396407e-01 -3.06154982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.253201008 meters Centerline goodness [0,1] 0.8804357479056274 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96936502e-01 3.08413539e-02 -7.18778310e-02 2.07902148e+00] [-3.10316840e-02 9.99517226e-01 -1.53251666e-03 -5.11237670e-01] [ 7.17958654e-02 3.75831194e-03 9.97412266e-01 -3.05991925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.283201008 meters Centerline goodness [0,1] 0.8845437065522852 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96948155e-01 3.09649207e-02 -7.16627500e-02 2.07864933e+00] [-3.11693616e-02 9.99512610e-01 -1.73603169e-03 -5.10194746e-01] [ 7.15740662e-02 3.96441575e-03 9.97427409e-01 -3.06351082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.313201008 meters Centerline goodness [0,1] 0.8839211985372184 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 0.99695367 0.03095798 -0.07158904 2.07874126] [-0.03118758 0.99951136 -0.00209149 -0.50871271] [ 0.07148931 0.00431781 0.99743202 -0.30689395] [ 0. 0. 0. 1. ]] SLAMing on 51.343201008 meters Centerline goodness [0,1] 0.8809797845654419 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 0.99696133 0.03114645 -0.07140036 2.07827281] [-0.03138753 0.99950474 -0.00225675 -0.50749956] [ 0.07129471 0.00449097 0.99744518 -0.30709599] [ 0. 0. 0. 1. ]] SLAMing on 51.373201008 meters Centerline goodness [0,1] 0.8795966959640201 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96964023e-01 3.20821686e-02 -7.09469626e-02 2.07619723e+00] [-3.23105395e-02 9.99475728e-01 -2.07333319e-03 -5.05719710e-01] [ 7.08432501e-02 4.35937323e-03 9.97477934e-01 -3.06413311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.403201008 meters Centerline goodness [0,1] 0.8800023488652045 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96952673e-01 3.23382935e-02 -7.09901592e-02 2.07586747e+00] [-3.25551669e-02 9.99468135e-01 -1.89979566e-03 -5.05735536e-01] [ 7.08909658e-02 4.20510285e-03 9.97475207e-01 -3.05876056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.433201008 meters Centerline goodness [0,1] 0.8839472059731327 Centerline is valid? [False, False] Translation: X:2.07, Y:-0.51, Z:-0.30 [[ 9.96944998e-01 3.27940500e-02 -7.08887930e-02 2.07487252e+00] [-3.29723812e-02 9.99455356e-01 -1.34663885e-03 -5.06441295e-01] [ 7.08060221e-02 3.67989717e-03 9.97483316e-01 -3.04806474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.463201008 meters Centerline goodness [0,1] 0.8831711118299174 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.30 [[ 9.96929160e-01 3.24356776e-02 -7.12753581e-02 2.07604898e+00] [-3.26109598e-02 9.99467280e-01 -1.29663732e-03 -5.07118217e-01] [ 7.11953310e-02 3.61701339e-03 9.97455835e-01 -3.04737250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.493201008 meters Centerline goodness [0,1] 0.8828373132572639 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 9.96924953e-01 3.20908609e-02 -7.14899651e-02 2.07712127e+00] [-3.22807667e-02 9.99477711e-01 -1.50233047e-03 -5.06895959e-01] [ 7.14044156e-02 3.80546162e-03 9.97440188e-01 -3.05256624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.523201008 meters Centerline goodness [0,1] 0.8857537548129206 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.51, Z:-0.31 [[ 0.99693333 0.03112169 -0.07180095 2.07992496] [-0.03139567 0.99950341 -0.00269011 -0.50507585] [ 0.07168158 0.0049361 0.99741535 -0.30797218] [ 0. 0. 0. 1. ]] SLAMing on 51.553201008 meters Centerline goodness [0,1] 0.8833445718138908 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99692934 0.03061268 -0.07207465 2.08162803] [-0.03092933 0.99951619 -0.00328113 -0.50401135] [ 0.07193933 0.00550028 0.99739384 -0.30931188] [ 0. 0. 0. 1. ]] SLAMing on 51.583201008 meters Centerline goodness [0,1] 0.8867266492775709 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99691712 0.03023464 -0.07240249 2.08308715] [-0.03057906 0.99952568 -0.00365291 -0.50360627] [ 0.07225771 0.00585565 0.99736881 -0.31014395] [ 0. 0. 0. 1. ]] SLAMing on 51.613201008000004 meters Centerline goodness [0,1] 0.8874148861235032 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99691072 0.03035008 -0.07244233 2.08303789] [-0.03067818 0.99952346 -0.00342053 -0.50412047] [ 0.072304 0.00563236 0.99736674 -0.30984573] [ 0. 0. 0. 1. ]] SLAMing on 51.643201008 meters Centerline goodness [0,1] 0.8902406925394086 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99689739 0.03092304 -0.07238345 2.08186391] [-0.03120304 0.99950931 -0.00274036 -0.50492122] [ 0.07226319 0.00499045 0.99737311 -0.30836341] [ 0. 0. 0. 1. ]] SLAMing on 51.673201008 meters Centerline goodness [0,1] 0.8871713800573804 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99690349 0.03145341 -0.07207018 2.08050241] [-0.03171421 0.99949391 -0.00247692 -0.50457393] [ 0.0719558 0.0047549 0.99739649 -0.30775284] [ 0. 0. 0. 1. ]] SLAMing on 51.703201008 meters Centerline goodness [0,1] 0.8854821266769941 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99691407 0.0319539 -0.0717027 2.07921505] [-0.03221658 0.99947776 -0.00250969 -0.50335883] [ 0.07158506 0.00481196 0.99742289 -0.30762309] [ 0. 0. 0. 1. ]] SLAMing on 51.733201008 meters Centerline goodness [0,1] 0.8810656239969654 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96764925e-01 3.64716788e-02 -7.16205410e-02 2.07895017e+00] [-3.64311606e-02 9.99334411e-01 1.87237586e-03 -5.03071247e-01] [ 7.16411599e-02 7.42900853e-04 9.97430194e-01 -3.06718231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.763201008 meters Centerline goodness [0,1] 0.8813096068853221 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96758823e-01 3.66485820e-02 -7.16151597e-02 2.07882531e+00] [-3.66295510e-02 9.99327665e-01 1.57946570e-03 -5.01616812e-01] [ 7.16248954e-02 1.04888477e-03 9.97431087e-01 -3.06952924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.793201008000004 meters Centerline goodness [0,1] 0.8752150710098859 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96764795e-01 3.70885040e-02 -7.13048772e-02 2.07777938e+00] [-3.70676631e-02 9.99311451e-01 1.61595058e-03 -5.01395350e-01] [ 7.13157135e-02 1.03238251e-03 9.97453259e-01 -3.06901191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.823201008 meters Centerline goodness [0,1] 0.8821659765556658 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96746098e-01 3.70622515e-02 -7.15793608e-02 2.07794838e+00] [-3.70164769e-02 9.99312721e-01 1.96635567e-03 -5.02197855e-01] [ 7.16030433e-02 6.89658412e-04 9.97432969e-01 -3.05873688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.853201008 meters Centerline goodness [0,1] 0.8842600713325147 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96748754e-01 3.69026899e-02 -7.16248066e-02 2.07876775e+00] [-3.68703028e-02 9.99318483e-01 1.77468854e-03 -5.02407097e-01] [ 7.16414839e-02 8.71909717e-04 9.97430066e-01 -3.06797257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.883201008 meters Centerline goodness [0,1] 0.8764503527491109 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 9.96760393e-01 3.60605265e-02 -7.18912949e-02 2.08147907e+00] [-3.61088297e-02 9.99347666e-01 6.28055629e-04 -5.00936954e-01] [ 7.18670458e-02 1.96988955e-03 9.97412275e-01 -3.09593948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.913201008 meters Centerline goodness [0,1] 0.877007694333109 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99692218 0.03139963 -0.07183475 2.08150477] [-0.0317643 0.99948762 -0.00393949 -0.49969977] [ 0.07167425 0.00620915 0.99740877 -0.3102096 ] [ 0. 0. 0. 1. ]] SLAMing on 51.943201008 meters Centerline goodness [0,1] 0.8768964911253002 Centerline is valid? [False, False] Translation: X:2.08, Y:-0.50, Z:-0.31 [[ 0.99705656 0.02654453 -0.07192773 2.08214308] [-0.02723171 0.99959224 -0.00858979 -0.49833577] [ 0.07167039 0.01052323 0.99737286 -0.31096643] [ 0. 0. 0. 1. ]] SLAMing on 51.973201008000004 meters Centerline goodness [0,1] 0.8830562246636507 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 0.99714634 0.02191713 -0.07224144 2.0875532 ] [-0.02283019 0.99966927 -0.01183759 -0.49848162] [ 0.0719581 0.0134531 0.99731692 -0.31449017] [ 0. 0. 0. 1. ]] SLAMing on 52.003201008 meters Centerline goodness [0,1] 0.8836196752176982 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.32 [[ 0.9971218 0.0211783 -0.07279833 2.09001642] [-0.0221315 0.99967925 -0.01231206 -0.49846059] [ 0.07251423 0.01388776 0.99727068 -0.31570326] [ 0. 0. 0. 1. ]] SLAMing on 52.033201008 meters Centerline goodness [0,1] 0.8840252310400469 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.32 [[ 0.99699508 0.02402972 -0.07364356 2.09351197] [-0.02468914 0.99966271 -0.00805684 -0.50078163] [ 0.07342512 0.00985082 0.99725208 -0.31534443] [ 0. 0. 0. 1. ]] SLAMing on 52.063201008 meters Centerline goodness [0,1] 0.8810418746696423 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.32 [[ 0.99700219 0.02450633 -0.07338992 2.09300209] [-0.02514524 0.99965342 -0.00779441 -0.50102956] [ 0.07317348 0.00961646 0.99727286 -0.31567915] [ 0. 0. 0. 1. ]] SLAMing on 52.093201008 meters Centerline goodness [0,1] 0.8785852542671124 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 0.99700545 0.02521597 -0.07310468 2.09163016] [-0.02580371 0.99964177 -0.00710635 -0.50182632] [ 0.0728993 0.00897144 0.99729895 -0.31481302] [ 0. 0. 0. 1. ]] SLAMing on 52.123201008 meters Centerline goodness [0,1] 0.882306477093207 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 9.96848624e-01 2.95696676e-02 -7.36101633e-02 2.09222074e+00] [-2.97645674e-02 9.99555732e-01 -1.55192347e-03 -5.05038872e-01] [ 7.35315708e-02 3.73800745e-03 9.97285884e-01 -3.12092892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.153201008 meters Centerline goodness [0,1] 0.8815543617890926 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96857205e-01 3.05689656e-02 -7.30838611e-02 2.09005293e+00] [-3.07372056e-02 9.99526806e-01 -1.17815843e-03 -5.04299623e-01] [ 7.30132632e-02 3.42084939e-03 9.97325103e-01 -3.11490047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.183201008 meters Centerline goodness [0,1] 0.8797418450486231 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 9.96857204e-01 3.10305434e-02 -7.28890973e-02 2.08791985e+00] [-3.11016005e-02 9.99516215e-01 1.60199659e-04 -5.05395356e-01] [ 7.28588058e-02 2.10727140e-03 9.97340039e-01 -3.08083829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.213201008 meters Centerline goodness [0,1] 0.8733389795858766 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96865182e-01 3.10641634e-02 -7.27655534e-02 2.08767773e+00] [-3.11563567e-02 9.99514514e-01 -1.31999820e-04 -5.04176249e-01] [ 7.27261263e-02 2.39869556e-03 9.97349065e-01 -3.08341685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.243201008 meters Centerline goodness [0,1] 0.8785571025782635 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96863442e-01 3.07658852e-02 -7.29159692e-02 2.08883203e+00] [-3.09201003e-02 9.99521372e-01 -9.86859873e-04 -5.01881827e-01] [ 7.28507079e-02 3.23833361e-03 9.97337600e-01 -3.09725359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.273201008 meters Centerline goodness [0,1] 0.8792176465459618 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96871129e-01 3.09344357e-02 -7.27393448e-02 2.08885839e+00] [-3.11251695e-02 9.99514384e-01 -1.48983227e-03 -4.99859224e-01] [ 7.26579343e-02 3.74919522e-03 9.97349872e-01 -3.10776822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.303201008 meters Centerline goodness [0,1] 0.8764028651799437 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96871428e-01 3.15386803e-02 -7.24752939e-02 2.08768562e+00] [-3.17293417e-02 9.99495401e-01 -1.48061848e-03 -4.98418936e-01] [ 7.23920262e-02 3.77557962e-03 9.97369109e-01 -3.10543457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.333201008 meters Centerline goodness [0,1] 0.8757053929838851 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96860164e-01 3.17093935e-02 -7.25556866e-02 2.08744103e+00] [-3.18720636e-02 9.99491368e-01 -1.08503567e-03 -4.99044466e-01] [ 7.24843767e-02 3.39412829e-03 9.97363773e-01 -3.09740865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.363201008000004 meters Centerline goodness [0,1] 0.8800499912805906 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96843368e-01 3.14468037e-02 -7.28999236e-02 2.08857917e+00] [-3.16097867e-02 9.99499699e-01 -1.08279049e-03 -4.99935021e-01] [ 7.28294014e-02 3.38372355e-03 9.97338673e-01 -3.09982897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.393201008 meters Centerline goodness [0,1] 0.8800499912805906 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96843368e-01 3.14468037e-02 -7.28999236e-02 2.08857917e+00] [-3.16097867e-02 9.99499699e-01 -1.08279049e-03 -4.99935021e-01] [ 7.28294014e-02 3.38372355e-03 9.97338673e-01 -3.09982897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.423201008 meters Centerline goodness [0,1] 0.8809074273099602 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96834823e-01 3.10727828e-02 -7.31766251e-02 2.09008019e+00] [-3.12486101e-02 9.99510850e-01 -1.25886110e-03 -5.00501444e-01] [ 7.31017144e-02 3.54154441e-03 9.97318202e-01 -3.10893375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.453201008 meters Centerline goodness [0,1] 0.8813608522743767 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96826348e-01 3.05762043e-02 -7.35005321e-02 2.09187159e+00] [-3.07853496e-02 9.99524549e-01 -1.71401157e-03 -5.00343637e-01] [ 7.34131783e-02 3.97131147e-03 9.97293705e-01 -3.12210894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.483201008 meters Centerline goodness [0,1] 0.8829948204620847 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96821774e-01 3.03483131e-02 -7.36568468e-02 2.09270069e+00] [-3.05593664e-02 9.99531439e-01 -1.73980724e-03 -5.00527395e-01] [ 7.35695339e-02 3.98518431e-03 9.97282128e-01 -3.12577316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.513201008 meters Centerline goodness [0,1] 0.8815950206503402 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96807046e-01 3.06860286e-02 -7.37162143e-02 2.09154465e+00] [-3.07306856e-02 9.99527561e-01 5.28613191e-04 -5.04210829e-01] [ 7.36976090e-02 1.73842446e-03 9.97279119e-01 -3.08526565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.543201008000004 meters Centerline goodness [0,1] 0.8823700345799552 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.51, Z:-0.31 [[ 9.96790097e-01 3.06568931e-02 -7.39571284e-02 2.09179177e+00] [-3.06634447e-02 9.99529218e-01 1.04712518e-03 -5.05392189e-01] [ 7.39544123e-02 1.22401630e-03 9.97260872e-01 -3.07552895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.573201008 meters Centerline goodness [0,1] 0.880720332819364 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96797537e-01 3.08671188e-02 -7.37691786e-02 2.09190270e+00] [-3.09316297e-02 9.99521467e-01 2.68074041e-04 -5.02846880e-01] [ 7.37421522e-02 2.01458537e-03 9.97275306e-01 -3.09210596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.603201008 meters Centerline goodness [0,1] 0.8835360013930406 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96804820e-01 3.07650776e-02 -7.37133632e-02 2.09262515e+00] [-3.09034274e-02 9.99522103e-01 -7.36777053e-04 -4.99990392e-01] [ 7.36554689e-02 3.01241849e-03 9.97279197e-01 -3.10982750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.633201008 meters Centerline goodness [0,1] 0.8814285300842184 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96805165e-01 3.11456617e-02 -7.35486989e-02 2.09237806e+00] [-3.13301777e-02 9.99508170e-01 -1.35610286e-03 -4.97546213e-01] [ 7.34702887e-02 3.65606414e-03 9.97290705e-01 -3.12058738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.663201008 meters Centerline goodness [0,1] 0.8815054821072121 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.50, Z:-0.31 [[ 9.96801280e-01 3.20401243e-02 -7.32163845e-02 2.09095535e+00] [-3.22446972e-02 9.99478702e-01 -1.61348501e-03 -4.95382684e-01] [ 7.31265207e-02 3.96916407e-03 9.97314774e-01 -3.12376568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.693201008 meters Centerline goodness [0,1] 0.8907105399642713 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.49, Z:-0.31 [[ 9.96622413e-01 3.70784100e-02 -7.32731739e-02 2.09018159e+00] [-3.69948416e-02 9.99312335e-01 2.49783339e-03 -4.94248150e-01] [ 7.33154022e-02 2.21332729e-04 9.97308780e-01 -3.11439582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.723201008000004 meters Centerline goodness [0,1] 0.8969656840165823 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.49, Z:-0.31 [[ 9.96613202e-01 3.73809787e-02 -7.32447171e-02 2.08997873e+00] [-3.73395963e-02 9.99300761e-01 1.93468927e-03 -4.92206868e-01] [ 7.32658221e-02 8.06791300e-04 9.97312122e-01 -3.12081897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.753201008 meters Centerline goodness [0,1] 0.8972474419945237 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.49, Z:-0.31 [[ 9.96618411e-01 3.74089261e-02 -7.31595188e-02 2.08998972e+00] [-3.73862620e-02 9.99299478e-01 1.67966182e-03 -4.91452152e-01] [ 7.31711032e-02 1.06117904e-03 9.97318837e-01 -3.12574981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.783201008 meters Centerline goodness [0,1] 0.8926695526695527 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.49, Z:-0.31 [[ 9.96622043e-01 3.72396878e-02 -7.31963767e-02 2.09070247e+00] [-3.72345686e-02 9.99305523e-01 1.43495969e-03 -4.90929790e-01] [ 7.31989809e-02 1.29532305e-03 9.97316515e-01 -3.13366204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.813201008 meters Centerline goodness [0,1] 0.8886517048404777 Centerline is valid? [False, False] Translation: X:2.09, Y:-0.49, Z:-0.31 [[ 9.96623241e-01 3.63605009e-02 -7.36208445e-02 2.09312171e+00] [-3.63892059e-02 9.99337240e-01 9.51826765e-04 -4.90797319e-01] [ 7.36066605e-02 1.73039140e-03 9.97285849e-01 -3.14651459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.843201008 meters Centerline goodness [0,1] 0.8882268278641335 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.49, Z:-0.31 [[ 9.96626990e-01 3.48936697e-02 -7.42770093e-02 2.09636385e+00] [-3.49061328e-02 9.99389956e-01 1.13075260e-03 -4.92604172e-01] [ 7.42711531e-02 1.46578459e-03 9.97237007e-01 -3.14786569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.873201008 meters Centerline goodness [0,1] 0.8901652151268771 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.49, Z:-0.31 [[ 9.96613871e-01 3.46526380e-02 -7.45653206e-02 2.09723558e+00] [-3.46282284e-02 9.99398949e-01 1.62055554e-03 -4.94503350e-01] [ 7.45766596e-02 9.66996823e-04 9.97214815e-01 -3.14339341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.903201008 meters Centerline goodness [0,1] 0.89046335738503 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96593116e-01 3.44470643e-02 -7.49370482e-02 2.09816862e+00] [-3.43782767e-02 9.99406453e-01 2.20804583e-03 -4.96556819e-01] [ 7.49686303e-02 3.75683304e-04 9.97185822e-01 -3.13655371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.933201008 meters Centerline goodness [0,1] 0.8925506850111987 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96576731e-01 3.42540172e-02 -7.52428221e-02 2.09895248e+00] [-3.41565476e-02 9.99413159e-01 2.58223928e-03 -4.98237950e-01] [ 7.52871186e-02 -3.36454018e-06 9.97161897e-01 -3.13242782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.963201008 meters Centerline goodness [0,1] 0.897309090909091 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96549845e-01 3.40420352e-02 -7.56937691e-02 2.10012152e+00] [-3.39230848e-02 9.99420363e-01 2.85701622e-03 -4.99781038e-01] [ 7.57471529e-02 -2.79392921e-04 9.97127018e-01 -3.12960607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.993201008 meters Centerline goodness [0,1] 0.8923871494849873 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96537346e-01 3.43722896e-02 -7.57090750e-02 2.09990214e+00] [-3.42225682e-02 9.99408872e-01 3.27442710e-03 -5.01555373e-01] [ 7.57768708e-02 -6.72129909e-04 9.97124573e-01 -3.12717494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.023201008 meters Centerline goodness [0,1] 0.8981744659653647 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96522157e-01 3.46409088e-02 -7.57865273e-02 2.09965293e+00] [-3.44566954e-02 9.99399204e-01 3.73728983e-03 -5.02933760e-01] [ 7.58704582e-02 -1.11293883e-03 9.97117062e-01 -3.12146878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.053201008 meters Centerline goodness [0,1] 0.8923645753858794 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.50, Z:-0.31 [[ 9.96509452e-01 3.46613155e-02 -7.59440891e-02 2.10024899e+00] [-3.44590702e-02 9.99398216e-01 3.97223439e-03 -5.04586168e-01] [ 7.60360700e-02 -1.34140642e-03 9.97104165e-01 -3.12368746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.083201008 meters Centerline goodness [0,1] 0.8932824875330009 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.51, Z:-0.31 [[ 9.96502046e-01 3.42634389e-02 -7.62213147e-02 2.10152137e+00] [-3.40429433e-02 9.99411585e-01 4.19062742e-03 -5.06591760e-01] [ 7.63200503e-02 -1.58117090e-03 9.97082118e-01 -3.12549313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.113201008000004 meters Centerline goodness [0,1] 0.8922048606021518 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.51, Z:-0.31 [[ 9.96505224e-01 3.41373364e-02 -7.62363428e-02 2.10201856e+00] [-3.39321452e-02 9.99416192e-01 3.98558959e-03 -5.06211210e-01] [ 7.63278928e-02 -1.38479820e-03 9.97081810e-01 -3.13195274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.143201008 meters Centerline goodness [0,1] 0.8945115515421602 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.51, Z:-0.31 [[ 9.96505573e-01 3.37019807e-02 -7.64252533e-02 2.10331274e+00] [-3.35219350e-02 9.99431361e-01 3.63782158e-03 -5.05995260e-01] [ 7.65043968e-02 -1.06318710e-03 9.97068677e-01 -3.14150574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.173201008 meters Centerline goodness [0,1] 0.8894803399700026 Centerline is valid? [False, False] Translation: X:2.10, Y:-0.51, Z:-0.31 [[ 9.96492132e-01 3.32538958e-02 -7.67958880e-02 2.10475704e+00] [-3.30807642e-02 9.99446463e-01 3.52580448e-03 -5.06325349e-01] [ 7.68706253e-02 -9.72969765e-04 9.97040601e-01 -3.14554822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.203201008 meters Centerline goodness [0,1] 0.8914724124753814 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96466397e-01 3.24800997e-02 -7.74581341e-02 2.10703925e+00] [-3.23116771e-02 9.99471966e-01 3.42699556e-03 -5.07513600e-01] [ 7.75285427e-02 -9.12083702e-04 9.96989716e-01 -3.14756159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.233201008 meters Centerline goodness [0,1] 0.8927071401298206 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96448353e-01 3.21255501e-02 -7.78371905e-02 2.10819485e+00] [-3.19448347e-02 9.99483272e-01 3.56605788e-03 -5.08381892e-01] [ 7.79115314e-02 -1.06689631e-03 9.96959706e-01 -3.14519506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.263201008 meters Centerline goodness [0,1] 0.8914568716467189 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96437514e-01 3.21519668e-02 -7.79649402e-02 2.10852229e+00] [-3.19531673e-02 9.99482157e-01 3.79635463e-03 -5.09153313e-01] [ 7.80466269e-02 -1.29160339e-03 9.96948873e-01 -3.14393648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.293201008000004 meters Centerline goodness [0,1] 0.8926325114424922 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96443647e-01 3.21257738e-02 -7.78973224e-02 2.10847720e+00] [-3.19311451e-02 9.99483062e-01 3.74313342e-03 -5.09061852e-01] [ 7.79773054e-02 -1.24247081e-03 9.96954360e-01 -3.14537211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.323201008 meters Centerline goodness [0,1] 0.8910777385159011 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96431598e-01 3.13823786e-02 -7.83531552e-02 2.11029827e+00] [-3.12103530e-02 9.99506989e-01 3.41945198e-03 -5.08752654e-01] [ 7.84218368e-02 -9.61820372e-04 9.96919801e-01 -3.14905530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.353201008 meters Centerline goodness [0,1] 0.8873027132470296 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96428721e-01 3.05054787e-02 -7.87351186e-02 2.11200388e+00] [-3.03223217e-02 9.99533971e-01 3.52104632e-03 -5.09683014e-01] [ 7.88058370e-02 -1.12104008e-03 9.96889354e-01 -3.14678819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.383201008 meters Centerline goodness [0,1] 0.8935981031416717 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.51, Z:-0.31 [[ 9.96403717e-01 3.00880742e-02 -7.92107306e-02 2.11323392e+00] [-2.98790543e-02 9.99546211e-01 3.82296336e-03 -5.11475498e-01] [ 7.92898112e-02 -1.44247318e-03 9.96850563e-01 -3.14174017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.413201008 meters Centerline goodness [0,1] 0.8967841553582564 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.31 [[ 9.96363740e-01 2.92420321e-02 -8.00262523e-02 2.11561518e+00] [-2.90206063e-02 9.99571092e-01 3.92883680e-03 -5.13288439e-01] [ 8.01068156e-02 -1.59214017e-03 9.96785014e-01 -3.13819175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.443201008 meters Centerline goodness [0,1] 0.9038278082518483 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96491308e-01 2.51180115e-02 -7.98383228e-02 2.11524433e+00] [-2.52502889e-02 9.99680951e-01 -6.47505784e-04 -5.12173816e-01] [ 7.97965864e-02 2.66117460e-03 9.96807616e-01 -3.15100910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.473201008000004 meters Centerline goodness [0,1] 0.8980958048199941 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96464289e-01 2.41163529e-02 -8.04818173e-02 2.11826784e+00] [-2.42477848e-02 9.99705764e-01 -6.55981991e-04 -5.13658814e-01] [ 8.04423167e-02 2.60516841e-03 9.96755861e-01 -3.15831570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.503201008 meters Centerline goodness [0,1] 0.898205905067427 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96453275e-01 2.36618419e-02 -8.07526378e-02 2.11979849e+00] [-2.38227719e-02 9.99715667e-01 -1.02987265e-03 -5.13111982e-01] [ 8.07053085e-02 2.94997164e-03 9.96733641e-01 -3.16797924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.533201008 meters Centerline goodness [0,1] 0.8948261490831151 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96446529e-01 2.34006825e-02 -8.09118164e-02 2.12100273e+00] [-2.35915518e-02 9.99720695e-01 -1.40366814e-03 -5.12860295e-01] [ 8.08563706e-02 3.30751555e-03 9.96720276e-01 -3.17991854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.563201008 meters Centerline goodness [0,1] 0.892963625521765 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96433992e-01 2.33474294e-02 -8.10814272e-02 2.12182129e+00] [-2.35471276e-02 9.99721591e-01 -1.50748440e-03 -5.13041265e-01] [ 8.10236576e-02 3.41134341e-03 9.96706341e-01 -3.18613134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.593201008 meters Centerline goodness [0,1] 0.9006616621665727 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96401623e-01 2.38497673e-02 -8.13326120e-02 2.12171353e+00] [-2.39929903e-02 9.99711819e-01 -7.83944024e-04 -5.14640573e-01] [ 8.12904766e-02 2.73253566e-03 9.96686707e-01 -3.17669176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.623201008 meters Centerline goodness [0,1] 0.900634816558877 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.52, Z:-0.32 [[ 9.96392222e-01 2.42843272e-02 -8.13191972e-02 2.12124502e+00] [-2.43995657e-02 9.99702197e-01 -4.23543854e-04 -5.15541007e-01] [ 8.12846946e-02 2.40616890e-03 9.96688020e-01 -3.17351921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.653201008 meters Centerline goodness [0,1] 0.9009359679096717 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.52, Z:-0.32 [[ 9.96231377e-01 2.78498280e-02 -8.21427426e-02 2.12390051e+00] [-2.75863630e-02 9.99609999e-01 4.34081031e-03 -5.18387384e-01] [ 8.22315977e-02 -2.05843191e-03 9.96611121e-01 -3.16185673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.683201008 meters Centerline goodness [0,1] 0.8961054381382094 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96203797e-01 2.92525905e-02 -8.19895147e-02 2.12281166e+00] [-2.90135312e-02 9.99570586e-01 4.10587969e-03 -5.14816338e-01] [ 8.20744149e-02 -1.71148760e-03 9.96624734e-01 -3.17298577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.713201008 meters Centerline goodness [0,1] 0.897158804144524 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96215722e-01 2.94285497e-02 -8.17813881e-02 2.12226917e+00] [-2.92243319e-02 9.99566055e-01 3.69326613e-03 -5.13132744e-01] [ 8.18545869e-02 -1.28928336e-03 9.96643449e-01 -3.17702087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.743201008 meters Centerline goodness [0,1] 0.8960391633288829 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.51, Z:-0.32 [[ 9.96187274e-01 2.92591782e-02 -8.21876855e-02 2.12277388e+00] [-2.90275256e-02 9.99570560e-01 4.01229921e-03 -5.13663148e-01] [ 8.22697874e-02 -1.61129627e-03 9.96608793e-01 -3.16549585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.773201008 meters Centerline goodness [0,1] 0.897979797979798 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.52, Z:-0.31 [[ 0.99614476 0.02921381 -0.08271739 2.1231698 ] [-0.02891226 0.99957023 0.0048413 -0.5159233 ] [ 0.08282327 -0.00243109 0.99656129 -0.31461282] [ 0. 0. 0. 1. ]] SLAMing on 53.803201008 meters Centerline goodness [0,1] 0.9030456852791878 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.52, Z:-0.31 [[ 9.96259859e-01 2.58055464e-02 -8.24643428e-02 2.12134664e+00] [-2.58112109e-02 9.99666337e-01 9.97555366e-04 -5.15777123e-01] [ 8.24625700e-02 1.13468018e-03 9.96593516e-01 -3.14513528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.833201008 meters Centerline goodness [0,1] 0.9069358825456386 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.52, Z:-0.32 [[ 9.96234787e-01 2.48096228e-02 -8.30706403e-02 2.12442022e+00] [-2.48730605e-02 9.99690581e-01 2.71312295e-04 -5.15043386e-01] [ 8.30516678e-02 1.79593031e-03 9.96543624e-01 -3.16169095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.863201008000004 meters Centerline goodness [0,1] 0.9009971721982438 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96225080e-01 2.40281913e-02 -8.34160451e-02 2.12691230e+00] [-2.41425065e-02 9.99708462e-01 -3.61852649e-04 -5.14485526e-01] [ 8.33830315e-02 2.37435910e-03 9.96514743e-01 -3.18014417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.893201008 meters Centerline goodness [0,1] 0.9058988345405228 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96213392e-01 2.34883246e-02 -8.37088726e-02 2.12867382e+00] [-2.36564036e-02 9.99719631e-01 -1.01646210e-03 -5.13180124e-01] [ 8.36615283e-02 2.99286403e-03 9.96489735e-01 -3.19370040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.923201008 meters Centerline goodness [0,1] 0.9064611736810907 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96199889e-01 2.32038869e-02 -8.39485662e-02 2.12968384e+00] [-2.34315863e-02 9.99723949e-01 -1.72798988e-03 -5.10599334e-01] [ 8.38852960e-02 3.68847141e-03 9.96468591e-01 -3.20179986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.953201008 meters Centerline goodness [0,1] 0.9080847537878788 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 0.99616952 0.02314897 -0.08432332 2.13039098] [-0.02341494 0.99972349 -0.00216641 -0.50882725] [ 0.08424985 0.00413254 0.99643609 -0.32031748] [ 0. 0. 0. 1. ]] SLAMing on 53.983201008 meters Centerline goodness [0,1] 0.9084810874704492 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96141078e-01 2.28105282e-02 -8.47504139e-02 2.13151710e+00] [-2.30682468e-02 9.99731765e-01 -2.06274655e-03 -5.09284029e-01] [ 8.46806285e-02 4.00983004e-03 9.96400076e-01 -3.19913893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.013201008 meters Centerline goodness [0,1] 0.9100803701177378 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96105920e-01 2.27011568e-02 -8.51918633e-02 2.13214515e+00] [-2.29121319e-02 9.99736358e-01 -1.49942026e-03 -5.10856265e-01] [ 8.51353646e-02 3.44550861e-03 9.96363437e-01 -3.18750434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.043201008000004 meters Centerline goodness [0,1] 0.9115373178709486 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96079820e-01 2.24258512e-02 -8.55691177e-02 2.13307494e+00] [-2.25869680e-02 9.99744463e-01 -9.15078319e-04 -5.12987713e-01] [ 8.55267302e-02 2.84423797e-03 9.96331817e-01 -3.17898153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.073201008 meters Centerline goodness [0,1] 0.9139909620644547 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96037013e-01 2.19152100e-02 -8.61974000e-02 2.13477652e+00] [-2.20228765e-02 9.99757423e-01 -2.98226414e-04 -5.14731062e-01] [ 8.61699548e-02 2.19535924e-03 9.96278033e-01 -3.16879896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.103201008 meters Centerline goodness [0,1] 0.9179427825261158 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.32 [[ 9.96039960e-01 2.13739665e-02 -8.62991940e-02 2.13614868e+00] [-2.14785057e-02 9.99769270e-01 -2.82911519e-04 -5.15206116e-01] [ 8.62732353e-02 2.13536891e-03 9.96269225e-01 -3.17555393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.133201008 meters Centerline goodness [0,1] 0.9171660831899365 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.96056264e-01 2.15017647e-02 -8.60789987e-02 2.13588329e+00] [-2.16189471e-02 9.99766191e-01 -4.29260233e-04 -5.14137087e-01] [ 8.60496428e-02 2.28850466e-03 9.96288222e-01 -3.18027051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.163201008 meters Centerline goodness [0,1] 0.9177575075519754 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.96053045e-01 2.16612649e-02 -8.60762569e-02 2.13542251e+00] [-2.17946107e-02 9.99762283e-01 -6.09606864e-04 -5.12484658e-01] [ 8.60425903e-02 2.48319929e-03 9.96288365e-01 -3.17725968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.193201008 meters Centerline goodness [0,1] 0.9188934111956586 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.96031377e-01 2.16156817e-02 -8.63380411e-02 2.13576636e+00] [-2.17564232e-02 9.99763063e-01 -6.89383310e-04 -5.11854250e-01] [ 8.63026830e-02 2.56505437e-03 9.96265661e-01 -3.17327788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.223201008000004 meters Centerline goodness [0,1] 0.9192977279433461 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.51, Z:-0.32 [[ 9.96020917e-01 2.20027708e-02 -8.63609392e-02 2.13487894e+00] [-2.21197591e-02 9.99755249e-01 -3.97832111e-04 -5.11927111e-01] [ 8.63310489e-02 2.30653228e-03 9.96263835e-01 -3.16254967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.253201008 meters Centerline goodness [0,1] 0.9188502555315944 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.96005544e-01 2.17942802e-02 -8.65907980e-02 2.13574120e+00] [-2.19219634e-02 9.99759548e-01 -5.23811940e-04 -5.11695265e-01] [ 8.65585609e-02 2.41995990e-03 9.96243825e-01 -3.16522521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.283201008 meters Centerline goodness [0,1] 0.9188502555315944 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.96005544e-01 2.17942802e-02 -8.65907980e-02 2.13574120e+00] [-2.19219634e-02 9.99759548e-01 -5.23811940e-04 -5.11695265e-01] [ 8.65585609e-02 2.41995990e-03 9.96243825e-01 -3.16522521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.313201008 meters Centerline goodness [0,1] 0.9202647988887904 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95991628e-01 2.15430260e-02 -8.68134440e-02 2.13668846e+00] [-2.16769901e-02 9.99764846e-01 -6.00605354e-04 -5.11954197e-01] [ 8.67800906e-02 2.48005207e-03 9.96224405e-01 -3.16828552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.343201008 meters Centerline goodness [0,1] 0.9222955067428302 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95953981e-01 2.11294675e-02 -8.73453634e-02 2.13821979e+00] [-2.12524430e-02 9.99774027e-01 -4.78128813e-04 -5.12505701e-01] [ 8.73155230e-02 2.33249665e-03 9.96177976e-01 -3.16539321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.373201008 meters Centerline goodness [0,1] 0.9207070558031103 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 9.95945681e-01 2.14432634e-02 -8.73635371e-02 2.13739402e+00] [-2.15022016e-02 9.99768765e-01 2.66473935e-04 -5.13601985e-01] [ 8.73490497e-02 1.61311483e-03 9.96176461e-01 -3.14979874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.403201008 meters Centerline goodness [0,1] 0.9208241353936718 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95944425e-01 2.14889402e-02 -8.73666295e-02 2.13748591e+00] [-2.15662646e-02 9.99767419e-01 5.88477041e-05 -5.12249267e-01] [ 8.73475742e-02 1.82556280e-03 9.96176224e-01 -3.15202491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.433201008 meters Centerline goodness [0,1] 0.9187773953461007 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95947797e-01 2.14983559e-02 -8.73258599e-02 2.13746026e+00] [-2.16178427e-02 9.99766218e-01 -4.22702551e-04 -5.10036042e-01] [ 8.72963573e-02 2.30878638e-03 9.96179710e-01 -3.15657675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.463201008 meters Centerline goodness [0,1] 0.9184816063315258 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95963774e-01 2.17375984e-02 -8.70840806e-02 2.13679483e+00] [-2.18871318e-02 9.99760157e-01 -7.62546399e-04 -5.07679594e-01] [ 8.70466181e-02 2.66548934e-03 9.96200673e-01 -3.15951482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.493201008 meters Centerline goodness [0,1] 0.9173693578035188 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.32 [[ 9.95826247e-01 2.56055285e-02 -8.76038937e-02 2.13832134e+00] [-2.54298756e-02 9.99671737e-01 3.12070162e-03 -5.06460085e-01] [ 8.76550438e-02 -8.79920462e-04 9.96150500e-01 -3.15426788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.523201008 meters Centerline goodness [0,1] 0.9173630997603881 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 9.95810906e-01 2.57630615e-02 -8.77320027e-02 2.13806445e+00] [-2.55839707e-02 9.99667665e-01 3.16535041e-03 -5.06036209e-01] [ 8.77843955e-02 -9.07557478e-04 9.96139085e-01 -3.14845987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.553201008 meters Centerline goodness [0,1] 0.9173059533879766 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 9.95769295e-01 2.57995717e-02 -8.81923629e-02 2.13839761e+00] [-2.55823831e-02 9.99666263e-01 3.59225910e-03 -5.06725162e-01] [ 8.82556086e-02 -1.32089050e-03 9.96096985e-01 -3.13515651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.583201008 meters Centerline goodness [0,1] 0.9179619025359355 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 9.95744498e-01 2.59461266e-02 -8.84290313e-02 2.13814687e+00] [-2.56780748e-02 9.99661576e-01 4.16768206e-03 -5.07898350e-01] [ 8.85072400e-02 -1.87925920e-03 9.96073761e-01 -3.12075240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.613201008000004 meters Centerline goodness [0,1] 0.9216420092392258 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99572209 0.02578178 -0.08872888 2.13857499] [-0.02542003 0.99966331 0.00520486 -0.51006016] [ 0.08883319 -0.0029271 0.99604222 -0.3102907 ] [ 0. 0. 0. 1. ]] SLAMing on 54.643201008 meters Centerline goodness [0,1] 0.921856243595374 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99572289 0.02545872 -0.08881319 2.13940249] [-0.02508721 0.99967123 0.00529701 -0.51081937] [ 0.08891884 -0.00304628 0.99603422 -0.31055992] [ 0. 0. 0. 1. ]] SLAMing on 54.673201008 meters Centerline goodness [0,1] 0.9217904862146595 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99571017 0.02506428 -0.08906759 2.14043179] [-0.02469665 0.99968132 0.00522744 -0.51110344] [ 0.08917023 -0.00300534 0.99601187 -0.31069274] [ 0. 0. 0. 1. ]] SLAMing on 54.703201008 meters Centerline goodness [0,1] 0.9230454479029665 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99570912 0.02491323 -0.08912171 2.14081445] [-0.02456097 0.99968559 0.00504721 -0.51084492] [ 0.08921943 -0.00283664 0.99600796 -0.31098515] [ 0. 0. 0. 1. ]] SLAMing on 54.733201008 meters Centerline goodness [0,1] 0.9244381940171691 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99570841 0.02491104 -0.08913024 2.14073726] [-0.02455297 0.99968546 0.00511172 -0.51093154] [ 0.08922955 -0.00290137 0.99600686 -0.31074191] [ 0. 0. 0. 1. ]] SLAMing on 54.763201008 meters Centerline goodness [0,1] 0.9246272373084923 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99565215 0.02487081 -0.0897677 2.14121799] [-0.02440467 0.99968239 0.00628677 -0.51408092] [ 0.08989555 -0.00406868 0.99594289 -0.30818374] [ 0. 0. 0. 1. ]] SLAMing on 54.793201008000004 meters Centerline goodness [0,1] 0.925611831680263 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.31 [[ 0.99563202 0.02499029 -0.08995759 2.14114285] [-0.02447837 0.9996773 0.00678962 -0.51552869] [ 0.09009824 -0.00455795 0.99592245 -0.30715759] [ 0. 0. 0. 1. ]] SLAMing on 54.823201008 meters Centerline goodness [0,1] 0.9257219846523344 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.52, Z:-0.31 [[ 0.99561094 0.02482896 -0.09023513 2.14167024] [-0.02432066 0.99968157 0.00672832 -0.51548435] [ 0.09037346 -0.00450421 0.99589776 -0.30682388] [ 0. 0. 0. 1. ]] SLAMing on 54.853201008 meters Centerline goodness [0,1] 0.9258012585979803 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99559778 0.024714 -0.09041169 2.14226382] [-0.0242272 0.99968549 0.00647799 -0.51498261] [ 0.09054335 -0.00425905 0.99588341 -0.30717168] [ 0. 0. 0. 1. ]] SLAMing on 54.883201008 meters Centerline goodness [0,1] 0.9241831971995332 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.51, Z:-0.31 [[ 0.99562286 0.02369292 -0.0904089 2.14491282] [-0.02338348 0.99971653 0.00448055 -0.50992553] [ 0.09048943 -0.00234687 0.99589465 -0.31111495] [ 0. 0. 0. 1. ]] SLAMing on 54.913201008 meters Centerline goodness [0,1] 0.9221374488700647 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95632414e-01 2.30474502e-02 -9.04705045e-02 2.14658809e+00] [-2.28291333e-02 9.99733438e-01 3.44732895e-03 -5.06829409e-01] [ 9.05258406e-02 -1.36690924e-03 9.95893169e-01 -3.13018817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.943201008 meters Centerline goodness [0,1] 0.9222775303466946 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95632659e-01 2.28440046e-02 -9.05193915e-02 2.14697440e+00] [-2.26564716e-02 9.99738506e-01 3.09887085e-03 -5.05286631e-01] [ 9.05665119e-02 -1.03448700e-03 9.95889872e-01 -3.13339612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.973201008000004 meters Centerline goodness [0,1] 0.9203241641734685 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95598561e-01 2.25384956e-02 -9.09698938e-02 2.14786011e+00] [-2.23333490e-02 9.99745224e-01 3.27254661e-03 -5.05742285e-01] [ 9.10204751e-02 -1.22648031e-03 9.95848266e-01 -3.12542714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.003201008 meters Centerline goodness [0,1] 0.921526948723175 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95573926e-01 2.27629043e-02 -9.11833775e-02 2.14741056e+00] [-2.24875053e-02 9.99738934e-01 4.04665643e-03 -5.07207759e-01] [ 9.12516863e-02 -1.97825895e-03 9.95825897e-01 -3.10810150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.033201008 meters Centerline goodness [0,1] 0.922697991663509 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99554076 0.02302795 -0.09147846 2.14686509] [-0.02269026 0.99973135 0.00472985 -0.50843574] [ 0.0915628 -0.00263309 0.99579582 -0.30886927] [ 0. 0. 0. 1. ]] SLAMing on 55.063201008 meters Centerline goodness [0,1] 0.91969930946068 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99553779 0.02301131 -0.09151495 2.14715244] [-0.02270727 0.99973264 0.0043623 -0.50753714] [ 0.09159087 -0.00226478 0.99579415 -0.30944028] [ 0. 0. 0. 1. ]] SLAMing on 55.093201008 meters Centerline goodness [0,1] 0.9227338968230836 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95559307e-01 2.30955293e-02 -9.12593155e-02 2.14706448e+00] [-2.28421790e-02 9.99731786e-01 3.81978376e-03 -5.06118437e-01] [ 9.13230584e-02 -1.71825965e-03 9.95819836e-01 -3.10614696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.123201008 meters Centerline goodness [0,1] 0.9196355803935266 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95575178e-01 2.32586065e-02 -9.10445058e-02 2.14680040e+00] [-2.30310708e-02 9.99728450e-01 3.54912332e-03 -5.05095147e-01] [ 9.11023303e-02 -1.43656662e-03 9.95840500e-01 -3.11261571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.153201008 meters Centerline goodness [0,1] 0.920202696799371 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.50, Z:-0.31 [[ 9.95614859e-01 2.39176835e-02 -9.04378086e-02 2.14492874e+00] [-2.36685392e-02 9.99712538e-01 3.82648324e-03 -5.04742004e-01] [ 9.05033318e-02 -1.66917275e-03 9.95894754e-01 -3.11013162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.183201008 meters Centerline goodness [0,1] 0.9204872517952147 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95608036e-01 2.38095898e-02 -9.05413878e-02 2.14538257e+00] [-2.35621006e-02 9.99715148e-01 3.80147652e-03 -5.04865730e-01] [ 9.06061085e-02 -1.65143528e-03 9.95885438e-01 -3.11104538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.213201008 meters Centerline goodness [0,1] 0.9196509354113767 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95598403e-01 2.39997604e-02 -9.05970814e-02 2.14509767e+00] [-2.37149493e-02 9.99709858e-01 4.21902580e-03 -5.05809970e-01] [ 9.06720510e-02 -2.05195016e-03 9.95878692e-01 -3.10357907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.243201008 meters Centerline goodness [0,1] 0.9223813551906193 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99556046 0.0240578 -0.0909978 2.14539286] [-0.02368664 0.99970613 0.00515665 -0.50829146] [ 0.09109512 -0.00297833 0.99583774 -0.30862504] [ 0. 0. 0. 1. ]] SLAMing on 55.273201008 meters Centerline goodness [0,1] 0.920855552641548 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99556935 0.024028 -0.09090833 2.14530846] [-0.02366043 0.99970695 0.00511903 -0.50779523] [ 0.09100469 -0.00294542 0.99584611 -0.30865192] [ 0. 0. 0. 1. ]] SLAMing on 55.303201008 meters Centerline goodness [0,1] 0.9202420082026819 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99558778 0.02397717 -0.09071975 2.1454159 ] [-0.02364404 0.99970918 0.0047452 -0.5065227 ] [ 0.09080714 -0.00257928 0.99586516 -0.30952807] [ 0. 0. 0. 1. ]] SLAMing on 55.333201008 meters Centerline goodness [0,1] 0.9197471525532349 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95598136e-01 2.37531742e-02 -9.06649832e-02 2.14599217e+00] [-2.34659790e-02 9.99715677e-01 4.23245804e-03 -5.05166825e-01] [ 9.07397393e-02 -2.08628474e-03 9.95872455e-01 -3.10546232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.363201008000004 meters Centerline goodness [0,1] 0.9192154352064721 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95604249e-01 2.37547565e-02 -9.05974130e-02 2.14600729e+00] [-2.34767990e-02 9.99715840e-01 4.13262933e-03 -5.04913412e-01] [ 9.06698385e-02 -1.98752606e-03 9.95879024e-01 -3.10812905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.393201008 meters Centerline goodness [0,1] 0.9176556137289121 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99557342 0.02394951 -0.09088443 2.14570283] [-0.02357486 0.99970858 0.00519373 -0.50693389] [ 0.09098233 -0.00302815 0.9958479 -0.30866079] [ 0. 0. 0. 1. ]] SLAMing on 55.423201008 meters Centerline goodness [0,1] 0.9145072434197102 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99556745 0.02409961 -0.09091013 2.14530434] [-0.02368945 0.99970375 0.00558817 -0.50777991] [ 0.09101787 -0.00340979 0.99584342 -0.3078217 ] [ 0. 0. 0. 1. ]] SLAMing on 55.453201008 meters Centerline goodness [0,1] 0.9139308414484809 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.99555607 0.02380516 -0.09111214 2.14614246] [-0.02340975 0.99971134 0.0054062 -0.5077857 ] [ 0.09121453 -0.00324926 0.99582596 -0.30806493] [ 0. 0. 0. 1. ]] SLAMing on 55.483201008 meters Centerline goodness [0,1] 0.9115041660575939 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 0.9955662 0.02342212 -0.09110076 2.14747208] [-0.02311722 0.99972308 0.0044007 -0.50605081] [ 0.09117861 -0.00227519 0.99583196 -0.31034062] [ 0. 0. 0. 1. ]] SLAMing on 55.513201008 meters Centerline goodness [0,1] 0.9117294595621548 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95555666e-01 2.29380803e-02 -9.13387154e-02 2.14897505e+00] [-2.26839241e-02 9.99735389e-01 3.81986392e-03 -5.05471576e-01] [ 9.14021665e-02 -1.73096668e-03 9.95812557e-01 -3.11556092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.543201008000004 meters Centerline goodness [0,1] 0.9109857343311506 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95532563e-01 2.26332592e-02 -9.16659804e-02 2.15018916e+00] [-2.23990708e-02 9.99742689e-01 3.58291071e-03 -5.05728212e-01] [ 9.17234867e-02 -1.51367149e-03 9.95783365e-01 -3.12074594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.573201008 meters Centerline goodness [0,1] 0.9123299692847741 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95505286e-01 2.24258185e-02 -9.20125425e-02 2.15122772e+00] [-2.21822069e-02 9.99747210e-01 3.66955604e-03 -5.06778657e-01] [ 9.20715755e-02 -1.61202118e-03 9.95751087e-01 -3.12084728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.603201008 meters Centerline goodness [0,1] 0.9116749779994133 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95487817e-01 2.22431195e-02 -9.22455985e-02 2.15213510e+00] [-2.19986542e-02 9.99751278e-01 3.66624438e-03 -5.07735702e-01] [ 9.23042037e-02 -1.62042259e-03 9.95729536e-01 -3.12401078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.633201008 meters Centerline goodness [0,1] 0.9097441289870312 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95494397e-01 2.21938269e-02 -9.21864393e-02 2.15251247e+00] [-2.19899246e-02 9.99752984e-01 3.22713279e-03 -5.06487619e-01] [ 9.22352902e-02 -1.18541976e-03 9.95736534e-01 -3.13365309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.663201008 meters Centerline goodness [0,1] 0.9111506385956727 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.51, Z:-0.31 [[ 9.95499932e-01 2.21088521e-02 -9.21470737e-02 2.15274390e+00] [-2.19383849e-02 9.99755226e-01 2.86259447e-03 -5.05250852e-01] [ 9.21878072e-02 -8.28154632e-04 9.95741293e-01 -3.13906908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.693201008 meters Centerline goodness [0,1] 0.9090962031213603 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95512200e-01 2.23065734e-02 -9.19667162e-02 2.15208868e+00] [-2.21398938e-02 9.99750870e-01 2.83234823e-03 -5.04171177e-01] [ 9.20069846e-02 -7.83503887e-04 9.95758053e-01 -3.13726374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.723201008000004 meters Centerline goodness [0,1] 0.908206651523094 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95530644e-01 2.26324829e-02 -9.16870071e-02 2.15117946e+00] [-2.24694824e-02 9.99743581e-01 2.80978936e-03 -5.03081745e-01] [ 9.17270893e-02 -7.37071812e-04 9.95783911e-01 -3.13651947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.753201008 meters Centerline goodness [0,1] 0.9085301989991854 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95533778e-01 2.29828993e-02 -9.15657270e-02 2.15022535e+00] [-2.27782748e-02 9.99735163e-01 3.27929011e-03 -5.02690802e-01] [ 9.16168446e-02 -1.17893478e-03 9.95793635e-01 -3.12463636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.783201008 meters Centerline goodness [0,1] 0.9089821756760699 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95531028e-01 2.32012583e-02 -9.15405581e-02 2.14976505e+00] [-2.29812766e-02 9.99729920e-01 3.45659077e-03 -5.02854762e-01] [ 9.15960321e-02 -1.33742447e-03 9.95795350e-01 -3.12050679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.813201008 meters Centerline goodness [0,1] 0.9108916659384194 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95521431e-01 2.32377423e-02 -9.16356296e-02 2.14979027e+00] [-2.30133550e-02 9.99729015e-01 3.50471842e-03 -5.02463013e-01] [ 9.16922395e-02 -1.38017902e-03 9.95786437e-01 -3.11730447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.843201008 meters Centerline goodness [0,1] 0.9069611585419155 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95523572e-01 2.31749694e-02 -9.16282638e-02 2.15008013e+00] [-2.29765777e-02 9.99730819e-01 3.21960167e-03 -5.01770313e-01] [ 9.16782134e-02 -1.09988543e-03 9.95788078e-01 -3.12320186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.873201008 meters Centerline goodness [0,1] 0.9097030737526486 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.32 [[ 9.95539216e-01 2.23700478e-02 -9.16583310e-02 2.15229616e+00] [-2.23025196e-02 9.99749717e-01 1.76106366e-03 -4.98658055e-01] [ 9.16747856e-02 2.91003784e-04 9.95788958e-01 -3.15464125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.903201008 meters Centerline goodness [0,1] 0.9093545206750565 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.32 [[ 9.95534239e-01 2.22589582e-02 -9.17394053e-02 2.15273471e+00] [-2.21913421e-02 9.99752198e-01 1.75716847e-03 -4.98446585e-01] [ 9.17557848e-02 2.86499145e-04 9.95781499e-01 -3.15555741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.933201008 meters Centerline goodness [0,1] 0.9104070560246033 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95522301e-01 2.22428752e-02 -9.18727577e-02 2.15281999e+00] [-2.21525618e-02 9.99752596e-01 2.00280241e-03 -4.99085580e-01] [ 9.18945761e-02 4.13824843e-05 9.95768741e-01 -3.14960217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.963201008 meters Centerline goodness [0,1] 0.9127226241320201 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95494355e-01 2.22879658e-02 -9.21641749e-02 2.15298223e+00] [-2.21557438e-02 9.99751511e-01 2.45767398e-03 -5.00508648e-01] [ 9.21960496e-02 -4.04634721e-04 9.95740792e-01 -3.13890864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.993201008 meters Centerline goodness [0,1] 0.9137159137159138 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.50, Z:-0.31 [[ 9.95481852e-01 2.21454812e-02 -9.23334128e-02 2.15366490e+00] [-2.20185691e-02 9.99754698e-01 2.39309831e-03 -5.00945956e-01] [ 9.23637595e-02 -3.49236315e-04 9.95725270e-01 -3.14190659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.023201008 meters Centerline goodness [0,1] 0.9142333643555142 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95463311e-01 2.17372877e-02 -9.26298324e-02 2.15505020e+00] [-2.16265780e-02 9.99763700e-01 2.19892624e-03 -5.01280854e-01] [ 9.26557426e-02 -1.85684105e-04 9.95698187e-01 -3.14785761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.053201008 meters Centerline goodness [0,1] 0.9120536364961376 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95450150e-01 2.13941440e-02 -9.28508946e-02 2.15628608e+00] [-2.12908487e-02 9.99771112e-01 2.10303503e-03 -5.01774973e-01] [ 9.28746348e-02 -1.16592189e-04 9.95677804e-01 -3.15386982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.083201008 meters Centerline goodness [0,1] 0.9116619094774858 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95433069e-01 2.09296124e-02 -9.31394470e-02 2.15783954e+00] [-2.08496968e-02 9.99780945e-01 1.83112593e-03 -5.01715528e-01] [ 9.31573691e-02 1.19165928e-04 9.95651390e-01 -3.16195037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.113201008000004 meters Centerline goodness [0,1] 0.910593232667074 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95425341e-01 2.05149169e-02 -9.33141363e-02 2.15913195e+00] [-2.04842754e-02 9.99789348e-01 1.28628531e-03 -5.00743113e-01] [ 9.33208675e-02 6.31071466e-04 9.95635886e-01 -3.17323881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.143201008 meters Centerline goodness [0,1] 0.9094534024099191 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95433580e-01 1.99766536e-02 -9.33430249e-02 2.16029780e+00] [-2.00160267e-02 9.99799527e-01 5.14486182e-04 -4.98732293e-01] [ 9.33345898e-02 1.35621965e-03 9.95633876e-01 -3.18714946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.173201008 meters Centerline goodness [0,1] 0.9071039841680976 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95433686e-01 2.04143298e-02 -9.32471511e-02 2.15922094e+00] [-2.03827316e-02 9.99791417e-01 1.29134308e-03 -4.99803071e-01] [ 9.32540632e-02 6.15185247e-04 9.95642155e-01 -3.17333224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.203201008 meters Centerline goodness [0,1] 0.9072874730147616 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95424936e-01 2.08540409e-02 -9.32432637e-02 2.15815045e+00] [-2.07326530e-02 9.99782477e-01 2.27045708e-03 -5.01656429e-01] [ 9.32703294e-02 -3.26889360e-04 9.95640768e-01 -3.15504611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.233201008 meters Centerline goodness [0,1] 0.9072874730147616 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95424936e-01 2.08540409e-02 -9.32432637e-02 2.15815045e+00] [-2.07326530e-02 9.99782477e-01 2.27045708e-03 -5.01656429e-01] [ 9.32703294e-02 -3.26889360e-04 9.95640768e-01 -3.15504611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.263201008 meters Centerline goodness [0,1] 0.9093738184567955 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95382611e-01 2.08894535e-02 -9.36861202e-02 2.15823090e+00] [-2.06724189e-02 9.99780901e-01 3.28661732e-03 -5.03691047e-01] [ 9.37342492e-02 -1.33472301e-03 9.95596358e-01 -3.13223767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.293201008000004 meters Centerline goodness [0,1] 0.9085276754924309 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.51, Z:-0.31 [[ 0.99538491 0.0216985 -0.09347762 2.15597843] [-0.02135086 0.99976091 0.00471752 -0.50637557] [ 0.09355763 -0.00269992 0.9956102 -0.31043051] [ 0. 0. 0. 1. ]] SLAMing on 56.323201008 meters Centerline goodness [0,1] 0.9064324071912211 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 0.99540225 0.0218059 -0.09326766 2.15557431] [-0.02148949 0.99975941 0.00439556 -0.50491848] [ 0.09334107 -0.00237108 0.99563137 -0.31084834] [ 0. 0. 0. 1. ]] SLAMing on 56.353201008 meters Centerline goodness [0,1] 0.90445396020857 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95397097e-01 2.13580771e-02 -9.34261826e-02 2.15694307e+00] [-2.11133153e-02 9.99770580e-01 3.60760069e-03 -5.02882588e-01] [ 9.34818002e-02 -1.61845880e-03 9.95619673e-01 -3.12273123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.383201008 meters Centerline goodness [0,1] 0.9064984998980513 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.32 [[ 9.95393043e-01 2.04610369e-02 -9.36698291e-02 2.15941006e+00] [-2.03482205e-02 9.99790621e-01 2.15945435e-03 -4.99889357e-01] [ 9.36944013e-02 -2.43491499e-04 9.95600974e-01 -3.15065849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.413201008 meters Centerline goodness [0,1] 0.9046261274367181 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95374848e-01 2.02276154e-02 -9.39135577e-02 2.16020848e+00] [-2.01027374e-02 9.99795330e-01 2.27566921e-03 -5.00187759e-01] [ 9.39403677e-02 -3.77224303e-04 9.95577754e-01 -3.14906569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.443201008 meters Centerline goodness [0,1] 0.9030793410559403 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95318060e-01 1.96784166e-02 -9.46293740e-02 2.16211854e+00] [-1.95319113e-02 9.99806172e-01 2.47426670e-03 -5.01245904e-01] [ 9.46597219e-02 -6.14389797e-04 9.95509497e-01 -3.14349372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.473201008000004 meters Centerline goodness [0,1] 0.9050719771074839 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95270070e-01 1.93618201e-02 -9.51977303e-02 2.16337939e+00] [-1.91734523e-02 9.99811987e-01 2.89310091e-03 -5.02959677e-01] [ 9.52358476e-02 -1.05414760e-03 9.95454179e-01 -3.13569374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.503201008 meters Centerline goodness [0,1] 0.9066289645522388 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95211221e-01 1.87675220e-02 -9.59291657e-02 2.16537554e+00] [-1.85510286e-02 9.99822958e-01 3.14823456e-03 -5.04066892e-01] [ 9.59712668e-02 -1.35357366e-03 9.95383184e-01 -3.12913941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.533201008 meters Centerline goodness [0,1] 0.9056394381005227 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.51, Z:-0.31 [[ 9.95180100e-01 1.86085438e-02 -9.62823460e-02 2.16608797e+00] [-1.83378447e-02 9.99825017e-01 3.69568776e-03 -5.05385111e-01] [ 9.63342697e-02 -1.91226420e-03 9.95347202e-01 -3.11980972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.563201008 meters Centerline goodness [0,1] 0.9056669776119403 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.51, Z:-0.31 [[ 9.95160219e-01 1.85706316e-02 -9.64949260e-02 2.16630792e+00] [-1.82921995e-02 9.99825579e-01 3.76935029e-03 -5.05037674e-01] [ 9.65480944e-02 -1.98600301e-03 9.95326339e-01 -3.11432848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.593201008 meters Centerline goodness [0,1] 0.9076505602240896 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.51, Z:-0.31 [[ 0.99515916 0.01888817 -0.09644423 2.16545324] [-0.01856399 0.99981861 0.00425756 -0.50527847] [ 0.09650715 -0.00244656 0.99532928 -0.31028822] [ 0. 0. 0. 1. ]] SLAMing on 56.623201008 meters Centerline goodness [0,1] 0.905511121489871 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.51, Z:-0.31 [[ 0.995141 0.01873793 -0.09666067 2.1658419 ] [-0.01840108 0.99982111 0.00437522 -0.50502279] [ 0.09672536 -0.0025753 0.99530778 -0.30969865] [ 0. 0. 0. 1. ]] SLAMing on 56.653201008 meters Centerline goodness [0,1] 0.904970120973619 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 0.99514778 0.01918243 -0.0965035 2.16432359] [-0.01878915 0.99981105 0.00498244 -0.5043371 ] [ 0.09658084 -0.00314504 0.99532017 -0.30796695] [ 0. 0. 0. 1. ]] SLAMing on 56.683201008 meters Centerline goodness [0,1] 0.9030234051246133 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 0.99515483 0.01932939 -0.09640147 2.16376537] [-0.01892266 0.99980778 0.00513169 -0.50370275] [ 0.09648214 -0.00328266 0.9953293 -0.30744985] [ 0. 0. 0. 1. ]] SLAMing on 56.713201008 meters Centerline goodness [0,1] 0.9002798344312948 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 0.99516098 0.01914232 -0.09637528 2.16410173] [-0.01877026 0.99981246 0.00476576 -0.5025759 ] [ 0.09644844 -0.00293371 0.99533366 -0.3079679 ] [ 0. 0. 0. 1. ]] SLAMing on 56.743201008 meters Centerline goodness [0,1] 0.901265086520285 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 0.99515402 0.01887647 -0.09649947 2.16491224] [-0.01855216 0.99981883 0.00425705 -0.50151062] [ 0.09656234 -0.00244614 0.99532393 -0.30874274] [ 0. 0. 0. 1. ]] SLAMing on 56.773201008 meters Centerline goodness [0,1] 0.9048408198866115 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95144807e-01 1.88449936e-02 -9.66006186e-02 2.16584341e+00] [-1.86196116e-02 9.99821409e-01 3.23412247e-03 -4.99746876e-01] [ 9.66443136e-02 -1.41975418e-03 9.95317970e-01 -3.10783328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.803201008 meters Centerline goodness [0,1] 0.9069429931498897 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95138832e-01 1.85382144e-02 -9.67214522e-02 2.16683072e+00] [-1.83889461e-02 9.99827945e-01 2.43452170e-03 -4.98344620e-01] [ 9.67499425e-02 -6.44081518e-04 9.95308512e-01 -3.12092696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.833201008 meters Centerline goodness [0,1] 0.9100539850235096 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95115218e-01 1.82189286e-02 -9.70246065e-02 2.16810339e+00] [-1.81330813e-02 9.99834022e-01 1.76655732e-03 -4.96900761e-01] [ 9.70406873e-02 1.42700358e-06 9.95280415e-01 -3.13082666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.863201008000004 meters Centerline goodness [0,1] 0.9087840786755507 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.50, Z:-0.31 [[ 9.95212517e-01 1.49955228e-02 -9.65773239e-02 2.16469049e+00] [-1.52411161e-02 9.99882217e-01 -1.80573413e-03 -4.95297034e-01] [ 9.65388708e-02 3.26903542e-03 9.95323847e-01 -3.11149419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.893201008 meters Centerline goodness [0,1] 0.9095402867029164 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95147860e-01 1.47196363e-02 -9.72834486e-02 2.16518006e+00] [-1.48452092e-02 9.99889643e-01 -5.67067548e-04 -4.97278693e-01] [ 9.72643657e-02 2.00850920e-03 9.95256554e-01 -3.07950873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.923201008 meters Centerline goodness [0,1] 0.9112614057079556 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95086909e-01 1.40502079e-02 -9.80032398e-02 2.16722695e+00] [-1.41709848e-02 9.99899443e-01 -5.36373809e-04 -4.97846156e-01] [ 9.79858487e-02 1.92254098e-03 9.95185951e-01 -3.07628301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.953201008 meters Centerline goodness [0,1] 0.9110367892976589 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.50, Z:-0.31 [[ 9.95028069e-01 1.27401813e-02 -9.87766620e-02 2.17136374e+00] [-1.29661233e-02 9.99914582e-01 -1.64576946e-03 -4.96539354e-01] [ 9.87472573e-02 2.91833718e-03 9.95108267e-01 -3.10029185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.983201008 meters Centerline goodness [0,1] 0.9077574211502784 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.32 [[ 9.94881915e-01 1.37704287e-02 -1.00101699e-01 2.18070708e+00] [-1.38951627e-02 9.99903307e-01 -5.48930976e-04 -4.92251800e-01] [ 1.00084461e-01 1.93705089e-03 9.94977059e-01 -3.16166741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.013201008 meters Centerline goodness [0,1] 0.9055138643409729 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.32 [[ 9.94874244e-01 1.32479783e-02 -1.00248344e-01 2.18226284e+00] [-1.34311037e-02 9.99909135e-01 -1.15198482e-03 -4.90896122e-01] [ 1.00223974e-01 2.49252593e-03 9.94961779e-01 -3.17573836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.043201008000004 meters Centerline goodness [0,1] 0.905216709727988 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.32 [[ 9.94843760e-01 1.34226073e-02 -1.00527246e-01 2.18211845e+00] [-1.35011821e-02 9.99908850e-01 -1.01295358e-04 -4.92783579e-01] [ 1.00516723e-01 1.45800970e-03 9.94934301e-01 -3.15641594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.073201008 meters Centerline goodness [0,1] 0.9070551968824522 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 9.94791770e-01 1.38348048e-02 -1.00984811e-01 2.18157382e+00] [-1.37619272e-02 9.99904294e-01 1.41832054e-03 -4.95631467e-01] [ 1.00994768e-01 -2.11879876e-05 9.94886957e-01 -3.12511987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.103201008 meters Centerline goodness [0,1] 0.9099198513183877 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 9.94741828e-01 1.42971162e-02 -1.01411476e-01 2.18088908e+00] [-1.40675413e-02 9.99896611e-01 2.97861999e-03 -4.98818102e-01] [ 1.01443577e-01 -1.53634776e-03 9.94840108e-01 -3.09302990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.133201008 meters Centerline goodness [0,1] 0.9124488603156049 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 0.99475672 0.01589635 -0.10102658 2.17677182] [-0.01546757 0.99986774 0.00502619 -0.5015378 ] [ 0.10109311 -0.0034372 0.99487103 -0.3050106 ] [ 0. 0. 0. 1. ]] SLAMing on 57.163201008 meters Centerline goodness [0,1] 0.9108945556398436 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 0.99479039 0.01617811 -0.10064965 2.17576334] [-0.01576437 0.9998637 0.00490471 -0.50010276] [ 0.10071528 -0.00329248 0.99490984 -0.30509619] [ 0. 0. 0. 1. ]] SLAMing on 57.193201008 meters Centerline goodness [0,1] 0.9076205740929623 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 0.9948166 0.01607555 -0.10040668 2.17582826] [-0.01572601 0.99986721 0.00427186 -0.4978755 ] [ 0.10046202 -0.00267072 0.99493731 -0.30623264] [ 0. 0. 0. 1. ]] SLAMing on 57.223201008000004 meters Centerline goodness [0,1] 0.9070890420920965 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.50, Z:-0.31 [[ 9.94816608e-01 1.55954148e-02 -1.00482330e-01 2.17701573e+00] [-1.53397701e-02 9.99876839e-01 3.31636408e-03 -4.95700782e-01] [ 1.00521674e-01 -1.75779822e-03 9.94933316e-01 -3.07797658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.253201008 meters Centerline goodness [0,1] 0.9110326464459365 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94811762e-01 1.59657247e-02 -1.00472157e-01 2.17670262e+00] [-1.57497223e-02 9.99871635e-01 2.94276851e-03 -4.93757328e-01] [ 1.00506244e-01 -1.34509215e-03 9.94935518e-01 -3.08254172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.283201008 meters Centerline goodness [0,1] 0.9092202287638622 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94810317e-01 1.65319723e-02 -1.00394855e-01 2.17548731e+00] [-1.62813266e-02 9.99861953e-01 3.31549383e-03 -4.93643744e-01] [ 1.00435807e-01 -1.66372606e-03 9.94942149e-01 -3.07258180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.313201008 meters Centerline goodness [0,1] 0.9074408051660946 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.31 [[ 9.94820794e-01 1.69313453e-02 -1.00224333e-01 2.17458995e+00] [-1.66812322e-02 9.99855303e-01 3.33311048e-03 -4.93083176e-01] [ 1.00266265e-01 -1.64398225e-03 9.94959282e-01 -3.07044003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.343201008 meters Centerline goodness [0,1] 0.9113630432891646 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.31 [[ 9.94809597e-01 1.68783893e-02 -1.00344339e-01 2.17492675e+00] [-1.66690163e-02 9.99856785e-01 2.92467604e-03 -4.91725138e-01] [ 1.00379332e-01 -1.23685437e-03 9.94948471e-01 -3.07426898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.373201008 meters Centerline goodness [0,1] 0.9080293658592982 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.31 [[ 9.94837699e-01 1.73513388e-02 -9.99844136e-02 2.17365880e+00] [-1.71685035e-02 9.99848995e-01 2.68885966e-03 -4.89175862e-01] [ 1.00015971e-01 -9.58396196e-04 9.94985370e-01 -3.07514865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.403201008 meters Centerline goodness [0,1] 0.907381193124368 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.31 [[ 9.94845095e-01 1.76528611e-02 -9.98579694e-02 2.17293942e+00] [-1.74714973e-02 9.99843742e-01 2.69051443e-03 -4.88189586e-01] [ 9.98898610e-02 -9.31976840e-04 9.94998064e-01 -3.07249245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.433201008 meters Centerline goodness [0,1] 0.9086510770648543 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.49, Z:-0.31 [[ 9.94850720e-01 1.77817969e-02 -9.97790167e-02 2.17263769e+00] [-1.76267677e-02 9.99841671e-01 2.43517159e-03 -4.86643546e-01] [ 9.98065205e-02 -6.63850670e-04 9.95006642e-01 -3.07395021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.463201008 meters Centerline goodness [0,1] 0.9098777857656363 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.48, Z:-0.31 [[ 9.94877027e-01 1.84302289e-02 -9.93983289e-02 2.17150615e+00] [-1.83314712e-02 9.99830146e-01 1.90686192e-03 -4.83365576e-01] [ 9.94165896e-02 -7.49755238e-05 9.95045896e-01 -3.08284026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.493201008 meters Centerline goodness [0,1] 0.9118947791625983 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.48, Z:-0.31 [[ 9.94854061e-01 1.82515314e-02 -9.96608221e-02 2.17253836e+00] [-1.82018428e-02 9.99833341e-01 1.40789954e-03 -4.82228799e-01] [ 9.96699091e-02 4.13356047e-04 9.95020471e-01 -3.09052440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.523201008 meters Centerline goodness [0,1] 0.9103057822738245 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.48, Z:-0.31 [[ 9.94842857e-01 1.81972250e-02 -9.97825160e-02 2.17324234e+00] [-1.81841268e-02 9.99834113e-01 1.04084084e-03 -4.81664830e-01] [ 9.97849038e-02 7.78984847e-04 9.95008727e-01 -3.09879418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.553201008 meters Centerline goodness [0,1] 0.9101883979009548 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.31 [[ 9.94820371e-01 1.74698531e-02 -1.00136075e-01 2.17563875e+00] [-1.75301724e-02 9.99846296e-01 2.77575196e-04 -4.80979839e-01] [ 1.00125533e-01 1.47926520e-03 9.94973713e-01 -3.11728882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.583201008 meters Centerline goodness [0,1] 0.9084608720762345 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.31 [[ 9.94807525e-01 1.73962598e-02 -1.00276412e-01 2.17629487e+00] [-1.74504518e-02 9.99847673e-01 3.36759930e-04 -4.81638080e-01] [ 1.00266995e-01 1.41485738e-03 9.94959561e-01 -3.12040503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.613201008 meters Centerline goodness [0,1] 0.9082650824777945 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.31 [[ 9.94758724e-01 1.70639216e-02 -1.00816185e-01 2.17788473e+00] [-1.71031669e-02 9.99853617e-01 4.75114287e-04 -4.82897734e-01] [ 1.00809535e-01 1.25165196e-03 9.94904956e-01 -3.11980901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.643201008 meters Centerline goodness [0,1] 0.905031156242788 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.48, Z:-0.31 [[ 9.94713383e-01 1.68013016e-02 -1.01306479e-01 2.17929171e+00] [-1.68067564e-02 9.99858437e-01 7.99728372e-04 -4.84980938e-01] [ 1.01305574e-01 9.07132792e-04 9.94854943e-01 -3.11780908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.673201008 meters Centerline goodness [0,1] 0.9062228905210803 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94685396e-01 1.68438182e-02 -1.01573862e-01 2.17983632e+00] [-1.67938380e-02 9.99858066e-01 1.34721757e-03 -4.87260046e-01] [ 1.01582137e-01 3.65757341e-04 9.94827088e-01 -3.11294048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.703201008 meters Centerline goodness [0,1] 0.9004928694333459 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94813139e-01 1.33281415e-02 -1.00842350e-01 2.17721555e+00] [-1.35956336e-02 9.99905643e-01 -1.96575236e-03 -4.88903250e-01] [ 1.00806635e-01 3.32657192e-03 9.94900476e-01 -3.10716368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.733201008 meters Centerline goodness [0,1] 0.8995035046728972 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94797146e-01 1.37429909e-02 -1.00944388e-01 2.17647069e+00] [-1.38744428e-02 9.99903565e-01 -6.00236617e-04 -4.91848506e-01] [ 1.00926404e-01 1.99766081e-03 9.94891889e-01 -3.08595256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.763201008 meters Centerline goodness [0,1] 0.8995763330898466 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94782066e-01 1.37692986e-02 -1.01089308e-01 2.17661414e+00] [-1.38473813e-02 9.99904118e-01 -7.07119927e-05 -4.92530452e-01] [ 1.01078641e-01 1.47016521e-03 9.94877353e-01 -3.07735153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.793201008000004 meters Centerline goodness [0,1] 0.8911616235300983 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94812593e-01 1.37258650e-02 -1.00794369e-01 2.17667059e+00] [-1.38661819e-02 9.99903621e-01 -6.91608982e-04 -4.89894035e-01] [ 1.00775161e-01 2.08565438e-03 9.94907039e-01 -3.09030802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.823201008 meters Centerline goodness [0,1] 0.8925311324331419 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94807223e-01 1.36061368e-02 -1.00863586e-01 2.17719880e+00] [-1.37556877e-02 9.99905076e-01 -7.87322886e-04 -4.89038843e-01] [ 1.00843299e-01 2.17068248e-03 9.94899953e-01 -3.09282671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.853201008 meters Centerline goodness [0,1] 0.8900916146350003 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94812299e-01 1.36280527e-02 -1.00810548e-01 2.17732284e+00] [-1.37854743e-02 9.99904602e-01 -8.65056397e-04 -4.88660732e-01] [ 1.00789142e-01 2.25028996e-03 9.94905264e-01 -3.09627959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.883201008 meters Centerline goodness [0,1] 0.8897198445853174 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94803280e-01 1.36911391e-02 -1.00890966e-01 2.17737864e+00] [-1.38393956e-02 9.99903935e-01 -7.69665873e-04 -4.88479979e-01] [ 1.00870736e-01 2.16193612e-03 9.94897191e-01 -3.09396535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.913201008 meters Centerline goodness [0,1] 0.8840325829902776 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94797545e-01 1.39856978e-02 -1.00907105e-01 2.17699408e+00] [-1.40931228e-02 9.99900625e-01 -3.51769022e-04 -4.89074790e-01] [ 1.00892158e-01 1.77203519e-03 9.94895790e-01 -3.08771626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.943201008 meters Centerline goodness [0,1] 0.8877024070021882 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94755576e-01 1.39363829e-02 -1.01326809e-01 2.17758843e+00] [-1.39713456e-02 9.99902330e-01 3.64640289e-04 -4.90531752e-01] [ 1.01321994e-01 1.05294390e-03 9.94853127e-01 -3.07436633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.973201008000004 meters Centerline goodness [0,1] 0.888563736392368 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94727155e-01 1.38451494e-02 -1.01617907e-01 2.17818924e+00] [-1.38414878e-02 9.99903927e-01 7.41164286e-04 -4.92375704e-01] [ 1.01618406e-01 6.69286774e-04 9.94823226e-01 -3.06953346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.003201008 meters Centerline goodness [0,1] 0.8925077617011306 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94672772e-01 1.33867676e-02 -1.02209933e-01 2.17970790e+00] [-1.33473293e-02 9.99910348e-01 1.06978256e-03 -4.93772010e-01] [ 1.02215090e-01 3.00146042e-04 9.94762276e-01 -3.06270819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.033201008 meters Centerline goodness [0,1] 0.8953791990611706 Centerline is valid? [False, False] Translation: X:2.18, Y:-0.49, Z:-0.31 [[ 9.94620017e-01 1.21909489e-02 -1.02870810e-01 2.18357157e+00] [-1.22765879e-02 9.99924620e-01 -1.99376551e-04 -4.92795522e-01] [ 1.02860625e-01 1.46120644e-03 9.94694705e-01 -3.09107863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.063201008 meters Centerline goodness [0,1] 0.895736400081936 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94582620e-01 1.16318103e-02 -1.03296235e-01 2.18569592e+00] [-1.17486013e-02 9.99930846e-01 -5.22271822e-04 -4.92657365e-01] [ 1.03283017e-01 1.73302875e-03 9.94650499e-01 -3.10058723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.093201008 meters Centerline goodness [0,1] 0.897760581545316 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94560234e-01 1.15583137e-02 -1.03519789e-01 2.18631935e+00] [-1.16352972e-02 9.99932298e-01 -1.39805778e-04 -4.94082552e-01] [ 1.03511164e-01 1.34352877e-03 9.94627384e-01 -3.09724618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.123201008 meters Centerline goodness [0,1] 0.897760581545316 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94560234e-01 1.15583137e-02 -1.03519789e-01 2.18631935e+00] [-1.16352972e-02 9.99932298e-01 -1.39805778e-04 -4.94082552e-01] [ 1.03511164e-01 1.34352877e-03 9.94627384e-01 -3.09724618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.153201008 meters Centerline goodness [0,1] 0.8962211439494192 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94544247e-01 1.17692674e-02 -1.03649530e-01 2.18602919e+00] [-1.17297829e-02 9.99930713e-01 9.90490583e-04 -4.96815769e-01] [ 1.03654005e-01 2.30699764e-04 9.94613389e-01 -3.08035434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.183201008 meters Centerline goodness [0,1] 0.9038083213436298 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94521346e-01 1.14450173e-02 -1.03905268e-01 2.18708009e+00] [-1.13858974e-02 9.99934503e-01 1.16211328e-03 -4.97448953e-01] [ 1.03911763e-01 2.73082530e-05 9.94586520e-01 -3.07984218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.213201008 meters Centerline goodness [0,1] 0.9004184840268773 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94507830e-01 1.12164562e-02 -1.04059442e-01 2.18794205e+00] [-1.11648674e-02 9.99937090e-01 1.07825410e-03 -4.97554048e-01] [ 1.04064989e-01 8.94777262e-05 9.94570495e-01 -3.08381130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.243201008 meters Centerline goodness [0,1] 0.8985999527410208 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94503537e-01 1.11211450e-02 -1.04110683e-01 2.18829434e+00] [-1.10695858e-02 9.99938155e-01 1.07303994e-03 -4.97469632e-01] [ 1.04116178e-01 8.53201291e-05 9.94565138e-01 -3.08498169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.273201008 meters Centerline goodness [0,1] 0.9031925242460868 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94505094e-01 1.13877582e-02 -1.04066984e-01 2.18769422e+00] [-1.13195603e-02 9.99935156e-01 1.24592316e-03 -4.96608141e-01] [ 1.04074424e-01 -6.10844334e-05 9.94569510e-01 -3.07848280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.303201008 meters Centerline goodness [0,1] 0.901464046896633 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94482374e-01 1.13334132e-02 -1.04289794e-01 2.18813646e+00] [-1.12728581e-02 9.99935775e-01 1.17007292e-03 -4.96306427e-01] [ 1.04296357e-01 1.20271558e-05 9.94546263e-01 -3.07716829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.333201008 meters Centerline goodness [0,1] 0.9035967414639885 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94461342e-01 1.13849456e-02 -1.04484560e-01 2.18818228e+00] [-1.13014092e-02 9.99935169e-01 1.39152596e-03 -4.96394950e-01] [ 1.04493628e-01 -2.02996009e-04 9.94525535e-01 -3.06961162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.363201008 meters Centerline goodness [0,1] 0.902811790045142 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94472677e-01 1.19899665e-02 -1.04308843e-01 2.18676862e+00] [-1.18437389e-02 9.99927818e-01 2.02117445e-03 -4.97292931e-01] [ 1.04325547e-01 -7.74596073e-04 9.94542900e-01 -3.05811408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.393201008 meters Centerline goodness [0,1] 0.9013119016664697 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94466818e-01 1.19169355e-02 -1.04373057e-01 2.18718008e+00] [-1.17891479e-02 9.99928810e-01 1.84119129e-03 -4.96551348e-01] [ 1.04387569e-01 -6.00534232e-04 9.94536513e-01 -3.06217664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.423201008 meters Centerline goodness [0,1] 0.9002677967099262 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94455062e-01 1.11717280e-02 -1.04567310e-01 2.18928907e+00] [-1.11535923e-02 9.99937509e-01 7.58205722e-04 -4.93986473e-01] [ 1.04569246e-01 4.12299627e-04 9.94517523e-01 -3.08326677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.453201008 meters Centerline goodness [0,1] 0.9004719885081058 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 0.9943202 0.01377234 -0.10553511 2.1940455 ] [-0.01339234 0.99990104 0.00430853 -0.49450008] [ 0.105584 -0.0028707 0.99440624 -0.3092698 ] [ 0. 0. 0. 1. ]] SLAMing on 58.483201008 meters Centerline goodness [0,1] 0.9009701361697153 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.31 [[ 9.94282309e-01 1.29317089e-02 -1.05997454e-01 2.19647963e+00] [-1.26430003e-02 9.99914310e-01 3.39526308e-03 -4.92766239e-01] [ 1.06032278e-01 -2.03572416e-03 9.94360605e-01 -3.10735074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.513201008 meters Centerline goodness [0,1] 0.9024038602995264 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94367512e-01 9.74664469e-03 -1.05537930e-01 2.19383819e+00] [-9.83007627e-03 9.99951647e-01 -2.70377405e-04 -4.93288696e-01] [ 1.05530191e-01 1.30630040e-03 9.94415241e-01 -3.10346413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.543201008000004 meters Centerline goodness [0,1] 0.9045523027384715 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94355382e-01 1.03505425e-02 -1.05594699e-01 2.19256912e+00] [-1.02932490e-02 9.99946432e-01 1.08755957e-03 -4.96166750e-01] [ 1.05600300e-01 5.49182347e-06 9.94408657e-01 -3.07950722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.573201008 meters Centerline goodness [0,1] 0.9052886890676763 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.31 [[ 9.94329298e-01 1.07421592e-02 -1.05801006e-01 2.19179633e+00] [-1.05530209e-02 9.99941560e-01 2.34736473e-03 -4.98245032e-01] [ 1.05820039e-01 -1.21753329e-03 9.94384552e-01 -3.05452889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.603201008 meters Centerline goodness [0,1] 0.9064145807444227 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.30 [[ 9.94328225e-01 1.10757466e-02 -1.05776693e-01 2.19097617e+00] [-1.08248033e-02 9.99937070e-01 2.94622742e-03 -4.99094177e-01] [ 1.05802668e-01 -1.78450519e-03 9.94385544e-01 -3.04271703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.633201008 meters Centerline goodness [0,1] 0.9032448377581122 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.30 [[ 9.94358504e-01 1.15165644e-02 -1.05444458e-01 2.18946937e+00] [-1.12355659e-02 9.99931570e-01 3.25854733e-03 -4.97901058e-01] [ 1.05474769e-01 -2.05543609e-03 9.94419855e-01 -3.03403389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.663201008 meters Centerline goodness [0,1] 0.9032830523513753 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.50, Z:-0.30 [[ 9.94382364e-01 1.15701486e-02 -1.05213339e-01 2.18912974e+00] [-1.13113580e-02 9.99931354e-01 3.05607124e-03 -4.96602822e-01] [ 1.05241476e-01 -1.84879759e-03 9.94444978e-01 -3.03823700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.693201008 meters Centerline goodness [0,1] 0.9008398408722558 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.30 [[ 9.94385170e-01 1.12948294e-02 -1.05216727e-01 2.18974610e+00] [-1.10868403e-02 9.99935258e-01 2.56146083e-03 -4.94735225e-01] [ 1.05238846e-01 -1.38055761e-03 9.94446016e-01 -3.04528914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.723201008000004 meters Centerline goodness [0,1] 0.8985073751502889 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94403289e-01 1.12145993e-02 -1.05053942e-01 2.18988024e+00] [-1.10820252e-02 9.99936889e-01 1.84561594e-03 -4.92194133e-01] [ 1.05068010e-01 -6.71076130e-04 9.94464812e-01 -3.05630827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.753201008 meters Centerline goodness [0,1] 0.899359855017392 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94404767e-01 1.14414108e-02 -1.05015496e-01 2.18981087e+00] [-1.13852526e-02 9.99934543e-01 1.13423644e-03 -4.89526156e-01] [ 1.05021599e-01 6.77378195e-05 9.94469939e-01 -3.06652789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.783201008 meters Centerline goodness [0,1] 0.9013427934795356 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94366631e-01 1.12523956e-02 -1.05396328e-01 2.19077507e+00] [-1.12013819e-02 9.99936684e-01 1.07596532e-03 -4.89895598e-01] [ 1.05401762e-01 1.10680506e-04 9.94429714e-01 -3.06616959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.813201008 meters Centerline goodness [0,1] 0.9062675121663472 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 0.9943822 0.00615703 -0.10566996 2.19199361] [-0.00656415 0.99997231 -0.00350537 -0.48966015] [ 0.10564545 0.00417931 0.99439508 -0.30727357] [ 0. 0. 0. 1. ]] SLAMing on 58.843201008 meters Centerline goodness [0,1] 0.9104068396226415 Centerline is valid? [False, False] Translation: X:2.19, Y:-0.49, Z:-0.31 [[ 9.94373479e-01 9.21924417e-04 -1.05927019e-01 2.19342749e+00] [-1.80354458e-03 9.99964528e-01 -8.22741154e-03 -4.88739018e-01] [ 1.05915677e-01 8.37216395e-03 9.94339870e-01 -3.08056509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.873201008 meters Centerline goodness [0,1] 0.9127640036730946 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.31 [[ 9.94263690e-01 -2.66931299e-03 -1.06923286e-01 2.20087385e+00] [ 1.56297833e-03 9.99944390e-01 -1.04294583e-02 -4.87236216e-01] [ 1.06945179e-01 1.02025129e-02 9.94212572e-01 -3.11793458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.903201008 meters Centerline goodness [0,1] 0.9122708456534595 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.31 [[ 0.99416927 -0.00403041 -0.10775537 2.20509359] [ 0.0028261 0.99993186 -0.01132665 -0.48627016] [ 0.10779368 0.01095608 0.99411291 -0.31377012] [ 0. 0. 0. 1. ]] SLAMing on 58.933201008 meters Centerline goodness [0,1] 0.911971520197711 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.31 [[ 0.99409368 -0.00314803 -0.1084797 2.21084228] [ 0.00224905 0.99996212 -0.00840842 -0.48766004] [ 0.10850206 0.00811478 0.9940631 -0.31478753] [ 0. 0. 0. 1. ]] SLAMing on 58.963201008 meters Centerline goodness [0,1] 0.9115877042893386 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.31 [[ 9.94129945e-01 -2.24258043e-03 -1.08169415e-01 2.20918053e+00] [ 1.45896583e-03 9.99972123e-01 -7.32292289e-03 -4.89515782e-01] [ 1.08182822e-01 7.12212145e-03 9.94105504e-01 -3.13602924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.993201008 meters Centerline goodness [0,1] 0.9127122397755795 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.31 [[ 9.94145708e-01 -1.04560488e-03 -1.08042664e-01 2.20667905e+00] [ 4.53613568e-04 9.99984752e-01 -5.50366797e-03 -4.92285250e-01] [ 1.08046772e-01 5.42243827e-03 9.94131024e-01 -3.10383661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.023201008 meters Centerline goodness [0,1] 0.9137079847459131 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.31 [[ 9.94153244e-01 2.78205916e-04 -1.07978010e-01 2.20385521e+00] [-6.51971922e-04 9.99993918e-01 -3.42621407e-03 -4.95176065e-01] [ 1.07976400e-01 3.47658046e-03 9.94147379e-01 -3.06510414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.053201008 meters Centerline goodness [0,1] 0.9153946665082853 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 9.94157901e-01 1.80586218e-03 -1.07920369e-01 2.20006754e+00] [-1.83812405e-03 9.99998291e-01 -1.99466128e-04 -4.99378877e-01] [ 1.07919825e-01 3.96671853e-04 9.94159521e-01 -3.00078240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.083201008 meters Centerline goodness [0,1] 0.9151772460067692 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 9.94181298e-01 1.89574716e-03 -1.07703079e-01 2.19960083e+00] [-1.93832678e-03 9.99998079e-01 -2.90657555e-04 -4.98384317e-01] [ 1.07702321e-01 4.97730067e-04 9.94183063e-01 -3.00216691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.113201008 meters Centerline goodness [0,1] 0.911515940143136 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99407339 0.00499143 -0.10859644 2.2029902 ] [-0.00459002 0.99998168 0.00394606 -0.49969623] [ 0.10861415 -0.00342422 0.99407809 -0.29962636] [ 0. 0. 0. 1. ]] SLAMing on 59.143201008 meters Centerline goodness [0,1] 0.9129395798914326 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99405524 0.00442952 -0.10878672 2.2045203 ] [-0.00411135 0.99998659 0.00314888 -0.49787738] [ 0.10879921 -0.0026829 0.99406013 -0.30102561] [ 0. 0. 0. 1. ]] SLAMing on 59.173201008 meters Centerline goodness [0,1] 0.9133237189863731 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99405661 0.0044507 -0.1087734 2.20436791] [-0.00414139 0.99998671 0.0030694 -0.49654644] [ 0.10878561 -0.00260068 0.99406183 -0.30085381] [ 0. 0. 0. 1. ]] SLAMing on 59.203201008 meters Centerline goodness [0,1] 0.9112042008378075 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99405917 0.00471389 -0.10873892 2.20360509] [-0.00436073 0.99998442 0.00348539 -0.49672244] [ 0.10875365 -0.0029905 0.99406423 -0.29983191] [ 0. 0. 0. 1. ]] SLAMing on 59.233201008 meters Centerline goodness [0,1] 0.9097717860604458 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99401769 0.00444269 -0.10912877 2.20439638] [-0.00407218 0.99998516 0.00361779 -0.49654749] [ 0.10914323 -0.00315176 0.99402104 -0.29909487] [ 0. 0. 0. 1. ]] SLAMing on 59.263201008 meters Centerline goodness [0,1] 0.9089067042551318 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99403495 0.00454586 -0.10896718 2.20391752] [-0.0041447 0.99998378 0.00390766 -0.49643432] [ 0.10898318 -0.00343271 0.99403767 -0.29859508] [ 0. 0. 0. 1. ]] SLAMing on 59.293201008000004 meters Centerline goodness [0,1] 0.907198306280875 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99406184 0.00496003 -0.10870352 2.20240925] [-0.00451685 0.99998046 0.00432287 -0.49584119] [ 0.10872283 -0.00380621 0.99406482 -0.29740545] [ 0. 0. 0. 1. ]] SLAMing on 59.323201008 meters Centerline goodness [0,1] 0.904787031337027 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99403297 0.00466644 -0.10898021 2.20309806] [-0.00424564 0.99998261 0.00409299 -0.49509547] [ 0.10899741 -0.00360588 0.99403549 -0.29724213] [ 0. 0. 0. 1. ]] SLAMing on 59.353201008 meters Centerline goodness [0,1] 0.9053923151436875 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99402717 0.00490116 -0.10902276 2.20266302] [-0.00444755 0.99998041 0.00440347 -0.49539316] [ 0.10904221 -0.00389228 0.9940295 -0.2964886 ] [ 0. 0. 0. 1. ]] SLAMing on 59.383201008 meters Centerline goodness [0,1] 0.9049595230441009 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99398694 0.00484509 -0.10939148 2.20303855] [-0.00436298 0.99997969 0.00464614 -0.49589299] [ 0.10941177 -0.00414093 0.99398789 -0.29554103] [ 0. 0. 0. 1. ]] SLAMing on 59.413201008 meters Centerline goodness [0,1] 0.9045332083870212 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.50, Z:-0.30 [[ 0.99398177 0.00481233 -0.10943986 2.20325831] [-0.00433835 0.99998015 0.00456866 -0.49556042] [ 0.10945968 -0.00406638 0.99398292 -0.29568881] [ 0. 0. 0. 1. ]] SLAMing on 59.443201008 meters Centerline goodness [0,1] 0.903821935861766 Centerline is valid? [False, False] Translation: X:2.20, Y:-0.49, Z:-0.30 [[ 0.99398512 0.00460293 -0.10941846 2.20375556] [-0.00415115 0.99998189 0.00435637 -0.49494463] [ 0.10943654 -0.00387595 0.99398623 -0.29622786] [ 0. 0. 0. 1. ]] SLAMing on 59.473201008000004 meters Centerline goodness [0,1] 0.9023376927353053 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.30 [[ 0.99396473 0.00418824 -0.10962011 2.20512884] [-0.00377635 0.99998501 0.00396479 -0.49435405] [ 0.10963507 -0.0035269 0.99396565 -0.29716739] [ 0. 0. 0. 1. ]] SLAMing on 59.503201008 meters Centerline goodness [0,1] 0.8999034155764334 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.49, Z:-0.30 [[ 0.99390088 0.00306811 -0.11023445 2.20868033] [-0.00276917 0.99999206 0.0028649 -0.4942199 ] [ 0.11024236 -0.00254216 0.99390148 -0.29965674] [ 0. 0. 0. 1. ]] SLAMing on 59.533201008 meters Centerline goodness [0,1] 0.901259888661002 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.30 [[ 0.99387987 0.00310074 -0.11042281 2.20918109] [-0.00278856 0.99999167 0.00298138 -0.49500458] [ 0.11043113 -0.00265521 0.99388023 -0.29972213] [ 0. 0. 0. 1. ]] SLAMing on 59.563201008 meters Centerline goodness [0,1] 0.899639264451418 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.30 [[ 0.99386546 0.00319041 -0.11054987 2.20935566] [-0.00284891 0.99999067 0.00324693 -0.49588478] [ 0.11055919 -0.00291206 0.99386527 -0.29937282] [ 0. 0. 0. 1. ]] SLAMing on 59.593201008 meters Centerline goodness [0,1] 0.9001997180451128 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.30 [[ 0.99385174 0.00324067 -0.11067164 2.20950839] [-0.00288966 0.99999027 0.0033319 -0.49654339] [ 0.11068136 -0.00299161 0.99385144 -0.29922589] [ 0. 0. 0. 1. ]] SLAMing on 59.623201008 meters Centerline goodness [0,1] 0.9005676830338855 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.30 [[ 0.99376913 0.00768815 -0.11119263 2.21036047] [-0.00680841 0.99994246 0.00828942 -0.49895451] [ 0.11124996 -0.00748072 0.9937643 -0.29763319] [ 0. 0. 0. 1. ]] SLAMing on 59.653201008 meters Centerline goodness [0,1] 0.9010689705667009 Centerline is valid? [False, False] Translation: X:2.21, Y:-0.50, Z:-0.30 [[ 0.99380956 0.00806814 -0.11080376 2.20960543] [-0.00726366 0.99994426 0.00766218 -0.49692868] [ 0.1108594 -0.00680991 0.99381277 -0.298875 ] [ 0. 0. 0. 1. ]] SLAMing on 59.683201008 meters Centerline goodness [0,1] 0.8982545390755197 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.49, Z:-0.30 [[ 9.94369610e-01 1.00234503e-02 -1.05492226e-01 2.22335000e+00] [-1.01405249e-02 9.99948419e-01 -5.73468964e-04 -4.93996278e-01] [ 1.05481037e-01 1.63998666e-03 9.94419962e-01 -3.02126904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.713201008 meters Centerline goodness [0,1] 0.8984329146613452 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.50, Z:-0.30 [[ 9.94345679e-01 1.04654051e-02 -1.05674715e-01 2.22242513e+00] [-1.04493643e-02 9.99945155e-01 7.05474669e-04 -4.96101987e-01] [ 1.05676302e-01 4.02747906e-04 9.94400501e-01 -2.99593132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.743201008 meters Centerline goodness [0,1] 0.9002377388394822 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.50, Z:-0.30 [[ 9.94318420e-01 1.07070172e-02 -1.05906747e-01 2.22212288e+00] [-1.05905497e-02 9.99942537e-01 1.66205863e-03 -4.97768141e-01] [ 1.05918457e-01 -5.31004835e-04 9.94374677e-01 -2.97783070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.773201008 meters Centerline goodness [0,1] 0.8995140627300839 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.50, Z:-0.30 [[ 9.94308967e-01 1.08884618e-02 -1.05976972e-01 2.22190613e+00] [-1.07144468e-02 9.99940154e-01 2.21123081e-03 -4.99005848e-01] [ 1.05994706e-01 -1.06316200e-03 9.94366126e-01 -2.96988874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.803201008 meters Centerline goodness [0,1] 0.8994278298826166 Centerline is valid? [False, False] Translation: X:2.22, Y:-0.50, Z:-0.30 [[ 9.94297172e-01 1.04907774e-02 -1.06127642e-01 2.22300507e+00] [-1.03306074e-02 9.99944518e-01 2.05885692e-03 -4.99157544e-01] [ 1.06143353e-01 -9.50752610e-04 9.94350383e-01 -2.97491474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.833201008 meters Centerline goodness [0,1] 0.8992570316646029 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.50, Z:-0.30 [[ 9.94274384e-01 9.54688096e-03 -1.06429819e-01 2.22570445e+00] [-9.51736767e-03 9.99954401e-01 7.85219371e-04 -4.96736801e-01] [ 1.06432462e-01 2.32208213e-04 9.94319907e-01 -3.00108780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.863201008 meters Centerline goodness [0,1] 0.9016243893826144 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.49, Z:-0.30 [[ 9.94255450e-01 9.06548965e-03 -1.06648568e-01 2.22709828e+00] [-9.12576338e-03 9.99958356e-01 -7.71492275e-05 -4.94353289e-01] [ 1.06643428e-01 1.04995564e-03 9.94296775e-01 -3.01360137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.893201008 meters Centerline goodness [0,1] 0.9009263343625937 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.49, Z:-0.30 [[ 9.94268697e-01 8.93067787e-03 -1.06536381e-01 2.22747896e+00] [-9.06496421e-03 9.99958611e-01 -7.76278620e-04 -4.92308620e-01] [ 1.06525039e-01 1.73757801e-03 9.94308502e-01 -3.02577032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.923201008 meters Centerline goodness [0,1] 0.9003964175598297 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.49, Z:-0.30 [[ 9.94280005e-01 9.05495665e-03 -1.06420298e-01 2.22719992e+00] [-9.22309691e-03 9.99956875e-01 -1.08790047e-03 -4.90762898e-01] [ 1.06405857e-01 2.06320240e-03 9.94320641e-01 -3.02912071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.953201008 meters Centerline goodness [0,1] 0.9040509225308733 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99479176 0.01079835 -0.10135455 2.24075648] [-0.01178176 0.9998891 -0.00910904 -0.48854774] [ 0.10124495 0.01025573 0.99480867 -0.30458042] [ 0. 0. 0. 1. ]] SLAMing on 59.983201008 meters Centerline goodness [0,1] 0.9047199976532019 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99477493 0.01146563 -0.10144639 2.23960238] [-0.01237433 0.99988872 -0.00833268 -0.48913523] [ 0.10133956 0.00954447 0.99480611 -0.30285455] [ 0. 0. 0. 1. ]] SLAMing on 60.013201008 meters Centerline goodness [0,1] 0.9041397533763946 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99477617 0.01192589 -0.10138123 2.23850772] [-0.01276501 0.9998894 -0.00763213 -0.48972288] [ 0.10127899 0.0088864 0.99481837 -0.30144734] [ 0. 0. 0. 1. ]] SLAMing on 60.043201008000004 meters Centerline goodness [0,1] 0.9041397533763946 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99477617 0.01192589 -0.10138123 2.23850772] [-0.01276501 0.9998894 -0.00763213 -0.48972288] [ 0.10127899 0.0088864 0.99481837 -0.30144734] [ 0. 0. 0. 1. ]] SLAMing on 60.073201008 meters Centerline goodness [0,1] 0.9058330381390955 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99480082 0.01237223 -0.10108534 2.23739838] [-0.01316216 0.9998878 -0.00715126 -0.48996462] [ 0.10098552 0.00844459 0.99485206 -0.30085579] [ 0. 0. 0. 1. ]] SLAMing on 60.103201008 meters Centerline goodness [0,1] 0.9052163411976083 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99480224 0.01241947 -0.10106557 2.23742777] [-0.01320307 0.99988771 -0.00708817 -0.48957362] [ 0.10096619 0.0083857 0.99485452 -0.30085868] [ 0. 0. 0. 1. ]] SLAMing on 60.133201008 meters Centerline goodness [0,1] 0.9044795397170199 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94669892e-01 1.59635072e-02 -1.01867426e-01 2.23986049e+00] [-1.62630179e-02 9.99865521e-01 -2.11032964e-03 -4.91831954e-01] [ 1.01820039e-01 3.75575313e-03 9.94795745e-01 -2.99063573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.163201008 meters Centerline goodness [0,1] 0.9044993253944975 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99467772 0.01579408 -0.10181735 2.24022131] [-0.01612218 0.99986715 -0.0024003 -0.49062848] [ 0.10176592 0.00402905 0.99480021 -0.29958408] [ 0. 0. 0. 1. ]] SLAMing on 60.193201008 meters Centerline goodness [0,1] 0.902928575620635 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94661461e-01 1.61047175e-02 -1.01927502e-01 2.24012406e+00] [-1.64057734e-02 9.99863177e-01 -2.11598042e-03 -4.90967265e-01] [ 1.01879479e-01 3.77688368e-03 9.94789579e-01 -2.99203146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.223201008000004 meters Centerline goodness [0,1] 0.9045930181434475 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94644107e-01 1.63813671e-02 -1.02052687e-01 2.23994345e+00] [-1.66537718e-02 9.99859664e-01 -1.81776542e-03 -4.91390919e-01] [ 1.02008588e-01 3.50759183e-03 9.94777334e-01 -2.98621618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.253201008 meters Centerline goodness [0,1] 0.9043452730475632 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94637089e-01 1.66289466e-02 -1.02081045e-01 2.23963823e+00] [-1.69019541e-02 9.99855513e-01 -1.80999777e-03 -4.91007465e-01] [ 1.02036197e-01 3.52566004e-03 9.94774439e-01 -2.98412446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.283201008 meters Centerline goodness [0,1] 0.9019964768056371 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94651200e-01 1.69711836e-02 -1.01887040e-01 2.23887634e+00] [-1.72400891e-02 9.99849831e-01 -1.75920546e-03 -4.90336218e-01] [ 1.01841884e-01 3.50633747e-03 9.94794419e-01 -2.98258807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.313201008 meters Centerline goodness [0,1] 0.9020876643340263 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94663204e-01 1.73921550e-02 -1.01698686e-01 2.23799234e+00] [-1.76503066e-02 9.99842878e-01 -1.63904023e-03 -4.88986026e-01] [ 1.01654201e-01 3.42530600e-03 9.94813898e-01 -2.97913256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.343201008 meters Centerline goodness [0,1] 0.9027887513534076 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94653120e-01 1.72165475e-02 -1.01827111e-01 2.23851199e+00] [-1.74542733e-02 9.99846620e-01 -1.44402252e-03 -4.89536605e-01] [ 1.01786632e-01 3.21361974e-03 9.94801063e-01 -2.97733745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.373201008 meters Centerline goodness [0,1] 0.9032437333645325 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94631237e-01 1.70482981e-02 -1.02068886e-01 2.23922055e+00] [-1.72372971e-02 9.99850956e-01 -9.69903213e-04 -4.91137906e-01] [ 1.02037138e-01 2.72408775e-03 9.94776860e-01 -2.97259023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.403201008 meters Centerline goodness [0,1] 0.9004539464050374 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94604896e-01 1.68728512e-02 -1.02354325e-01 2.23996894e+00] [-1.70082522e-02 9.99855248e-01 -4.50221250e-04 -4.92720265e-01] [ 1.02331913e-01 2.18866044e-03 9.94747902e-01 -2.96598450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.433201008 meters Centerline goodness [0,1] 0.9027590255356619 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 9.94591128e-01 1.69266233e-02 -1.02479159e-01 2.23996500e+00] [-1.70074803e-02 9.99855359e-01 8.47579109e-05 -4.94000871e-01] [ 1.02465771e-01 1.65861281e-03 9.94735148e-01 -2.95768096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.463201008 meters Centerline goodness [0,1] 0.8987943324826191 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 9.94606601e-01 1.71818098e-02 -1.02286334e-01 2.23895727e+00] [-1.71811220e-02 9.99851999e-01 8.87797082e-04 -4.94808141e-01] [ 1.02286449e-01 8.74385142e-04 9.94754602e-01 -2.94400771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.493201008 meters Centerline goodness [0,1] 0.899531204219162 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94596823e-01 1.72515212e-02 -1.02369648e-01 2.23887581e+00] [-1.72056396e-02 9.99851086e-01 1.33123095e-03 -4.95555524e-01] [ 1.02377370e-01 4.37297200e-04 9.94745537e-01 -2.93561556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.523201008 meters Centerline goodness [0,1] 0.9026301063234471 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 0.99471454 0.01368781 -0.10176263 2.23641295] [-0.01400479 0.99989905 -0.00240111 -0.49542958] [ 0.10171949 0.00381358 0.99480581 -0.2931877 ] [ 0. 0. 0. 1. ]] SLAMing on 60.553201008 meters Centerline goodness [0,1] 0.8992453720080179 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 0.99472106 0.01372989 -0.10169314 2.23644521] [-0.01403019 0.99989907 -0.00223833 -0.49545224] [ 0.10165215 0.00365328 0.9948133 -0.29323518] [ 0. 0. 0. 1. ]] SLAMing on 60.583201008 meters Centerline goodness [0,1] 0.900637728862374 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 0.99473829 0.0138572 -0.10150722 2.23629256] [-0.014165 0.999897 -0.00231207 -0.49480512] [ 0.10146472 0.00373776 0.99483212 -0.29370465] [ 0. 0. 0. 1. ]] SLAMing on 60.613201008 meters Centerline goodness [0,1] 0.9013334118270391 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 9.94747401e-01 1.40706353e-02 -1.01388492e-01 2.23591483e+00] [-1.43621213e-02 9.99894558e-01 -2.14552085e-03 -4.94847520e-01] [ 1.01347613e-01 3.59040511e-03 9.94844596e-01 -2.93581729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.643201008 meters Centerline goodness [0,1] 0.9064074030689938 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94728679e-01 1.40963625e-02 -1.01568435e-01 2.23622139e+00] [-1.43525730e-02 9.99895390e-01 -1.79217143e-03 -4.95452780e-01] [ 1.01532547e-01 3.24049270e-03 9.94826940e-01 -2.93003435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.673201008 meters Centerline goodness [0,1] 0.9055653192735794 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94730062e-01 1.40942122e-02 -1.01555195e-01 2.23635706e+00] [-1.43480392e-02 9.99895496e-01 -1.76934910e-03 -4.95302935e-01] [ 1.01519645e-01 3.21714266e-03 9.94828333e-01 -2.93119946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.703201008 meters Centerline goodness [0,1] 0.9045722152250959 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 9.94736140e-01 1.39589971e-02 -1.01514321e-01 2.23669238e+00] [-1.42338273e-02 9.99896727e-01 -1.98343332e-03 -4.94615415e-01] [ 1.01476151e-01 3.41793012e-03 9.94832101e-01 -2.93639710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.733201008 meters Centerline goodness [0,1] 0.9034690358593681 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 9.94739009e-01 1.38929094e-02 -1.01495278e-01 2.23701500e+00] [-1.41782274e-02 9.99897299e-01 -2.09027827e-03 -4.94235587e-01] [ 1.01455814e-01 3.51830447e-03 9.94833825e-01 -2.94007576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.763201008 meters Centerline goodness [0,1] 0.9057911670078971 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 9.94721886e-01 1.38382452e-02 -1.01670408e-01 2.23751773e+00] [-1.41157431e-02 9.99898347e-01 -2.01041800e-03 -4.94509763e-01] [ 1.01632252e-01 3.43496014e-03 9.94816107e-01 -2.93949191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.793201008000004 meters Centerline goodness [0,1] 0.9059232431800923 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94696487e-01 1.36922718e-02 -1.01938321e-01 2.23861944e+00] [-1.39925888e-02 9.99899609e-01 -2.23156206e-03 -4.95028865e-01] [ 1.01897532e-01 3.64610795e-03 9.94788218e-01 -2.94626007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.823201008 meters Centerline goodness [0,1] 0.9052898783298806 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.29 [[ 0.99466938 0.013497 -0.10222843 2.23956855] [-0.01380696 0.99990198 -0.00232497 -0.49496946] [ 0.10218703 0.00372404 0.99475823 -0.29479495] [ 0. 0. 0. 1. ]] SLAMing on 60.853201008 meters Centerline goodness [0,1] 0.9042161277118297 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 0.99465258 0.01338094 -0.10240698 2.24014183] [-0.01369214 0.99990353 -0.00233657 -0.49510505] [ 0.10236584 0.00372625 0.99473984 -0.29483624] [ 0. 0. 0. 1. ]] SLAMing on 60.883201008 meters Centerline goodness [0,1] 0.9034194039463669 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94632257e-01 1.33953981e-02 -1.02602324e-01 2.24006584e+00] [-1.36061492e-02 9.99906515e-01 -1.35444366e-03 -4.97345130e-01] [ 1.02574588e-01 2.74319588e-03 9.94721533e-01 -2.93104872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.913201008 meters Centerline goodness [0,1] 0.9004098360655738 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94616626e-01 1.30980708e-02 -1.02792060e-01 2.24070065e+00] [-1.32600697e-02 9.99911683e-01 -8.92790118e-04 -4.98272262e-01] [ 1.02771288e-01 2.25101378e-03 9.94702466e-01 -2.92362774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.943201008 meters Centerline goodness [0,1] 0.8997371495327102 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94627883e-01 1.28943888e-02 -1.02708858e-01 2.24149477e+00] [-1.31387400e-02 9.99912233e-01 -1.70287234e-03 -4.95973483e-01] [ 1.02677886e-01 3.04318930e-03 9.94710003e-01 -2.94028064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.973201008000004 meters Centerline goodness [0,1] 0.9003436426116839 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99464364 0.01303047 -0.10253893 2.24142937] [-0.0133357 0.99990845 -0.00229176 -0.49382283] [ 0.10249968 0.00364691 0.99472635 -0.29511267] [ 0. 0. 0. 1. ]] SLAMing on 61.003201008 meters Centerline goodness [0,1] 0.8996971109040075 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.49, Z:-0.30 [[ 0.99465272 0.01322285 -0.10242621 2.24106308] [-0.01352844 0.99990587 -0.00228945 -0.49345435] [ 0.10238629 0.00366287 0.99473797 -0.29512575] [ 0. 0. 0. 1. ]] SLAMing on 61.033201008 meters Centerline goodness [0,1] 0.8979591836734694 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94518798e-01 1.71376404e-02 -1.03143887e-01 2.24299696e+00] [-1.69843002e-02 9.99852960e-01 2.36480054e-03 -4.95897589e-01] [ 1.03169248e-01 -6.00011853e-04 9.94663635e-01 -2.93844426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.063201008 meters Centerline goodness [0,1] 0.8974269312585599 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94531068e-01 1.75852971e-02 -1.02950048e-01 2.24197372e+00] [-1.74123349e-02 9.99845069e-01 2.57857702e-03 -4.95776055e-01] [ 1.02979443e-01 -7.71874248e-04 9.94683185e-01 -2.93414478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.093201008 meters Centerline goodness [0,1] 0.8951495365242231 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94541505e-01 1.80149485e-02 -1.02774788e-01 2.24090275e+00] [-1.78012824e-02 9.99837056e-01 2.99585972e-03 -4.96219780e-01] [ 1.02812012e-01 -1.14998380e-03 9.94700140e-01 -2.92599100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.123201008 meters Centerline goodness [0,1] 0.8949870228339798 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94525476e-01 1.80979043e-02 -1.02915225e-01 2.24085073e+00] [-1.78519842e-02 9.99835161e-01 3.31018090e-03 -4.96635352e-01] [ 1.02958168e-01 -1.45481827e-03 9.94684623e-01 -2.91838015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.153201008 meters Centerline goodness [0,1] 0.8969300805416132 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94497693e-01 1.76549610e-02 -1.03260060e-01 2.24241198e+00] [-1.74279643e-02 9.99843315e-01 3.10017717e-03 -4.96847486e-01] [ 1.03298614e-01 -1.28350641e-03 9.94649561e-01 -2.92514374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.183201008 meters Centerline goodness [0,1] 0.8947844349804562 Centerline is valid? [False, False] Translation: X:2.24, Y:-0.50, Z:-0.29 [[ 9.94483348e-01 1.69461430e-02 -1.03516663e-01 2.24444832e+00] [-1.68053409e-02 9.99856288e-01 2.23225852e-03 -4.95310471e-01] [ 1.03539615e-01 -4.80311109e-04 9.94625215e-01 -2.94278525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.213201008 meters Centerline goodness [0,1] 0.8956650589807659 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.30 [[ 9.94466618e-01 1.62363241e-02 -1.03790787e-01 2.24653064e+00] [-1.61825604e-02 9.99868129e-01 1.36010976e-03 -4.93665915e-01] [ 1.03799184e-01 3.27016940e-04 9.94598222e-01 -2.96010468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.243201008 meters Centerline goodness [0,1] 0.8931031476153108 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.30 [[ 9.94419960e-01 1.53742797e-02 -1.04367502e-01 2.24924713e+00] [-1.54059925e-02 9.99881194e-01 5.02328573e-04 -4.92715162e-01] [ 1.04362825e-01 1.10835939e-03 9.94538673e-01 -2.97592294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.273201008 meters Centerline goodness [0,1] 0.8928228271946426 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.30 [[ 9.94392392e-01 1.51753755e-02 -1.04658865e-01 2.25009080e+00] [-1.51966008e-02 9.99884348e-01 5.94657730e-04 -4.93609198e-01] [ 1.04655785e-01 9.99135877e-04 9.94508003e-01 -2.97478692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.303201008 meters Centerline goodness [0,1] 0.8934593616897135 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.30 [[ 9.94370473e-01 1.52495074e-02 -1.04856164e-01 2.25035575e+00] [-1.52506948e-02 9.99883389e-01 7.90497527e-04 -4.94399595e-01] [ 1.04855991e-01 8.13081950e-04 9.94487084e-01 -2.97167870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.333201008 meters Centerline goodness [0,1] 0.8954892921748264 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.30 [[ 9.94334356e-01 1.52186269e-02 -1.05202578e-01 2.25085358e+00] [-1.51798528e-02 9.99884096e-01 1.16930394e-03 -4.95341580e-01] [ 1.05208179e-01 4.34280567e-04 9.94450125e-01 -2.96313625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.363201008 meters Centerline goodness [0,1] 0.8956509005710939 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.29 [[ 9.94290524e-01 1.57748384e-02 -1.05534395e-01 2.24990615e+00] [-1.55429250e-02 9.99874642e-01 3.01965855e-03 -4.98607599e-01] [ 1.05568800e-01 -1.36210469e-03 9.94411069e-01 -2.92755790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.393201008 meters Centerline goodness [0,1] 0.8937305729869216 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.29 [[ 9.94295227e-01 1.61870069e-02 -1.05427615e-01 2.24876895e+00] [-1.58924310e-02 9.99867105e-01 3.63365411e-03 -4.99048165e-01] [ 1.05472422e-01 -1.93742384e-03 9.94420341e-01 -2.91434818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.423201008 meters Centerline goodness [0,1] 0.8942414824371079 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.29 [[ 9.94316725e-01 1.62590668e-02 -1.05213558e-01 2.24824036e+00] [-1.59784549e-02 9.99866177e-01 3.50949065e-03 -4.97826452e-01] [ 1.05256539e-01 -1.80839517e-03 9.94443458e-01 -2.91493752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.453201008 meters Centerline goodness [0,1] 0.8938127820643471 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.50, Z:-0.29 [[ 0.99418426 0.01948365 -0.10591524 2.25166324] [-0.01887496 0.99979909 0.00674636 -0.49610228] [ 0.1060254 -0.00470798 0.99435228 -0.29271711] [ 0. 0. 0. 1. ]] SLAMing on 61.483201008 meters Centerline goodness [0,1] 0.8937029610902857 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.29 [[ 0.99418746 0.01923277 -0.10593105 2.25229662] [-0.01871033 0.9998074 0.00592352 -0.49393478] [ 0.10602458 -0.00390709 0.99435583 -0.29391509] [ 0. 0. 0. 1. ]] SLAMing on 61.513201008 meters Centerline goodness [0,1] 0.8928861552744575 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.29 [[ 0.99417664 0.01917416 -0.10604319 2.25250186] [-0.01867252 0.99980928 0.00572145 -0.49325624] [ 0.10613267 -0.00370804 0.99434506 -0.29390443] [ 0. 0. 0. 1. ]] SLAMing on 61.543201008000004 meters Centerline goodness [0,1] 0.8935960305254911 Centerline is valid? [False, False] Translation: X:2.25, Y:-0.49, Z:-0.29 [[ 0.99415883 0.01943271 -0.10616308 2.25201674] [-0.01890227 0.99980333 0.00600047 -0.49367077] [ 0.10625881 -0.0039587 0.99433063 -0.29298269] [ 0. 0. 0. 1. ]] SLAMing on 61.573201008 meters Centerline goodness [0,1] 0.8977550308247063 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.99467783 0.01917893 -0.1012333 2.26672899] [-0.01974475 0.99979452 -0.00459017 -0.49117863] [ 0.10112446 0.00656457 0.99485212 -0.29715692] [ 0. 0. 0. 1. ]] SLAMing on 61.603201008 meters Centerline goodness [0,1] 0.8925841647704067 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.99465383 0.01926767 -0.10145201 2.26683697] [-0.01978288 0.999796 -0.00407465 -0.49218589] [ 0.10135281 0.00605988 0.99483209 -0.29623856] [ 0. 0. 0. 1. ]] SLAMing on 61.633201008 meters Centerline goodness [0,1] 0.8954050433871061 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.99461762 0.01884986 -0.10188462 2.26830875] [-0.01935232 0.99980494 -0.00394545 -0.49250697] [ 0.10179038 0.00589592 0.9947884 -0.29604858] [ 0. 0. 0. 1. ]] SLAMing on 61.663201008 meters Centerline goodness [0,1] 0.8934261497684444 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.9946064 0.01859765 -0.1020404 2.26930977] [-0.01909737 0.99980993 -0.00392247 -0.49270894] [ 0.10194805 0.00585001 0.99477252 -0.29645878] [ 0. 0. 0. 1. ]] SLAMing on 61.693201008 meters Centerline goodness [0,1] 0.8878351959382569 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.99459453 0.01792129 -0.10227684 2.27097779] [-0.01845149 0.99982077 -0.00424017 -0.49210429] [ 0.10218252 0.00610441 0.99474694 -0.2972661 ] [ 0. 0. 0. 1. ]] SLAMing on 61.723201008000004 meters Centerline goodness [0,1] 0.8884776780510549 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.49, Z:-0.30 [[ 0.99457604 0.01797841 -0.10244649 2.27117701] [-0.01843843 0.99982371 -0.00354512 -0.49334898] [ 0.1023647 0.00541484 0.9947322 -0.29622589] [ 0. 0. 0. 1. ]] SLAMing on 61.753201008 meters Centerline goodness [0,1] 0.8904445222261113 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94553537e-01 1.85688854e-02 -1.02559541e-01 2.27005102e+00] [-1.88971569e-02 9.99818946e-01 -2.23002895e-03 -4.95956704e-01] [ 1.02499563e-01 4.15596691e-03 9.94724368e-01 -2.93876918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.783201008 meters Centerline goodness [0,1] 0.8922166217325049 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94522547e-01 1.98048433e-02 -1.02628807e-01 2.26739345e+00] [-1.98508634e-02 9.99802788e-01 5.72999619e-04 -5.00700732e-01] [ 1.02619915e-01 1.46740939e-03 9.94719558e-01 -2.88701639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.813201008 meters Centerline goodness [0,1] 0.8922173188765818 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94528755e-01 2.01066723e-02 -1.02509888e-01 2.26661752e+00] [-2.01075890e-02 9.99797297e-01 1.02449767e-03 -5.00708220e-01] [ 1.02509708e-01 1.04233430e-03 9.94731458e-01 -2.87791629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.843201008 meters Centerline goodness [0,1] 0.8869588065278954 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94536352e-01 2.01551881e-02 -1.02426624e-01 2.26640414e+00] [-2.01444814e-02 9.99796431e-01 1.13902178e-03 -4.99898555e-01] [ 1.02428730e-01 9.30532643e-04 9.94739910e-01 -2.87515813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.873201008 meters Centerline goodness [0,1] 0.8891130800947451 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94532790e-01 2.01588940e-02 -1.02460477e-01 2.26630737e+00] [-2.01282978e-02 9.99796517e-01 1.33261004e-03 -4.99636154e-01] [ 1.02466492e-01 7.37030612e-04 9.94736184e-01 -2.87052748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.903201008 meters Centerline goodness [0,1] 0.88736 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94502976e-01 1.97775509e-02 -1.02823537e-01 2.26697683e+00] [-1.96905489e-02 9.99804390e-01 1.86117634e-03 -4.99794160e-01] [ 1.02840233e-01 1.73706470e-04 9.94697872e-01 -2.85605226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.933201008 meters Centerline goodness [0,1] 0.88736 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94502976e-01 1.97775509e-02 -1.02823537e-01 2.26697683e+00] [-1.96905489e-02 9.99804390e-01 1.86117634e-03 -4.99794160e-01] [ 1.02840233e-01 1.73706470e-04 9.94697872e-01 -2.85605226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.963201008 meters Centerline goodness [0,1] 0.8868332602659652 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94493926e-01 1.94583825e-02 -1.02971856e-01 2.26765893e+00] [-1.93949430e-02 9.99810592e-01 1.61737359e-03 -4.98859466e-01] [ 1.02983824e-01 3.88665072e-04 9.94682955e-01 -2.85770766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.993201008 meters Centerline goodness [0,1] 0.8848162955613272 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94493891e-01 1.92373120e-02 -1.03013721e-01 2.26830599e+00] [-1.92082740e-02 9.99814692e-01 1.27396655e-03 -4.97986592e-01] [ 1.03019140e-01 7.11763835e-04 9.94679119e-01 -2.86448642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.023201008 meters Centerline goodness [0,1] 0.8873181963916174 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94482083e-01 1.89147694e-02 -1.03187298e-01 2.26932685e+00] [-1.89209744e-02 9.99820560e-01 9.18768724e-04 -4.97495778e-01] [ 1.03186160e-01 1.03870520e-03 9.94661519e-01 -2.87133401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.053201008 meters Centerline goodness [0,1] 0.890487144396238 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94440019e-01 1.84159934e-02 -1.03681722e-01 2.27146269e+00] [-1.84797845e-02 9.99829175e-01 3.45385892e-04 -4.97183465e-01] [ 1.03670371e-01 1.57255033e-03 9.94610467e-01 -2.88424562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.083201008 meters Centerline goodness [0,1] 0.8903372224970176 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94435073e-01 1.82721168e-02 -1.03754587e-01 2.27218560e+00] [-1.83550307e-02 9.99831520e-01 1.55675084e-04 -4.97058484e-01] [ 1.03739951e-01 1.74960987e-03 9.94602916e-01 -2.89083596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.113201008 meters Centerline goodness [0,1] 0.8850082947699293 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94428563e-01 1.82012713e-02 -1.03829410e-01 2.27264644e+00] [-1.82842979e-02 9.99832817e-01 1.52175709e-04 -4.97069632e-01] [ 1.03814821e-01 1.74711998e-03 9.94595109e-01 -2.89281976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.143201008 meters Centerline goodness [0,1] 0.889573942125927 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94412064e-01 1.80728664e-02 -1.04009706e-01 2.27336314e+00] [-1.81539101e-02 9.99835190e-01 1.67489777e-04 -4.97598977e-01] [ 1.03995591e-01 1.72162900e-03 9.94576268e-01 -2.89476249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.173201008 meters Centerline goodness [0,1] 0.8901182088161649 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94389897e-01 1.79272092e-02 -1.04246574e-01 2.27412743e+00] [-1.80001748e-02 9.99837955e-01 2.40893242e-04 -4.98359683e-01] [ 1.04233999e-01 1.63691474e-03 9.94551454e-01 -2.89490929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.203201008 meters Centerline goodness [0,1] 0.8928904700804853 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94353633e-01 1.80414020e-02 -1.04572277e-01 2.27448404e+00] [-1.80243999e-02 9.99836934e-01 1.10767902e-03 -5.00724034e-01] [ 1.04575209e-01 7.83427877e-04 9.94516673e-01 -2.88163259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.233201008 meters Centerline goodness [0,1] 0.8927499927179517 Centerline is valid? [False, False] Translation: X:2.27, Y:-0.50, Z:-0.29 [[ 9.94330609e-01 1.79384709e-02 -1.04808638e-01 2.27497911e+00] [-1.78975911e-02 9.99838940e-01 1.33060631e-03 -5.01135664e-01] [ 1.04815627e-01 5.52759571e-04 9.94491518e-01 -2.87677097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.263201008 meters Centerline goodness [0,1] 0.891651346698182 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94320120e-01 1.76424305e-02 -1.04958294e-01 2.27599791e+00] [-1.76369729e-02 9.99843976e-01 9.80207660e-04 -5.00602191e-01] [ 1.04959211e-01 8.76506388e-04 9.94476141e-01 -2.88463774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.293201008000004 meters Centerline goodness [0,1] 0.8907246376811594 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94187057e-01 2.04174506e-02 -1.05712926e-01 2.28054989e+00] [-2.01027299e-02 9.99789749e-01 4.04192753e-03 -4.99688239e-01] [ 1.05773225e-01 -1.89331365e-03 9.94388475e-01 -2.90471016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.323201008 meters Centerline goodness [0,1] 0.8942099019068839 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94197254e-01 2.00978743e-02 -1.05678262e-01 2.28146644e+00] [-1.98916513e-02 9.99797625e-01 3.00517778e-03 -4.96997011e-01] [ 1.05717273e-01 -8.85624359e-04 9.94395834e-01 -2.92272947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.353201008 meters Centerline goodness [0,1] 0.8968460648148148 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94191111e-01 1.99821660e-02 -1.05757973e-01 2.28191820e+00] [-1.98424361e-02 9.99800303e-01 2.37336250e-03 -4.95336661e-01] [ 1.05784278e-01 -2.61080085e-04 9.94389068e-01 -2.93045513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.383201008 meters Centerline goodness [0,1] 0.8979609544468546 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94170705e-01 2.03179874e-02 -1.05885739e-01 2.28135327e+00] [-2.01415827e-02 9.99793396e-01 2.73519518e-03 -4.95760660e-01] [ 1.05919436e-01 -5.86544555e-04 9.94374542e-01 -2.91965265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.413201008 meters Centerline goodness [0,1] 0.8994170364569738 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94154562e-01 2.15240525e-02 -1.05798969e-01 2.27870021e+00] [-2.12230088e-02 9.99766882e-01 3.97058517e-03 -4.97374834e-01] [ 1.05859768e-01 -1.70200291e-03 9.94379612e-01 -2.89095139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.443201008 meters Centerline goodness [0,1] 0.8977427882520408 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94105887e-01 2.03525857e-02 -1.06485950e-01 2.28148702e+00] [-2.00906355e-02 9.99791923e-01 3.53221982e-03 -4.97395161e-01] [ 1.06535682e-01 -1.37203011e-03 9.94307933e-01 -2.89570902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.473201008000004 meters Centerline goodness [0,1] 0.9008690614136732 Centerline is valid? [False, False] Translation: X:2.28, Y:-0.50, Z:-0.29 [[ 9.94062648e-01 1.91967472e-02 -1.07102459e-01 2.28432030e+00] [-1.89988144e-02 9.99815392e-01 2.86820296e-03 -4.96076140e-01] [ 1.07137747e-01 -8.16353693e-04 9.94243852e-01 -2.90425019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.503201008 meters Centerline goodness [0,1] 0.8958375575703155 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.50, Z:-0.29 [[ 9.94043751e-01 1.84486233e-02 -1.07408887e-01 2.28627061e+00] [-1.83058329e-02 9.99829753e-01 2.31529913e-03 -4.95376290e-01] [ 1.07433315e-01 -3.35299503e-04 9.94212236e-01 -2.91576948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.533201008 meters Centerline goodness [0,1] 0.9013888081817654 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 0.99407996 0.01299259 -0.10787131 2.28768347] [-0.01332342 0.99990849 -0.00234671 -0.49418318] [ 0.10783095 0.00377003 0.9941621 -0.29157153] [ 0. 0. 0. 1. ]] SLAMing on 62.563201008 meters Centerline goodness [0,1] 0.9013669335028754 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 0.99401023 0.01222282 -0.10860137 2.28974805] [-0.01256119 0.99991815 -0.00243217 -0.49377971] [ 0.10856275 0.00378176 0.9940824 -0.29105327] [ 0. 0. 0. 1. ]] SLAMing on 62.593201008 meters Centerline goodness [0,1] 0.89975905013499 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 0.99400247 0.01206572 -0.10869 2.29012559] [-0.01242825 0.99991923 -0.00265857 -0.49284965] [ 0.10864914 0.00399345 0.99407214 -0.29120825] [ 0. 0. 0. 1. ]] SLAMing on 62.623201008 meters Centerline goodness [0,1] 0.8973817445392738 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 9.93855819e-01 1.58945929e-02 -1.09535256e-01 2.29279367e+00] [-1.58787214e-02 9.99873408e-01 1.01721648e-03 -4.92249580e-01] [ 1.09537558e-01 7.28313291e-04 9.93982391e-01 -2.91473211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.653201008 meters Centerline goodness [0,1] 0.897645293472615 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 9.93862646e-01 1.59911037e-02 -1.09459244e-01 2.29298885e+00] [-1.60547869e-02 9.99871069e-01 2.99554321e-04 -4.89565750e-01] [ 1.09449921e-01 1.45962899e-03 9.93991239e-01 -2.92675742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.683201008 meters Centerline goodness [0,1] 0.8968564684207496 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 0.993728 0.02025436 -0.10997464 2.2940177 ] [-0.01985164 0.99979163 0.00475577 -0.49019055] [ 0.11004805 -0.00254276 0.99392302 -0.29153325] [ 0. 0. 0. 1. ]] SLAMing on 62.713201008 meters Centerline goodness [0,1] 0.8977693566445611 Centerline is valid? [False, False] Translation: X:2.29, Y:-0.49, Z:-0.29 [[ 0.99372365 0.02114362 -0.10984654 2.29203377] [-0.0206841 0.9997719 0.00532118 -0.48948009] [ 0.10993399 -0.0030157 0.99393432 -0.28986023] [ 0. 0. 0. 1. ]] SLAMing on 62.743201008 meters Centerline goodness [0,1] 0.8997440395732076 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 0.99437399 0.02223345 -0.10356657 2.30141291] [-0.02271672 0.99973585 -0.00348901 -0.48785578] [ 0.10346164 0.00582208 0.9946164 -0.28997574] [ 0. 0. 0. 1. ]] SLAMing on 62.773201008 meters Centerline goodness [0,1] 0.8958764665286405 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 0.99439256 0.02297502 -0.10322589 2.29945455] [-0.02337915 0.99972301 -0.00270663 -0.48812761] [ 0.10313512 0.00510478 0.99465426 -0.28849571] [ 0. 0. 0. 1. ]] SLAMing on 62.803201008 meters Centerline goodness [0,1] 0.8962331812835298 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 9.94217065e-01 2.69174886e-02 -1.03960936e-01 2.30116167e+00] [-2.67962385e-02 9.99637631e-01 2.56304861e-03 -4.90813836e-01] [ 1.03992254e-01 2.37535358e-04 9.94578079e-01 -2.86097285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.833201008 meters Centerline goodness [0,1] 0.8957118353344768 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 0.99406345 0.03078028 -0.10435723 2.30266252] [-0.0302459 0.99952003 0.00669967 -0.49063723] [ 0.10451336 -0.00350351 0.99451731 -0.28549367] [ 0. 0. 0. 1. ]] SLAMing on 62.863201008 meters Centerline goodness [0,1] 0.8952302020519562 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 0.99407883 0.03068725 -0.10423807 2.30299247] [-0.03022551 0.99952506 0.0060067 -0.48841414] [ 0.1043729 -0.00282048 0.99453423 -0.28666686] [ 0. 0. 0. 1. ]] SLAMing on 62.893201008 meters Centerline goodness [0,1] 0.8911416985550289 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 9.94087950e-01 3.05850356e-02 -1.04181105e-01 2.30335748e+00] [-3.01858188e-02 9.99529681e-01 5.40685480e-03 -4.86746322e-01] [ 1.04297475e-01 -2.23009726e-03 9.94543646e-01 -2.87622086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.923201008 meters Centerline goodness [0,1] 0.8963956269217629 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.29 [[ 9.94062831e-01 3.05034244e-02 -1.04444386e-01 2.30383895e+00] [-3.01227242e-02 9.99532573e-01 5.22082419e-03 -4.86134771e-01] [ 1.04554819e-01 -2.04367785e-03 9.94517025e-01 -2.87480772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.953201008 meters Centerline goodness [0,1] 0.8994103068113837 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.28 [[ 0.99401212 0.03134854 -0.1046765 2.30243857] [-0.03082046 0.99950275 0.00665907 -0.48920952] [ 0.1048332 -0.00339302 0.99448403 -0.28462438] [ 0. 0. 0. 1. ]] SLAMing on 62.983201008 meters Centerline goodness [0,1] 0.8976632440008009 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.28 [[ 0.99400085 0.03168284 -0.10468291 2.30181954] [-0.03108474 0.9994898 0.00734041 -0.49109182] [ 0.10486206 -0.00404233 0.99447856 -0.28358982] [ 0. 0. 0. 1. ]] SLAMing on 63.013201008 meters Centerline goodness [0,1] 0.8963164683961589 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.28 [[ 0.99398368 0.03150909 -0.10489815 2.30254457] [-0.03087773 0.99949399 0.00763777 -0.49243061] [ 0.10508573 -0.0043528 0.99445364 -0.28341762] [ 0. 0. 0. 1. ]] SLAMing on 63.043201008000004 meters Centerline goodness [0,1] 0.8971354912632483 Centerline is valid? [False, False] Translation: X:2.30, Y:-0.49, Z:-0.28 [[ 0.99396294 0.0308327 -0.10529492 2.30455977] [-0.03022591 0.99951604 0.00735405 -0.49271709] [ 0.10547071 -0.00412702 0.99441385 -0.28424375] [ 0. 0. 0. 1. ]] SLAMing on 63.073201008 meters Centerline goodness [0,1] 0.8927650799106376 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.49, Z:-0.29 [[ 0.9939728 0.03019952 -0.10538527 2.30656427] [-0.02967206 0.9995381 0.00656973 -0.49171556] [ 0.105535 -0.00340314 0.99440977 -0.28645231] [ 0. 0. 0. 1. ]] SLAMing on 63.103201008 meters Centerline goodness [0,1] 0.8930352536543422 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.49, Z:-0.28 [[ 0.99393756 0.03015947 -0.10572859 2.30670429] [-0.02954683 0.99953633 0.00735637 -0.49343101] [ 0.10590143 -0.00418783 0.99436781 -0.28475483] [ 0. 0. 0. 1. ]] SLAMing on 63.133201008 meters Centerline goodness [0,1] 0.8928653492647058 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.50, Z:-0.28 [[ 0.99389087 0.0300793 -0.10618937 2.30710903] [-0.0293734 0.99953483 0.00820564 -0.49529762] [ 0.10638679 -0.00503637 0.99431207 -0.28292831] [ 0. 0. 0. 1. ]] SLAMing on 63.163201008 meters Centerline goodness [0,1] 0.8945540148709556 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.50, Z:-0.28 [[ 0.99387738 0.03021896 -0.1062759 2.30736415] [-0.02952591 0.99953128 0.00808902 -0.49539192] [ 0.10647053 -0.0049016 0.99430378 -0.28334768] [ 0. 0. 0. 1. ]] SLAMing on 63.193201008 meters Centerline goodness [0,1] 0.8947444038964397 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.50, Z:-0.28 [[ 0.99386685 0.02966745 -0.10652947 2.30903887] [-0.02900906 0.9995493 0.00772495 -0.49531001] [ 0.10671063 -0.00458725 0.99427954 -0.28434767] [ 0. 0. 0. 1. ]] SLAMing on 63.223201008000004 meters Centerline goodness [0,1] 0.8936775008613759 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.49, Z:-0.29 [[ 0.99387959 0.02932158 -0.10650638 2.31018387] [-0.02872808 0.99956203 0.00710272 -0.49420021] [ 0.106668 -0.00399952 0.99428665 -0.28593031] [ 0. 0. 0. 1. ]] SLAMing on 63.253201008 meters Centerline goodness [0,1] 0.8904235463029433 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.49, Z:-0.29 [[ 0.99387309 0.02902142 -0.10664913 2.3112838 ] [-0.02847245 0.99957235 0.0066667 -0.49360612] [ 0.10679699 -0.00358929 0.99427437 -0.28691499] [ 0. 0. 0. 1. ]] SLAMing on 63.283201008 meters Centerline goodness [0,1] 0.8989421174851638 Centerline is valid? [False, False] Translation: X:2.31, Y:-0.49, Z:-0.29 [[ 0.99381704 0.02827534 -0.10736942 2.31375486] [-0.02779002 0.99959569 0.00601397 -0.49342666] [ 0.10749606 -0.00299299 0.99420101 -0.28772558] [ 0. 0. 0. 1. ]] SLAMing on 63.313201008 meters Centerline goodness [0,1] 0.8990567122972507 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.49, Z:-0.29 [[ 0.99378207 0.02779012 -0.10781883 2.31550474] [-0.02733432 0.99961008 0.00570329 -0.49347989] [ 0.10793528 -0.00272067 0.9941542 -0.28831775] [ 0. 0. 0. 1. ]] SLAMing on 63.343201008 meters Centerline goodness [0,1] 0.9012515788265013 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.49, Z:-0.29 [[ 9.93759257e-01 2.70643516e-02 -1.08213035e-01 2.31775148e+00] [-2.66923498e-02 9.99631760e-01 4.88495414e-03 -4.92642833e-01] [ 1.08305395e-01 -1.96600820e-03 9.94115726e-01 -2.89843691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.373201008 meters Centerline goodness [0,1] 0.90050609615827 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.49, Z:-0.29 [[ 9.93733675e-01 2.66806057e-02 -1.08542749e-01 2.31992489e+00] [-2.63812641e-02 9.99643160e-01 4.19313604e-03 -4.92902057e-01] [ 1.08615892e-01 -1.30336556e-03 9.94082939e-01 -2.92019984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.403201008 meters Centerline goodness [0,1] 0.8979274611398964 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.49, Z:-0.29 [[ 9.93669072e-01 2.53620956e-02 -1.09446512e-01 2.32390222e+00] [-2.51026206e-02 9.99677853e-01 3.74820133e-03 -4.93878863e-01] [ 1.09506316e-01 -9.77077464e-04 9.93985620e-01 -2.93176919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.433201008 meters Centerline goodness [0,1] 0.8993841017671099 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.49, Z:-0.29 [[ 9.93642301e-01 2.48834420e-02 -1.09798873e-01 2.32549611e+00] [-2.46207871e-02 9.99689839e-01 3.74747577e-03 -4.94708303e-01] [ 1.09858067e-01 -1.02031578e-03 9.93946761e-01 -2.93548624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.463201008 meters Centerline goodness [0,1] 0.8988212180746562 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 9.93637775e-01 2.48972440e-02 -1.09836692e-01 2.32559843e+00] [-2.45897519e-02 9.99688998e-01 4.15338958e-03 -4.95726687e-01] [ 1.09905941e-01 -1.42610778e-03 9.93940969e-01 -2.93103749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.493201008 meters Centerline goodness [0,1] 0.898944323933478 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 9.93631976e-01 2.47480721e-02 -1.09922832e-01 2.32622497e+00] [-2.44112434e-02 9.99692278e-01 4.40913508e-03 -4.96580276e-01] [ 1.09998124e-01 -1.69770458e-03 9.93930345e-01 -2.93113018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.523201008 meters Centerline goodness [0,1] 0.898877707856045 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 9.93625353e-01 2.49441104e-02 -1.09938388e-01 2.32577687e+00] [-2.45679172e-02 9.99686758e-01 4.77532401e-03 -4.96982288e-01] [ 1.10023067e-01 -2.04392578e-03 9.93926932e-01 -2.92332254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.553201008 meters Centerline goodness [0,1] 0.8991047032149294 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99362517 0.02524888 -0.10987042 2.32501909] [-0.02482171 0.99967809 0.00525417 -0.49782346] [ 0.10996771 -0.00249351 0.99393203 -0.29143314] [ 0. 0. 0. 1. ]] SLAMing on 63.583201008 meters Centerline goodness [0,1] 0.9018385338127828 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.50, Z:-0.29 [[ 0.99359448 0.02538193 -0.1101171 2.32475907] [-0.02486544 0.99967243 0.00606136 -0.49945486] [ 0.11023488 -0.00328442 0.99390014 -0.28963874] [ 0. 0. 0. 1. ]] SLAMing on 63.613201008 meters Centerline goodness [0,1] 0.9024994173852249 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.50, Z:-0.29 [[ 9.93722692e-01 2.23787661e-02 -1.09610232e-01 2.32114283e+00] [-2.21653477e-02 9.99749308e-01 3.16527854e-03 -5.00142014e-01] [ 1.09653588e-01 -7.15860210e-04 9.93969606e-01 -2.87477565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.643201008 meters Centerline goodness [0,1] 0.9022770951022072 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.50, Z:-0.29 [[ 9.93721506e-01 2.25879738e-02 -1.09578062e-01 2.32066131e+00] [-2.23211466e-02 9.99744148e-01 3.66123683e-03 -5.00694856e-01] [ 1.09632726e-01 -1.19234181e-03 9.93971450e-01 -2.86626839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.673201008 meters Centerline goodness [0,1] 0.9016919739696312 Centerline is valid? [False, False] Translation: X:2.32, Y:-0.50, Z:-0.29 [[ 0.99353501 0.02585121 -0.11054363 2.32385964] [-0.02508198 0.99965058 0.00834374 -0.50276441] [ 0.11072069 -0.00551715 0.99383625 -0.28507523] [ 0. 0. 0. 1. ]] SLAMing on 63.703201008 meters Centerline goodness [0,1] 0.9009074304931435 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99356529 0.0251761 -0.11042723 2.32581575] [-0.02457407 0.99967482 0.00680969 -0.49940614] [ 0.11056276 -0.00405223 0.99386088 -0.2884521 ] [ 0. 0. 0. 1. ]] SLAMing on 63.733201008 meters Centerline goodness [0,1] 0.8984589585682482 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99357314 0.02480038 -0.11044161 2.3268792 ] [-0.02426643 0.99968645 0.00617634 -0.49789578] [ 0.11056016 -0.00345662 0.99386342 -0.28976446] [ 0. 0. 0. 1. ]] SLAMing on 63.763201008 meters Centerline goodness [0,1] 0.8974344124630799 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.9935754 0.02466819 -0.11045092 2.32732846] [-0.02416984 0.99969076 0.00584884 -0.49697368] [ 0.11056104 -0.00314168 0.99386437 -0.29039439] [ 0. 0. 0. 1. ]] SLAMing on 63.793201008000004 meters Centerline goodness [0,1] 0.8949599349669028 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99358626 0.02475039 -0.11033477 2.3270578 ] [-0.02427608 0.99968938 0.00564029 -0.49592744] [ 0.11044009 -0.00292562 0.99387848 -0.29060797] [ 0. 0. 0. 1. ]] SLAMing on 63.823201008 meters Centerline goodness [0,1] 0.8949599349669028 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99358626 0.02475039 -0.11033477 2.3270578 ] [-0.02427608 0.99968938 0.00564029 -0.49592744] [ 0.11044009 -0.00292562 0.99387848 -0.29060797] [ 0. 0. 0. 1. ]] SLAMing on 63.853201008 meters Centerline goodness [0,1] 0.8950679634065395 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99341776 0.02852968 -0.11093785 2.32839084] [-0.02751371 0.99956439 0.01067848 -0.4990615 ] [ 0.11119418 -0.00755588 0.99376998 -0.28804096] [ 0. 0. 0. 1. ]] SLAMing on 63.883201008 meters Centerline goodness [0,1] 0.8943763726736793 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99341016 0.02875478 -0.11094784 2.32785193] [-0.02771517 0.99955642 0.01090147 -0.49954706] [ 0.1112121 -0.00775469 0.99376644 -0.28742392] [ 0. 0. 0. 1. ]] SLAMing on 63.913201008 meters Centerline goodness [0,1] 0.893883694676817 Centerline is valid? [False, False] Translation: X:2.33, Y:-0.50, Z:-0.29 [[ 0.99341499 0.02905092 -0.11082733 2.32698415] [-0.02798083 0.99954572 0.01119898 -0.49980321] [ 0.11110233 -0.0080242 0.99377658 -0.28671423] [ 0. 0. 0. 1. ]] SLAMing on 63.943201008 meters Centerline goodness [0,1] 0.8962538512482363 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.50, Z:-0.29 [[ 9.93938664e-01 2.93433491e-02 -1.05947625e-01 2.34279276e+00] [-2.93668632e-02 9.99567805e-01 1.33845651e-03 -4.96582428e-01] [ 1.05941110e-01 1.78100574e-03 9.94370811e-01 -2.91611708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.973201008000004 meters Centerline goodness [0,1] 0.8929554608942595 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.50, Z:-0.29 [[ 9.93950568e-01 2.94361641e-02 -1.05810112e-01 2.34267662e+00] [-2.94671613e-02 9.99564941e-01 1.27072789e-03 -4.96199807e-01] [ 1.05801483e-01 1.85488292e-03 9.94385542e-01 -2.91986414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00320100799999 meters Centerline goodness [0,1] 0.8902372078241022 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.49, Z:-0.29 [[ 9.93964447e-01 2.91390979e-02 -1.05761951e-01 2.34339866e+00] [-2.92113814e-02 9.99572882e-01 8.65882586e-04 -4.94969053e-01] [ 1.05742009e-01 2.22879618e-03 9.94391100e-01 -2.92872370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03320100799999 meters Centerline goodness [0,1] 0.8901846171653452 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.49, Z:-0.29 [[ 9.93997196e-01 2.89505959e-02 -1.05505628e-01 2.34363444e+00] [-2.90471152e-02 9.99577850e-01 6.21989067e-04 -4.94275334e-01] [ 1.05479096e-01 2.44637876e-03 9.94418511e-01 -2.93823163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.063201008 meters Centerline goodness [0,1] 0.8905210803308079 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.50, Z:-0.29 [[ 9.93971065e-01 2.87136744e-02 -1.05816098e-01 2.34461311e+00] [-2.87777631e-02 9.99585410e-01 9.21467410e-04 -4.95319746e-01] [ 1.05798687e-01 2.12923867e-03 9.94385290e-01 -2.93510034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.093201008 meters Centerline goodness [0,1] 0.8900269073865116 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93941119e-01 2.84518543e-02 -1.06167529e-01 2.34572151e+00] [-2.84979157e-02 9.99593265e-01 1.08349190e-03 -4.96308234e-01] [ 1.06155174e-01 1.94862613e-03 9.94347667e-01 -2.93398100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.123201008 meters Centerline goodness [0,1] 0.8914109895213491 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93925817e-01 2.82930501e-02 -1.06353065e-01 2.34654865e+00] [-2.83429332e-02 9.99597715e-01 1.04270778e-03 -4.96942300e-01] [ 1.06339782e-01 1.97798364e-03 9.94327883e-01 -2.93783885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.153201008 meters Centerline goodness [0,1] 0.8930846885636983 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93893864e-01 2.82835983e-02 -1.06653763e-01 2.34732623e+00] [-2.83092550e-02 9.99598401e-01 1.27369914e-03 -4.98151170e-01] [ 1.06646956e-01 1.75336682e-03 9.94295405e-01 -2.93709686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.183201008 meters Centerline goodness [0,1] 0.8948059527283339 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93855176e-01 2.81280455e-02 -1.07054668e-01 2.34805096e+00] [-2.80971912e-02 9.99603581e-01 1.79680218e-03 -4.99817505e-01] [ 1.07062770e-01 1.22217433e-03 9.94251512e-01 -2.92748750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.213201008 meters Centerline goodness [0,1] 0.8917684266010718 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93833997e-01 2.80025200e-02 -1.07283942e-01 2.34864016e+00] [-2.79296505e-02 9.99607510e-01 2.18199578e-03 -5.01084791e-01] [ 1.07302936e-01 8.27861421e-04 9.94226028e-01 -2.92256309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.243201008 meters Centerline goodness [0,1] 0.8898404504927264 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93835268e-01 2.64933797e-02 -1.07654820e-01 2.35155772e+00] [-2.64393655e-02 9.99648557e-01 1.92926648e-03 -5.02456978e-01] [ 1.07668099e-01 9.28952083e-04 9.94186460e-01 -2.93084761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27320100799999 meters Centerline goodness [0,1] 0.892642731018246 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 0.99396868 0.02156985 -0.10752215 2.35217849] [-0.02200555 0.99975374 -0.00286725 -0.50070752] [ 0.10743382 0.00521604 0.99419855 -0.29457565] [ 0. 0. 0. 1. ]] SLAMing on 64.30320100799999 meters Centerline goodness [0,1] 0.893909973521624 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93915282e-01 2.11205984e-02 -1.08103342e-01 2.35360524e+00] [-2.14593272e-02 9.99767779e-01 -1.97088740e-03 -5.02851107e-01] [ 1.08036612e-01 4.27872009e-03 9.94137708e-01 -2.93032730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33320100799999 meters Centerline goodness [0,1] 0.8938887912345462 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93893956e-01 2.13057261e-02 -1.08262969e-01 2.35333741e+00] [-2.15637696e-02 9.99766739e-01 -1.21319385e-03 -5.03644583e-01] [ 1.08211868e-01 3.54034376e-03 9.94121551e-01 -2.91491001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36320100799999 meters Centerline goodness [0,1] 0.8870939369062977 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93924626e-01 2.29314574e-02 -1.07647509e-01 2.35024504e+00] [-2.31609653e-02 9.99731360e-01 -8.82107471e-04 -5.01120039e-01] [ 1.07598362e-01 3.36996855e-03 9.94188732e-01 -2.90965007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39320100799999 meters Centerline goodness [0,1] 0.8890025127096359 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93754017e-01 2.69679536e-02 -1.08285197e-01 2.35171225e+00] [-2.66981127e-02 9.99635773e-01 3.94120779e-03 -5.02705684e-01] [ 1.08352043e-01 -1.02558067e-03 9.94112058e-01 -2.89151038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42320100799999 meters Centerline goodness [0,1] 0.8875551271941353 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93757452e-01 2.72688924e-02 -1.08178250e-01 2.35112840e+00] [-2.69837384e-02 9.99627468e-01 4.09918607e-03 -5.02284853e-01] [ 1.08249731e-01 -1.15454309e-03 9.94123062e-01 -2.88802811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.453201008 meters Centerline goodness [0,1] 0.8903056002339523 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93754448e-01 2.72241605e-02 -1.08217102e-01 2.35156164e+00] [-2.69905908e-02 9.99629123e-01 3.62275450e-03 -5.01132167e-01] [ 1.08275593e-01 -6.79284872e-04 9.94120684e-01 -2.89592581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.483201008 meters Centerline goodness [0,1] 0.8942143002293378 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.993576 0.03051979 -0.10897374 2.35511387] [-0.02996922 0.99952845 0.00668695 -0.49994173] [ 0.10912644 -0.00337813 0.99402214 -0.29100462] [ 0. 0. 0. 1. ]] SLAMing on 64.513201008 meters Centerline goodness [0,1] 0.8907434191495516 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.9935916 0.03026619 -0.10890221 2.35586474] [-0.02981352 0.99953875 0.00578284 -0.49743116] [ 0.109027 -0.00249902 0.99403565 -0.29259541] [ 0. 0. 0. 1. ]] SLAMing on 64.543201008 meters Centerline goodness [0,1] 0.8922526886370845 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93614209e-01 3.06106149e-02 -1.08599235e-01 2.35494383e+00] [-3.01950167e-02 9.99529061e-01 5.46966567e-03 -4.95599025e-01] [ 1.08715522e-01 -2.15558179e-03 9.94070565e-01 -2.92955559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.573201008 meters Centerline goodness [0,1] 0.8883411174537277 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 9.93612954e-01 3.06900838e-02 -1.08588286e-01 2.35476131e+00] [-3.02660355e-02 9.99526462e-01 5.55148217e-03 -4.95474083e-01] [ 1.08707241e-01 -2.22948766e-03 9.94071308e-01 -2.92685713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.603201008 meters Centerline goodness [0,1] 0.8893894761162132 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.49, Z:-0.29 [[ 9.93609674e-01 3.08050561e-02 -1.08585747e-01 2.35463123e+00] [-3.03887106e-02 9.99523094e-01 5.48735160e-03 -4.94830500e-01] [ 1.08703000e-01 -2.15250478e-03 9.94071941e-01 -2.92618557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.633201008 meters Centerline goodness [0,1] 0.888179744130303 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.49, Z:-0.29 [[ 9.93611798e-01 3.06936183e-02 -1.08597865e-01 2.35495084e+00] [-3.03082728e-02 9.99527085e-01 5.19757355e-03 -4.94001259e-01] [ 1.08706039e-01 -1.87295669e-03 9.94072175e-01 -2.93032293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66320100799999 meters Centerline goodness [0,1] 0.8894847619871407 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.49, Z:-0.29 [[ 9.93613317e-01 3.07291191e-02 -1.08573926e-01 2.35492327e+00] [-3.03324339e-02 9.99525795e-01 5.30363921e-03 -4.93959999e-01] [ 1.08685415e-01 -1.97645513e-03 9.94074230e-01 -2.92887789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69320100799999 meters Centerline goodness [0,1] 0.8916580131533403 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 0.99358483 0.03082503 -0.10880717 2.35492313] [-0.03033652 0.99952087 0.00614263 -0.49585313] [ 0.10894439 -0.0028024 0.9940439 -0.29139535] [ 0. 0. 0. 1. ]] SLAMing on 64.72320100799999 meters Centerline goodness [0,1] 0.8921483538737488 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 0.99356546 0.03092133 -0.10895665 2.35477237] [-0.03035693 0.99951575 0.00683541 -0.49778407] [ 0.10911524 -0.00348384 0.994023 -0.29018623] [ 0. 0. 0. 1. ]] SLAMing on 64.75320100799999 meters Centerline goodness [0,1] 0.8901439453181568 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.50, Z:-0.29 [[ 0.99356288 0.03083917 -0.10900341 2.35495261] [-0.03024245 0.99951721 0.00712369 -0.49877531] [ 0.10917047 -0.0037813 0.99401585 -0.28978462] [ 0. 0. 0. 1. ]] SLAMing on 64.78320100799999 meters Centerline goodness [0,1] 0.8877996587721582 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99357028 0.03057381 -0.1090107 2.3556025 ] [-0.0299973 0.99952599 0.00692488 -0.49885615] [ 0.10917074 -0.00361033 0.99401646 -0.29035312] [ 0. 0. 0. 1. ]] SLAMing on 64.813201008 meters Centerline goodness [0,1] 0.8903970826580226 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99355886 0.03052661 -0.10912802 2.3559936 ] [-0.02995895 0.99952774 0.00683799 -0.49878274] [ 0.10928522 -0.00352459 0.99400418 -0.29050007] [ 0. 0. 0. 1. ]] SLAMing on 64.843201008 meters Centerline goodness [0,1] 0.8887796414112203 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99354624 0.03036743 -0.10928718 2.35675316] [-0.02983034 0.99953354 0.00654644 -0.49862813] [ 0.109435 -0.00324412 0.99398866 -0.29108245] [ 0. 0. 0. 1. ]] SLAMing on 64.873201008 meters Centerline goodness [0,1] 0.8908821306041752 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.9935269 0.03065583 -0.10938242 2.35650672] [-0.03010429 0.99952437 0.00669053 -0.49889789] [ 0.1095355 -0.00335434 0.99397722 -0.29074768] [ 0. 0. 0. 1. ]] SLAMing on 64.903201008 meters Centerline goodness [0,1] 0.8938742299197955 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99352911 0.03055613 -0.10939031 2.35681026] [-0.03003878 0.99952841 0.00637463 -0.49837236] [ 0.1095335 -0.00304743 0.99397843 -0.29124429] [ 0. 0. 0. 1. ]] SLAMing on 64.933201008 meters Centerline goodness [0,1] 0.8933856665212967 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99351807 0.0303383 -0.10955106 2.35768635] [-0.0298551 0.99953594 0.00604866 -0.49772841] [ 0.10968373 -0.0027388 0.99396277 -0.29185034] [ 0. 0. 0. 1. ]] SLAMing on 64.963201008 meters Centerline goodness [0,1] 0.8931108781737712 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 9.93509079e-01 2.98299143e-02 -1.09771972e-01 2.35925199e+00] [-2.94038791e-02 9.99552491e-01 5.49816357e-03 -4.96962302e-01] [ 1.09886858e-01 -2.23475362e-03 9.93941590e-01 -2.93056952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.993201008 meters Centerline goodness [0,1] 0.8971186243755083 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 9.93491088e-01 2.91335635e-02 -1.10121264e-01 2.36135737e+00] [-2.87727567e-02 9.99574142e-01 4.86444951e-03 -4.96145341e-01] [ 1.10216087e-01 -1.66429490e-03 9.93906255e-01 -2.94394631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02320100799999 meters Centerline goodness [0,1] 0.8921954777534646 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 9.93444454e-01 2.86953709e-02 -1.10655740e-01 2.36258419e+00] [-2.82874117e-02 9.99586017e-01 5.25521150e-03 -4.97377580e-01] [ 1.10760731e-01 -2.09059625e-03 9.93844902e-01 -2.93329276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05320100799999 meters Centerline goodness [0,1] 0.8917063480470918 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99342094 0.02893094 -0.11080538 2.36217036] [-0.02845215 0.99957774 0.00590009 -0.49880706] [ 0.11092929 -0.00270862 0.99382461 -0.29201933] [ 0. 0. 0. 1. ]] SLAMing on 65.08320100799999 meters Centerline goodness [0,1] 0.896187922592679 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99339858 0.0289569 -0.11099891 2.36228732] [-0.02844773 0.99957625 0.00616843 -0.49908316] [ 0.1111305 -0.00297004 0.99380138 -0.29128083] [ 0. 0. 0. 1. ]] SLAMing on 65.11320100799999 meters Centerline goodness [0,1] 0.8863497066806759 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99344778 0.02921996 -0.11048849 2.36114075] [-0.0287351 0.99956918 0.00597848 -0.49736362] [ 0.11061558 -0.00276441 0.99385942 -0.2916757 ] [ 0. 0. 0. 1. ]] SLAMing on 65.14320100799999 meters Centerline goodness [0,1] 0.8904632788127934 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99339304 0.02838853 -0.11119514 2.36345594] [-0.02788186 0.99959256 0.00610921 -0.4983844 ] [ 0.11132327 -0.00296852 0.99377981 -0.29123847] [ 0. 0. 0. 1. ]] SLAMing on 65.17320100799999 meters Centerline goodness [0,1] 0.8930856191394269 Centerline is valid? [False, False] Translation: X:2.36, Y:-0.50, Z:-0.29 [[ 0.99335824 0.02813329 -0.11157023 2.36447417] [-0.02759668 0.99959896 0.00635125 -0.4994637 ] [ 0.11170417 -0.0032301 0.99373626 -0.29084866] [ 0. 0. 0. 1. ]] SLAMing on 65.203201008 meters Centerline goodness [0,1] 0.8947584187408492 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.9933126 0.02791731 -0.11202992 2.365955 ] [-0.02741132 0.9996059 0.00605461 -0.49985131] [ 0.11215479 -0.00294324 0.99368639 -0.29153439] [ 0. 0. 0. 1. ]] SLAMing on 65.233201008 meters Centerline goodness [0,1] 0.8939691280278843 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99329477 0.02761765 -0.11226205 2.36700991] [-0.02714 0.99961493 0.00578109 -0.49982948] [ 0.11237848 -0.00269553 0.99366182 -0.2921185 ] [ 0. 0. 0. 1. ]] SLAMing on 65.263201008 meters Centerline goodness [0,1] 0.8956230931706173 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99330319 0.02774676 -0.11215564 2.366635 ] [-0.02726274 0.9996112 0.00584729 -0.49980011] [ 0.11227428 -0.00275046 0.99367345 -0.29199476] [ 0. 0. 0. 1. ]] SLAMing on 65.293201008 meters Centerline goodness [0,1] 0.8958633040721059 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.9933048 0.02773274 -0.11214486 2.36669766] [-0.02724709 0.99961155 0.00586125 -0.49970462] [ 0.11226385 -0.00276639 0.99367458 -0.29204563] [ 0. 0. 0. 1. ]] SLAMing on 65.323201008 meters Centerline goodness [0,1] 0.8963089020597382 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99328598 0.02774536 -0.11230828 2.36690845] [-0.02727084 0.99961149 0.00575946 -0.49925194] [ 0.11242444 -0.00265805 0.99365672 -0.29191935] [ 0. 0. 0. 1. ]] SLAMing on 65.353201008 meters Centerline goodness [0,1] 0.8935075564909819 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99326466 0.02759712 -0.11253315 2.36735493] [-0.02713503 0.99961589 0.00563622 -0.49804233] [ 0.11264547 -0.00254467 0.99363199 -0.29158613] [ 0. 0. 0. 1. ]] SLAMing on 65.383201008 meters Centerline goodness [0,1] 0.8924172552682272 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.9932746 0.02771957 -0.11241529 2.36697235] [-0.02726268 0.99961262 0.0055998 -0.49730229] [ 0.11252696 -0.00249739 0.99364553 -0.29156004] [ 0. 0. 0. 1. ]] SLAMing on 65.41320100799999 meters Centerline goodness [0,1] 0.8934177510649473 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.9932573 0.02786468 -0.11253218 2.36661191] [-0.02735537 0.99960736 0.00606771 -0.49750866] [ 0.11265707 -0.00294844 0.99362955 -0.29033834] [ 0. 0. 0. 1. ]] SLAMing on 65.44320100799999 meters Centerline goodness [0,1] 0.8887007299270073 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99325545 0.02794356 -0.11252894 2.36645914] [-0.02740752 0.99960444 0.00630799 -0.49749128] [ 0.1126607 -0.0031813 0.99362842 -0.28987342] [ 0. 0. 0. 1. ]] SLAMing on 65.47320100799999 meters Centerline goodness [0,1] 0.8888921155800784 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99327346 0.02764118 -0.11244467 2.36701128] [-0.02712473 0.99961332 0.00612045 -0.49709044] [ 0.11257036 -0.00302925 0.99363914 -0.29044114] [ 0. 0. 0. 1. ]] SLAMing on 65.50320100799999 meters Centerline goodness [0,1] 0.8869016460187286 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.50, Z:-0.29 [[ 0.99328237 0.02749368 -0.11240211 2.36725565] [-0.02698402 0.99961754 0.00605331 -0.49694395] [ 0.11252555 -0.00297958 0.99364436 -0.29067276] [ 0. 0. 0. 1. ]] SLAMing on 65.53320100799999 meters Centerline goodness [0,1] 0.8851398601398601 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.50, Z:-0.29 [[ 0.9939826 0.02597846 -0.10641293 2.37940314] [-0.02656555 0.99963865 -0.00410312 -0.49713236] [ 0.10626789 0.00690535 0.99431356 -0.29166605] [ 0. 0. 0. 1. ]] SLAMing on 65.563201008 meters Centerline goodness [0,1] 0.8872523233385937 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.50, Z:-0.29 [[ 0.99394997 0.02652163 -0.10658357 2.37835803] [-0.02694128 0.99963389 -0.00249907 -0.50045547] [ 0.10647827 0.00535545 0.99430061 -0.28891562] [ 0. 0. 0. 1. ]] SLAMing on 65.593201008 meters Centerline goodness [0,1] 0.8893753648569761 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.50, Z:-0.29 [[ 9.93918461e-01 2.64829338e-02 -1.06886604e-01 2.37893890e+00] [-2.68345990e-02 9.99638170e-01 -1.85291579e-03 -5.01759936e-01] [ 1.06798859e-01 4.70990637e-03 9.94269491e-01 -2.87932140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.623201008 meters Centerline goodness [0,1] 0.8902357099044893 Centerline is valid? [False, False] Translation: X:2.38, Y:-0.50, Z:-0.29 [[ 9.93920357e-01 2.62544244e-02 -1.06925347e-01 2.37975173e+00] [-2.66388392e-02 9.99642772e-01 -2.16823179e-03 -5.01151876e-01] [ 1.06830224e-01 5.00341683e-03 9.94264688e-01 -2.88838549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.653201008 meters Centerline goodness [0,1] 0.8930431493497046 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93775429e-01 2.80617265e-02 -1.07809722e-01 2.38571115e+00] [-2.81646262e-02 9.99603137e-01 5.68374783e-04 -5.01368653e-01] [ 1.07782886e-01 2.47158362e-03 9.94171384e-01 -2.91223385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.683201008 meters Centerline goodness [0,1] 0.893455497382199 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93746731e-01 2.74579602e-02 -1.08228898e-01 2.38772656e+00] [-2.76253306e-02 9.99618347e-01 -4.71331800e-05 -5.00567566e-01] [ 1.08186298e-01 3.03669753e-03 9.94126000e-01 -2.92354183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.713201008 meters Centerline goodness [0,1] 0.893455497382199 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93746731e-01 2.74579602e-02 -1.08228898e-01 2.38772656e+00] [-2.76253306e-02 9.99618347e-01 -4.71331800e-05 -5.00567566e-01] [ 1.08186298e-01 3.03669753e-03 9.94126000e-01 -2.92354183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.743201008 meters Centerline goodness [0,1] 0.8971543413042845 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93707370e-01 2.70622321e-02 -1.08689002e-01 2.38922524e+00] [-2.72336656e-02 9.99629091e-01 -9.29231658e-05 -5.01324889e-01] [ 1.08646173e-01 3.05233835e-03 9.94075798e-01 -2.92499923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77320100799999 meters Centerline goodness [0,1] 0.9009416086056613 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93683269e-01 2.69053824e-02 -1.08947977e-01 2.39006010e+00] [-2.70794001e-02 9.99633279e-01 -1.17773517e-04 -5.01737844e-01] [ 1.08904854e-01 3.06727543e-03 9.94047446e-01 -2.92614343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80320100799999 meters Centerline goodness [0,1] 0.9035927272727273 Centerline is valid? [False, False] Translation: X:2.39, Y:-0.50, Z:-0.29 [[ 9.93649077e-01 2.64153823e-02 -1.09378881e-01 2.39171565e+00] [-2.66027504e-02 9.99646052e-01 -2.53849999e-04 -5.02353638e-01] [ 1.09333461e-01 3.16201690e-03 9.94000099e-01 -2.93011471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83320100799999 meters Centerline goodness [0,1] 0.9054420380680328 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.29 [[ 9.93605458e-01 2.41112671e-02 -1.10303405e-01 2.39673597e+00] [-2.43907490e-02 9.99701799e-01 -1.18495201e-03 -5.03079654e-01] [ 1.10241941e-01 3.86775744e-03 9.93897256e-01 -2.94520773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86320100799999 meters Centerline goodness [0,1] 0.9033434473100712 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.29 [[ 9.93585873e-01 2.38834482e-02 -1.10529152e-01 2.39758824e+00] [-2.41535256e-02 9.99707650e-01 -1.10501078e-03 -5.03391123e-01] [ 1.10470447e-01 3.76759180e-03 9.93872268e-01 -2.94512654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89320100799999 meters Centerline goodness [0,1] 0.9036151603498542 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.29 [[ 9.93546733e-01 2.37117915e-02 -1.10917271e-01 2.39844223e+00] [-2.39362759e-02 9.99713246e-01 -6.92558253e-04 -5.03684800e-01] [ 1.10869043e-01 3.34303538e-03 9.93829402e-01 -2.93662259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92320100799999 meters Centerline goodness [0,1] 0.9027238490059265 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.50, Z:-0.29 [[ 9.93536102e-01 2.40172232e-02 -1.10946771e-01 2.39787444e+00] [-2.41839288e-02 9.99707514e-01 -1.56902234e-04 -5.04167364e-01] [ 1.10910553e-01 2.83901685e-03 9.93826338e-01 -2.92610033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.953201008 meters Centerline goodness [0,1] 0.9017310718657108 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 0.99408847 0.0271521 -0.10512316 2.41114894] [-0.02798752 0.99958727 -0.00647982 -0.50220396] [ 0.10490383 0.00938365 0.9944381 -0.29456464] [ 0. 0. 0. 1. ]] SLAMing on 65.983201008 meters Centerline goodness [0,1] 0.9022245364343776 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 9.93904068e-01 3.19569896e-02 -1.05515186e-01 2.41079174e+00] [-3.21880491e-02 9.99481712e-01 -4.87192656e-04 -5.04675234e-01] [ 1.05444929e-01 3.88055073e-03 9.94417572e-01 -2.90659027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.013201008 meters Centerline goodness [0,1] 0.903134896423487 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 9.93938607e-01 3.29226952e-02 -1.04891094e-01 2.40797410e+00] [-3.30919437e-02 9.99452304e-01 1.26828290e-04 -5.04084764e-01] [ 1.04837821e-01 3.34499063e-03 9.94483706e-01 -2.89305820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.043201008 meters Centerline goodness [0,1] 0.8997820717710301 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 9.93952352e-01 3.34179953e-02 -1.04603818e-01 2.40639032e+00] [-3.35511713e-02 9.99436882e-01 4.86706791e-04 -5.03300803e-01] [ 1.04561178e-01 3.02581724e-03 9.94513853e-01 -2.88216959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.073201008 meters Centerline goodness [0,1] 0.8964526242452392 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 9.93940737e-01 3.36648746e-02 -1.04635018e-01 2.40601024e+00] [-3.37868585e-02 9.99428877e-01 6.06992989e-04 -5.02894358e-01] [ 1.04595693e-01 2.93197350e-03 9.94510505e-01 -2.87722767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.103201008 meters Centerline goodness [0,1] 0.9030774157859492 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.50, Z:-0.29 [[ 9.93919054e-01 3.36769282e-02 -1.04836912e-01 2.40625434e+00] [-3.37769877e-02 9.99429057e-01 8.21361111e-04 -5.03656487e-01] [ 1.04804717e-01 2.72470862e-03 9.94489089e-01 -2.87297918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.133201008 meters Centerline goodness [0,1] 0.9032484430279817 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.29 [[ 9.93897321e-01 3.15941899e-02 -1.05687852e-01 2.41036059e+00] [-3.17526385e-02 9.99495741e-01 1.83520162e-04 -5.05689466e-01] [ 1.05640356e-01 3.17346795e-03 9.94399338e-01 -2.87993708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16320100799999 meters Centerline goodness [0,1] 0.9082180587170957 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.51, Z:-0.29 [[ 9.93837521e-01 3.05229917e-02 -1.06561381e-01 2.41369080e+00] [-3.06869425e-02 9.99529040e-01 1.01178463e-04 -5.06664153e-01] [ 1.06514283e-01 3.16948801e-03 9.94306121e-01 -2.88285744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19320100799999 meters Centerline goodness [0,1] 0.9092344581554477 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93797352e-01 2.97365896e-02 -1.07156697e-01 2.41651539e+00] [-2.99292980e-02 9.99552000e-01 -1.90276609e-04 -5.07753710e-01] [ 1.07103033e-01 3.39622111e-03 9.94242126e-01 -2.89487215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22320100799999 meters Centerline goodness [0,1] 0.9083958284509023 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93764783e-01 2.88826310e-02 -1.07690991e-01 2.41938466e+00] [-2.91399978e-02 9.99575006e-01 -8.16665199e-04 -5.07930700e-01] [ 1.07621636e-01 3.94968837e-03 9.94184079e-01 -2.91198279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25320100799999 meters Centerline goodness [0,1] 0.9078240971631414 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93745513e-01 2.83761738e-02 -1.08003002e-01 2.42130934e+00] [-2.86886736e-02 9.99587497e-01 -1.34044518e-03 -5.07623192e-01] [ 1.07920414e-01 4.43052426e-03 9.94149664e-01 -2.92647279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28320100799999 meters Centerline goodness [0,1] 0.9057841558061209 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93719004e-01 2.81717351e-02 -1.08300017e-01 2.42301402e+00] [-2.85583738e-02 9.99590085e-01 -2.02042103e-03 -5.06765377e-01] [ 1.08198705e-01 5.10060315e-03 9.94116203e-01 -2.94466111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.313201008 meters Centerline goodness [0,1] 0.905524278676988 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93707234e-01 2.83870522e-02 -1.08351777e-01 2.42270346e+00] [-2.87415320e-02 9.99585413e-01 -1.71095476e-03 -5.07408485e-01] [ 1.08258286e-01 4.81438418e-03 9.94111143e-01 -2.93857877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.343201008 meters Centerline goodness [0,1] 0.9074896344870174 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93677753e-01 2.86692104e-02 -1.08547686e-01 2.42232831e+00] [-2.89621770e-02 9.99579877e-01 -1.12305613e-03 -5.08330249e-01] [ 1.08469885e-01 4.25973318e-03 9.94090609e-01 -2.92548583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.373201008 meters Centerline goodness [0,1] 0.909784138901924 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93653463e-01 2.95707172e-02 -1.08528193e-01 2.42026238e+00] [-2.97316553e-02 9.99557907e-01 1.35282641e-04 -5.09369496e-01] [ 1.08484214e-01 3.09229876e-03 9.94093362e-01 -2.89658396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.403201008 meters Centerline goodness [0,1] 0.9099673730930895 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93656980e-01 3.01094195e-02 -1.08347718e-01 2.41895649e+00] [-3.02053817e-02 9.99543428e-01 7.55752009e-04 -5.09698817e-01] [ 1.08321005e-01 2.52172593e-03 9.94112771e-01 -2.88480181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.433201008 meters Centerline goodness [0,1] 0.9105357299944287 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93652273e-01 3.01057508e-02 -1.08391897e-01 2.41909270e+00] [-3.01959592e-02 9.99543670e-01 8.09370095e-04 -5.08938036e-01] [ 1.08366801e-01 2.46876487e-03 9.94107912e-01 -2.88281369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.463201008 meters Centerline goodness [0,1] 0.904272850332529 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93659122e-01 2.88151573e-02 -1.08679508e-01 2.42145826e+00] [-2.89644093e-02 9.99580422e-01 2.05351746e-04 -5.07923651e-01] [ 1.08639826e-01 2.94378812e-03 9.94076819e-01 -2.89213400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.493201008 meters Centerline goodness [0,1] 0.9038759689922481 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93624965e-01 2.81422044e-02 -1.09167054e-01 2.42336714e+00] [-2.83018213e-02 9.99599419e-01 8.73428740e-05 -5.07839084e-01] [ 1.09125782e-01 3.00284039e-03 9.94023414e-01 -2.89311387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52320100799999 meters Centerline goodness [0,1] 0.9018619998821519 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93604350e-01 2.81229632e-02 -1.09359476e-01 2.42387119e+00] [-2.82782827e-02 9.99600081e-01 1.30685246e-04 -5.07702950e-01] [ 1.09319416e-01 2.96264874e-03 9.94002258e-01 -2.89281393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55320100799999 meters Centerline goodness [0,1] 0.9048654365965448 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93574785e-01 2.79720209e-02 -1.09666369e-01 2.42490646e+00] [-2.81479017e-02 9.99603768e-01 -5.56950275e-05 -5.07012912e-01] [ 1.09621358e-01 3.14221536e-03 9.93968452e-01 -2.89560809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58320100799999 meters Centerline goodness [0,1] 0.9101116990005879 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93571532e-01 2.87614224e-02 -1.09491511e-01 2.42410763e+00] [-2.89799778e-02 9.99579910e-01 -4.04970714e-04 -5.05496696e-01] [ 1.09433868e-01 3.57542894e-03 9.93987648e-01 -2.90534713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61320100799999 meters Centerline goodness [0,1] 0.9111281250920227 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93566580e-01 2.91219967e-02 -1.09441130e-01 2.42353491e+00] [-2.92926598e-02 9.99570877e-01 4.83543576e-05 -5.06118185e-01] [ 1.09395575e-01 3.15777852e-03 9.93993278e-01 -2.89905226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64320100799999 meters Centerline goodness [0,1] 0.9146273227905881 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93547220e-01 2.91255696e-02 -1.09615793e-01 2.42372841e+00] [-2.92477169e-02 9.99572072e-01 4.93707224e-04 -5.06517623e-01] [ 1.09583265e-01 2.71549025e-03 9.93973910e-01 -2.88995495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67320100799999 meters Centerline goodness [0,1] 0.9151788344823523 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93542565e-01 2.93750274e-02 -1.09591421e-01 2.42319260e+00] [-2.94374037e-02 9.99566075e-01 1.04905372e-03 -5.07348313e-01] [ 1.09574682e-01 2.18380737e-03 9.93976167e-01 -2.88037258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.703201008 meters Centerline goodness [0,1] 0.9137201926465406 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93516512e-01 2.92426174e-02 -1.09862683e-01 2.42367581e+00] [-2.92553676e-02 9.99570850e-01 1.49620512e-03 -5.07856212e-01] [ 1.09859289e-01 1.72756869e-03 9.93945649e-01 -2.87089944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.733201008 meters Centerline goodness [0,1] 0.9097093382807668 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93522236e-01 2.91240735e-02 -1.09842412e-01 2.42398979e+00] [-2.91386194e-02 9.99574295e-01 1.47310028e-03 -5.07713104e-01] [ 1.09838554e-01 1.73709835e-03 9.93947923e-01 -2.87350724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.763201008 meters Centerline goodness [0,1] 0.908599941297329 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93518355e-01 2.90419414e-02 -1.09899248e-01 2.42443271e+00] [-2.90580794e-02 9.99576666e-01 1.45507521e-03 -5.07296188e-01] [ 1.09894982e-01 1.74781713e-03 9.93941667e-01 -2.87552131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.793201008 meters Centerline goodness [0,1] 0.9074710113019228 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93525949e-01 2.91389711e-02 -1.09804866e-01 2.42408440e+00] [-2.91106822e-02 9.99574462e-01 1.86105817e-03 -5.07734342e-01] [ 1.09812369e-01 1.34748495e-03 9.93951421e-01 -2.86936088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.823201008 meters Centerline goodness [0,1] 0.9054841448774632 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93487032e-01 2.90321763e-02 -1.10184617e-01 2.42479435e+00] [-2.89612578e-02 9.99578015e-01 2.24433420e-03 -5.08200731e-01] [ 1.10203279e-01 9.61368179e-04 9.93908604e-01 -2.86065502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.853201008 meters Centerline goodness [0,1] 0.9083648962095188 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.29 [[ 9.93483692e-01 2.93532343e-02 -1.10129658e-01 2.42414108e+00] [-2.92454341e-02 9.99568894e-01 2.59437933e-03 -5.08601996e-01] [ 1.10158334e-01 6.43316100e-04 9.93913843e-01 -2.85398194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.883201008 meters Centerline goodness [0,1] 0.9076923076923077 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.28 [[ 9.93478580e-01 2.97250922e-02 -1.10076015e-01 2.42332300e+00] [-2.95622146e-02 9.99558099e-01 3.11175522e-03 -5.09117246e-01] [ 1.10119869e-01 1.62628611e-04 9.93918300e-01 -2.84368207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91320100799999 meters Centerline goodness [0,1] 0.9060895084372708 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.28 [[ 9.93454281e-01 2.97939044e-02 -1.10276538e-01 2.42358712e+00] [-2.96250417e-02 9.99556056e-01 3.16978684e-03 -5.09052105e-01] [ 1.10322022e-01 1.17908741e-04 9.93895889e-01 -2.84039276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94320100799999 meters Centerline goodness [0,1] 0.9066822977725674 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.28 [[ 9.93439806e-01 2.96776559e-02 -1.10438165e-01 2.42427132e+00] [-2.95176541e-02 9.99559502e-01 3.08381118e-03 -5.08758389e-01] [ 1.10481037e-01 1.96294754e-04 9.93878213e-01 -2.84263904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97320100799999 meters Centerline goodness [0,1] 0.9084562813480773 Centerline is valid? [False, False] Translation: X:2.42, Y:-0.51, Z:-0.28 [[ 9.93429290e-01 2.97150188e-02 -1.10522681e-01 2.42461268e+00] [-2.95598570e-02 9.99558381e-01 3.04252810e-03 -5.08696906e-01] [ 1.10564281e-01 2.44498130e-04 9.93868945e-01 -2.84530205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00320100799999 meters Centerline goodness [0,1] 0.9061520892506808 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.28 [[ 9.93392643e-01 2.91917845e-02 -1.10990523e-01 2.42622834e+00] [-2.90507470e-02 9.99573766e-01 2.88802617e-03 -5.08600248e-01] [ 1.11027522e-01 3.55413661e-04 9.93817268e-01 -2.84619366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03320100799999 meters Centerline goodness [0,1] 0.9065174071035049 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.29 [[ 9.93362892e-01 2.84271387e-02 -1.11454304e-01 2.42860598e+00] [-2.83145827e-02 9.99595699e-01 2.59289985e-03 -5.09006573e-01] [ 1.11482952e-01 5.80091616e-04 9.93766177e-01 -2.85567865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.063201008 meters Centerline goodness [0,1] 0.9037134889182445 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.29 [[ 9.93340137e-01 2.77687005e-02 -1.11822503e-01 2.43068755e+00] [-2.77095889e-02 9.99613845e-01 2.08303923e-03 -5.08473651e-01] [ 1.11837166e-01 1.02938911e-03 9.93726013e-01 -2.86774508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.093201008 meters Centerline goodness [0,1] 0.902233818011257 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.29 [[ 9.93312726e-01 2.70377130e-02 -1.12244336e-01 2.43287456e+00] [-2.70313262e-02 9.99633340e-01 1.57904639e-03 -5.07931513e-01] [ 1.12245874e-01 1.46562638e-03 9.93679383e-01 -2.87828342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.123201008 meters Centerline goodness [0,1] 0.904314370466093 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93265721e-01 2.63818850e-02 -1.12814910e-01 2.43505861e+00] [-2.63820460e-02 9.99650820e-01 1.49174451e-03 -5.08701085e-01] [ 1.12814872e-01 1.49458946e-03 9.93614901e-01 -2.88159834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.153201008 meters Centerline goodness [0,1] 0.8998762813715093 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93233348e-01 2.62696186e-02 -1.13125699e-01 2.43569719e+00] [-2.62383305e-02 9.99654156e-01 1.76572195e-03 -5.09743171e-01] [ 1.13132960e-01 1.21445556e-03 9.93579115e-01 -2.87631281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.183201008 meters Centerline goodness [0,1] 0.9028571428571428 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93193089e-01 2.63296515e-02 -1.13464699e-01 2.43605012e+00] [-2.62470752e-02 9.99653017e-01 2.22185239e-03 -5.10766024e-01] [ 1.13483829e-01 7.71388058e-04 9.93539544e-01 -2.86670739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.213201008 meters Centerline goodness [0,1] 0.90134568848492 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93184401e-01 2.67473127e-02 -1.13443057e-01 2.43526055e+00] [-2.66119064e-02 9.99642172e-01 2.70806781e-03 -5.11447611e-01] [ 1.13474898e-01 3.29325324e-04 9.93540809e-01 -2.85739927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.243201008 meters Centerline goodness [0,1] 0.9029303489913121 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.51, Z:-0.29 [[ 9.93176897e-01 2.69721213e-02 -1.13455526e-01 2.43499438e+00] [-2.68187630e-02 9.99636169e-01 2.87806396e-03 -5.11020276e-01] [ 1.13491875e-01 1.84310224e-04 9.93538907e-01 -2.85313023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27320100799999 meters Centerline goodness [0,1] 0.9016706303766993 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93176399e-01 2.68467896e-02 -1.13489601e-01 2.43558573e+00] [-2.67583029e-02 9.99639279e-01 2.30321077e-03 -5.09092278e-01] [ 1.13510497e-01 7.49294544e-04 9.93536515e-01 -2.86300046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30320100799999 meters Centerline goodness [0,1] 0.9049006622516557 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 9.93185394e-01 2.67147651e-02 -1.13442029e-01 2.43600304e+00] [-2.66671404e-02 9.99642491e-01 1.93755391e-03 -5.08178527e-01] [ 1.13453234e-01 1.10082427e-03 9.93542728e-01 -2.87123659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33320100799999 meters Centerline goodness [0,1] 0.905415646496444 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 0.99297379 0.02972742 -0.11453963 2.43995011] [-0.02917456 0.99955319 0.00650042 -0.5097591 ] [ 0.11468169 -0.00311311 0.99339741 -0.28577765] [ 0. 0. 0. 1. ]] SLAMing on 67.36320100799999 meters Centerline goodness [0,1] 0.9036496350364963 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 0.99298497 0.02968549 -0.11445356 2.44004073] [-0.02918475 0.99955573 0.0060486 -0.50789552] [ 0.11458227 -0.00266588 0.99341019 -0.28642968] [ 0. 0. 0. 1. ]] SLAMing on 67.39320100799999 meters Centerline goodness [0,1] 0.9017529555646148 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 0.99301525 0.03005749 -0.11409317 2.43878011] [-0.02957723 0.99954508 0.00590023 -0.5063115 ] [ 0.11421861 -0.00248446 0.99345253 -0.28632707] [ 0. 0. 0. 1. ]] SLAMing on 67.42320100799999 meters Centerline goodness [0,1] 0.9018068244840771 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.29 [[ 0.99301513 0.03030766 -0.11402807 2.43800847] [-0.02979969 0.99953693 0.00615706 -0.50620827] [ 0.11416187 -0.00271606 0.99345845 -0.28550427] [ 0. 0. 0. 1. ]] SLAMing on 67.453201008 meters Centerline goodness [0,1] 0.9026997116812767 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99297275 0.03026745 -0.11440715 2.43829979] [-0.0297268 0.99953738 0.00642924 -0.506258 ] [ 0.11454882 -0.0029831 0.99341314 -0.28433835] [ 0. 0. 0. 1. ]] SLAMing on 67.483201008 meters Centerline goodness [0,1] 0.9002416795271234 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99293212 0.03026497 -0.11475991 2.43856002] [-0.02968477 0.99953644 0.00676177 -0.50675843] [ 0.11491135 -0.00330736 0.99337024 -0.28323716] [ 0. 0. 0. 1. ]] SLAMing on 67.513201008 meters Centerline goodness [0,1] 0.9002650665579214 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99291876 0.03016563 -0.11490156 2.43921853] [-0.02963207 0.99954071 0.00634929 -0.50584656] [ 0.11504032 -0.00289956 0.99335659 -0.28397842] [ 0. 0. 0. 1. ]] SLAMing on 67.543201008 meters Centerline goodness [0,1] 0.8997403052143211 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.28 [[ 0.99292357 0.02993537 -0.11492022 2.43989468] [-0.0294523 0.99954878 0.00589958 -0.50434767] [ 0.11504497 -0.00247316 0.99335721 -0.28480998] [ 0. 0. 0. 1. ]] SLAMing on 67.573201008 meters Centerline goodness [0,1] 0.8994730559841626 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.29 [[ 9.92913951e-01 2.94368744e-02 -1.15131910e-01 2.44136919e+00] [-2.90318662e-02 9.99564995e-01 5.19338427e-03 -5.02845346e-01] [ 1.15234704e-01 -1.81408948e-03 9.93336636e-01 -2.86044117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.603201008 meters Centerline goodness [0,1] 0.8987644247581303 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.29 [[ 9.92894090e-01 2.90309028e-02 -1.15405944e-01 2.44278196e+00] [-2.86536051e-02 9.99577257e-01 4.92726013e-03 -5.02418527e-01] [ 1.15500200e-01 -1.58545112e-03 9.93306192e-01 -2.86706935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.633201008 meters Centerline goodness [0,1] 0.8987644247581303 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.29 [[ 9.92894090e-01 2.90309028e-02 -1.15405944e-01 2.44278196e+00] [-2.86536051e-02 9.99577257e-01 4.92726013e-03 -5.02418527e-01] [ 1.15500200e-01 -1.58545112e-03 9.93306192e-01 -2.86706935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66320100799999 meters Centerline goodness [0,1] 0.9023634023634024 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.29 [[ 9.92838633e-01 2.84522716e-02 -1.16025504e-01 2.44465066e+00] [-2.80401465e-02 9.99593361e-01 5.18300769e-03 -5.04065003e-01] [ 1.16125791e-01 -1.89251815e-03 9.93232711e-01 -2.86295954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69320100799999 meters Centerline goodness [0,1] 0.9044410592922428 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.51, Z:-0.29 [[ 9.92797344e-01 2.84149456e-02 -1.16387387e-01 2.44516417e+00] [-2.79497501e-02 9.99593489e-01 5.62738744e-03 -5.05504939e-01] [ 1.16499976e-01 -2.33385693e-03 9.93187952e-01 -2.85487113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72320100799999 meters Centerline goodness [0,1] 0.9038895565260721 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.51, Z:-0.28 [[ 0.99277067 0.02844672 -0.11660691 2.44512191] [-0.0278867 0.9995904 0.00643166 -0.50720419] [ 0.11674211 -0.00313338 0.99315732 -0.28384708] [ 0. 0. 0. 1. ]] SLAMing on 67.75320100799999 meters Centerline goodness [0,1] 0.9036815570406848 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99277151 0.02863706 -0.11655316 2.44455668] [-0.02804212 0.99958401 0.00674145 -0.50744138] [ 0.11669773 -0.00342433 0.99316157 -0.28314917] [ 0. 0. 0. 1. ]] SLAMing on 67.78320100799999 meters Centerline goodness [0,1] 0.9037654447803246 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99278024 0.02900298 -0.11638827 2.44367219] [-0.02838535 0.99957282 0.00696097 -0.50752217] [ 0.11654044 -0.00360699 0.9931794 -0.28271319] [ 0. 0. 0. 1. ]] SLAMing on 67.813201008 meters Centerline goodness [0,1] 0.9059289697681244 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.51, Z:-0.28 [[ 0.99278569 0.02936988 -0.11624967 2.44278939] [-0.02874293 0.99956186 0.0070662 -0.50691543] [ 0.11640627 -0.00367386 0.99319489 -0.28226936] [ 0. 0. 0. 1. ]] SLAMing on 67.843201008 meters Centerline goodness [0,1] 0.9057282376677681 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.28 [[ 0.99278103 0.02943867 -0.11627209 2.4427374 ] [-0.02886238 0.99956136 0.00663736 -0.504664 ] [ 0.11641649 -0.00323355 0.99319522 -0.28252925] [ 0. 0. 0. 1. ]] SLAMing on 67.873201008 meters Centerline goodness [0,1] 0.9014818244964112 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.28 [[ 0.99267682 0.03403011 -0.11590804 2.4427358 ] [-0.03313729 0.99940449 0.00962161 -0.49968718] [ 0.11616644 -0.00571027 0.99321335 -0.28415295] [ 0. 0. 0. 1. ]] SLAMing on 67.903201008 meters Centerline goodness [0,1] 0.8999048634935278 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.50, Z:-0.29 [[ 0.99268892 0.03453354 -0.11565531 2.44236472] [-0.03374565 0.99939203 0.00876407 -0.49602345] [ 0.11588765 -0.00479713 0.99325074 -0.28577661] [ 0. 0. 0. 1. ]] SLAMing on 67.933201008 meters Centerline goodness [0,1] 0.8969838389076139 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.29 [[ 0.99271961 0.03499972 -0.11525101 2.44165221] [-0.0343052 0.99937935 0.00800473 -0.49353246] [ 0.11545965 -0.00399274 0.99330415 -0.28730775] [ 0. 0. 0. 1. ]] SLAMing on 67.963201008 meters Centerline goodness [0,1] 0.9007844946931242 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.49, Z:-0.29 [[ 0.99269514 0.03533164 -0.11536049 2.44155037] [-0.03466736 0.99936878 0.00776024 -0.4928332 ] [ 0.11556185 -0.00370431 0.99329338 -0.28754796] [ 0. 0. 0. 1. ]] SLAMing on 67.993201008 meters Centerline goodness [0,1] 0.9027219345694368 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.49, Z:-0.29 [[ 0.99329099 0.03378033 -0.11059792 2.45539942] [-0.03438933 0.99940202 -0.00360292 -0.49232502] [ 0.11041008 0.00738213 0.9938587 -0.29019791] [ 0. 0. 0. 1. ]] SLAMing on 68.02320100799999 meters Centerline goodness [0,1] 0.9061828113196583 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.49, Z:-0.29 [[ 0.99343176 0.02952601 -0.11055111 2.45477929] [-0.03051927 0.9995075 -0.00730284 -0.49304584] [ 0.11028104 0.01062882 0.99384361 -0.28985505] [ 0. 0. 0. 1. ]] SLAMing on 68.05320100799999 meters Centerline goodness [0,1] 0.9062144586042985 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 0.99347037 0.02741427 -0.11074781 2.45804085] [-0.02842547 0.99956731 -0.00756177 -0.49597765] [ 0.11049259 0.01066045 0.99381977 -0.29074261] [ 0. 0. 0. 1. ]] SLAMing on 68.08320100799999 meters Centerline goodness [0,1] 0.908231061595149 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.49, Z:-0.29 [[ 0.99347422 0.02707633 -0.11079642 2.45903609] [-0.02812917 0.99957268 -0.00795017 -0.49445882] [ 0.11053381 0.0110149 0.99381132 -0.29161055] [ 0. 0. 0. 1. ]] SLAMing on 68.11320100799999 meters Centerline goodness [0,1] 0.9079521013776667 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.49, Z:-0.29 [[ 0.99346498 0.02653246 -0.11101065 2.46063812] [-0.02765491 0.99958068 -0.00858344 -0.49290343] [ 0.11073636 0.01159734 0.99378215 -0.29285691] [ 0. 0. 0. 1. ]] SLAMing on 68.14320100799999 meters Centerline goodness [0,1] 0.9075703206389628 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 0.99329985 0.02993434 -0.11162141 2.46323127] [-0.03058298 0.99952381 -0.00410304 -0.49508801] [ 0.11144543 0.00748926 0.99374233 -0.29205168] [ 0. 0. 0. 1. ]] SLAMing on 68.17320100799999 meters Centerline goodness [0,1] 0.9059987810894738 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 0.9933122 0.03099695 -0.11122076 2.46058203] [-0.03152299 0.9994986 -0.00297394 -0.49573777] [ 0.11107281 0.00646006 0.99379128 -0.28988472] [ 0. 0. 0. 1. ]] SLAMing on 68.203201008 meters Centerline goodness [0,1] 0.9052689289012004 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93282590e-01 3.11648312e-02 -1.11438097e-01 2.46046521e+00] [-3.16305506e-02 9.99496716e-01 -2.41325766e-03 -4.96525345e-01] [ 1.11306803e-01 5.92189520e-03 9.93768447e-01 -2.88622887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.233201008 meters Centerline goodness [0,1] 0.905381465454651 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93265467e-01 3.16434163e-02 -1.11455848e-01 2.45956687e+00] [-3.20262041e-02 9.99485675e-01 -1.64532665e-03 -4.97986260e-01] [ 1.11346460e-01 5.20375389e-03 9.93768025e-01 -2.87273376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.263201008 meters Centerline goodness [0,1] 0.9044687708702344 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93217515e-01 3.18377061e-02 -1.11827225e-01 2.45965560e+00] [-3.21185179e-02 9.99483815e-01 -7.10047195e-04 -4.99890830e-01] [ 1.11746895e-01 4.29695605e-03 9.93727411e-01 -2.85587943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.293201008 meters Centerline goodness [0,1] 0.9054817662821857 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.28 [[ 9.93222154e-01 3.23423192e-02 -1.11641060e-01 2.45886583e+00] [-3.25283927e-02 9.99470800e-01 1.54811637e-04 -5.02109253e-01] [ 1.11586986e-01 3.47774189e-03 9.93748585e-01 -2.84814767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.323201008 meters Centerline goodness [0,1] 0.9036410658762677 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93244683e-01 3.24207585e-02 -1.11417661e-01 2.45879338e+00] [-3.26533088e-02 9.99466704e-01 -2.62586058e-04 -5.00402685e-01] [ 1.11349729e-01 3.89896748e-03 9.93773634e-01 -2.85719055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.353201008 meters Centerline goodness [0,1] 0.9012345679012346 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93268566e-01 3.23454511e-02 -1.11226469e-01 2.45916471e+00] [-3.26220211e-02 9.99467538e-01 -6.67105334e-04 -4.99202675e-01] [ 1.11145668e-01 4.29104699e-03 9.93794862e-01 -2.86931826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.383201008 meters Centerline goodness [0,1] 0.8986796952248008 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93261889e-01 3.18983647e-02 -1.11415058e-01 2.46098721e+00] [-3.21581384e-02 9.99482650e-01 -5.34857429e-04 -5.00308860e-01] [ 1.11340356e-01 4.11415436e-03 9.93773817e-01 -2.87840761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41320100799999 meters Centerline goodness [0,1] 0.8960672523125255 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93234876e-01 3.18847742e-02 -1.11659494e-01 2.46150947e+00] [-3.20805685e-02 9.99485285e-01 4.31955537e-05 -5.02000971e-01] [ 1.11603399e-01 3.53919672e-03 9.93746525e-01 -2.87163305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44320100799999 meters Centerline goodness [0,1] 0.8981378786994337 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93208229e-01 3.19090396e-02 -1.11889348e-01 2.46177727e+00] [-3.20426926e-02 9.99486319e-01 6.04012311e-04 -5.03544094e-01] [ 1.11851146e-01 2.98532600e-03 9.93720488e-01 -2.86270096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47320100799999 meters Centerline goodness [0,1] 0.9040511727078892 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93176733e-01 3.17859107e-02 -1.12203530e-01 2.46259917e+00] [-3.18879410e-02 9.99491058e-01 8.85644779e-04 -5.04835035e-01] [ 1.12174575e-01 2.69833774e-03 9.93684851e-01 -2.85973948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50320100799999 meters Centerline goodness [0,1] 0.9037099888817368 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.51, Z:-0.29 [[ 9.93153079e-01 3.17436398e-02 -1.12424655e-01 2.46363792e+00] [-3.18678213e-02 9.99491852e-01 6.92770312e-04 -5.05458928e-01] [ 1.12389518e-01 2.89470186e-03 9.93660011e-01 -2.86902372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53320100799999 meters Centerline goodness [0,1] 0.9026915113871635 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93125912e-01 3.14843678e-02 -1.12737118e-01 2.46467289e+00] [-3.16398803e-02 9.99499250e-01 4.09953651e-04 -5.04732315e-01] [ 1.12693572e-01 3.15985332e-03 9.93624765e-01 -2.87167795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.563201008 meters Centerline goodness [0,1] 0.9058404599982487 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93123191e-01 3.19664049e-02 -1.12625385e-01 2.46359883e+00] [-3.20765661e-02 9.99485066e-01 8.34294217e-04 -5.04628519e-01] [ 1.12594060e-01 2.78407867e-03 9.93637170e-01 -2.86237359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.593201008 meters Centerline goodness [0,1] 0.9027113702623907 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.93129159e-01 3.22238714e-02 -1.12499316e-01 2.46300143e+00] [-3.23221481e-02 9.99477051e-01 9.50692259e-04 -5.03970418e-01] [ 1.12471120e-01 2.69205936e-03 9.93651347e-01 -2.85903846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.623201008 meters Centerline goodness [0,1] 0.9049085100203311 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.50, Z:-0.29 [[ 9.92944636e-01 3.60937015e-02 -1.12952179e-01 2.46495940e+00] [-3.57603022e-02 9.99348002e-01 4.97704628e-03 -5.03873474e-01] [ 1.13058174e-01 -9.02727361e-04 9.93587960e-01 -2.85748448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.653201008 meters Centerline goodness [0,1] 0.9051109694616677 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.50, Z:-0.29 [[ 9.92927062e-01 3.59891957e-02 -1.13139862e-01 2.46562978e+00] [-3.56783237e-02 9.99351933e-01 4.77196271e-03 -5.03474646e-01] [ 1.13238279e-01 -7.01570299e-04 9.93567612e-01 -2.86108427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.683201008 meters Centerline goodness [0,1] 0.9055246527069925 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.50, Z:-0.29 [[ 9.93077032e-01 3.15503357e-02 -1.13148504e-01 2.46549860e+00] [-3.16985828e-02 9.99497354e-01 4.89113476e-04 -5.03066976e-01] [ 1.13107062e-01 3.10091987e-03 9.93577967e-01 -2.86649133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.713201008 meters Centerline goodness [0,1] 0.9081273122320747 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 0.9931847 0.02510386 -0.11381541 2.4678663 ] [-0.02557475 0.99966932 -0.00267887 -0.50779172] [ 0.11371053 0.00557141 0.9934983 -0.28430904] [ 0. 0. 0. 1. ]] SLAMing on 68.743201008 meters Centerline goodness [0,1] 0.9083171349472816 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.93138277e-01 2.39925156e-02 -1.14458382e-01 2.47041582e+00] [-2.43982581e-02 9.99700017e-01 -2.14510923e-03 -5.10196190e-01] [ 1.14372580e-01 4.92297524e-03 9.93425728e-01 -2.83519589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77320100799999 meters Centerline goodness [0,1] 0.9094145336863784 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.93085354e-01 2.30999474e-02 -1.15099403e-01 2.47308992e+00] [-2.34933918e-02 9.99721864e-01 -2.06274610e-03 -5.10967224e-01] [ 1.15019740e-01 4.75255830e-03 9.93351837e-01 -2.83640824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80320100799999 meters Centerline goodness [0,1] 0.9087383205030264 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.29 [[ 0.99304693 0.02219681 -0.1156075 2.4762805 ] [-0.02269859 0.99973778 -0.00302562 -0.50928513] [ 0.11551002 0.00562871 0.99329037 -0.28591466] [ 0. 0. 0. 1. ]] SLAMing on 68.83320100799999 meters Centerline goodness [0,1] 0.9042459736456808 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.29 [[ 0.99304269 0.02289662 -0.1155074 2.47516144] [-0.02339456 0.99972194 -0.00295694 -0.50756003] [ 0.11540758 0.00563861 0.99330222 -0.28551335] [ 0. 0. 0. 1. ]] SLAMing on 68.86320100799999 meters Centerline goodness [0,1] 0.9018388714549668 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.29 [[ 0.9930542 0.02338612 -0.11531025 2.47411757] [-0.02387997 0.99971062 -0.00290306 -0.50614965] [ 0.11520899 0.0056365 0.99332528 -0.2851935 ] [ 0. 0. 0. 1. ]] SLAMing on 68.89320100799999 meters Centerline goodness [0,1] 0.9004950350039544 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 0.99306488 0.02363802 -0.11516679 2.47352551] [-0.02410484 0.99970589 -0.00266225 -0.50569454] [ 0.11506999 0.00541986 0.9933426 -0.28475758] [ 0. 0. 0. 1. ]] SLAMing on 68.92320100799999 meters Centerline goodness [0,1] 0.8957668082613154 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.93042068e-01 2.39465603e-02 -1.15299664e-01 2.47280115e+00] [-2.43255720e-02 9.99702320e-01 -1.88105005e-03 -5.06091534e-01] [ 1.15220297e-01 4.67269210e-03 9.93328973e-01 -2.82792168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.953201008 meters Centerline goodness [0,1] 0.9010805097187151 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.93015420e-01 2.42190076e-02 -1.15472143e-01 2.47258110e+00] [-2.45360158e-02 9.99698069e-01 -1.32453528e-03 -5.07351297e-01] [ 1.15405199e-01 4.14851027e-03 9.93309836e-01 -2.81826203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.983201008 meters Centerline goodness [0,1] 0.9033624569764364 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.92973919e-01 2.43050901e-02 -1.15810442e-01 2.47299891e+00] [-2.45696571e-02 9.99697753e-01 -8.57303173e-04 -5.08750746e-01] [ 1.15754602e-01 3.69670254e-03 9.93270963e-01 -2.81026277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.013201008 meters Centerline goodness [0,1] 0.9019538502342852 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.51, Z:-0.28 [[ 9.92927868e-01 2.41072641e-02 -1.16245808e-01 2.47410071e+00] [-2.43374962e-02 9.99703642e-01 -5.61383011e-04 -5.09848810e-01] [ 1.16197825e-01 3.38654475e-03 9.93220316e-01 -2.80593639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.043201008 meters Centerline goodness [0,1] 0.8987397810111265 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.28 [[ 9.92902329e-01 2.37769330e-02 -1.16531634e-01 2.47530651e+00] [-2.40059339e-02 9.99711658e-01 -5.61825995e-04 -5.10213708e-01] [ 1.16484675e-01 3.35528905e-03 9.93186822e-01 -2.80813737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.073201008 meters Centerline goodness [0,1] 0.898775991741631 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.28 [[ 9.92876236e-01 2.32668539e-02 -1.16856467e-01 2.47688962e+00] [-2.35657030e-02 9.99721598e-01 -1.17622973e-03 -5.08118264e-01] [ 1.16796567e-01 3.92165536e-03 9.93148117e-01 -2.81745725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.103201008 meters Centerline goodness [0,1] 0.8967804705466125 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.28 [[ 9.92851374e-01 2.29736038e-02 -1.17125418e-01 2.47802428e+00] [-2.33064281e-02 9.99727284e-01 -1.47261511e-03 -5.07228620e-01] [ 1.17059645e-01 4.19186308e-03 9.93116039e-01 -2.82241087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.133201008 meters Centerline goodness [0,1] 0.8959865331797643 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.51, Z:-0.28 [[ 9.92821141e-01 2.25228376e-02 -1.17468734e-01 2.47945483e+00] [-2.29036402e-02 9.99735886e-01 -1.89266648e-03 -5.06135461e-01] [ 1.17395081e-01 4.56954090e-03 9.93074778e-01 -2.82807363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16320100799999 meters Centerline goodness [0,1] 0.8962400259105497 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92771627e-01 2.19339519e-02 -1.17997454e-01 2.48130573e+00] [-2.23662221e-02 9.99747106e-01 -2.34026920e-03 -5.04834815e-01] [ 1.17916281e-01 4.96251012e-03 9.93011140e-01 -2.83182713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19320100799999 meters Centerline goodness [0,1] 0.8956029372732903 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92722091e-01 2.20561135e-02 -1.18390786e-01 2.48163122e+00] [-2.24599785e-02 9.99745583e-01 -2.07798858e-03 -5.04684793e-01] [ 1.18314833e-01 4.72191966e-03 9.92964906e-01 -2.82253147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22320100799999 meters Centerline goodness [0,1] 0.897016731092685 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92703320e-01 2.23151975e-02 -1.18499576e-01 2.48111328e+00] [-2.26732149e-02 9.99741528e-01 -1.67381206e-03 -5.04841249e-01] [ 1.18431596e-01 4.34836514e-03 9.92952692e-01 -2.81127467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25320100799999 meters Centerline goodness [0,1] 0.8959082601261719 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92714592e-01 2.28153577e-02 -1.18309753e-01 2.47974964e+00] [-2.31083379e-02 9.99732356e-01 -1.10500546e-03 -5.04847034e-01] [ 1.18252877e-01 3.83089681e-03 9.92976123e-01 -2.79839080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28320100799999 meters Centerline goodness [0,1] 0.8966389272796778 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92711356e-01 2.29783538e-02 -1.18305359e-01 2.47927652e+00] [-2.32438038e-02 9.99729453e-01 -8.64296378e-04 -5.03772903e-01] [ 1.18253492e-01 3.60786339e-03 9.92976885e-01 -2.78986902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.313201008 meters Centerline goodness [0,1] 0.8893767746845819 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92549780e-01 2.71470152e-02 -1.18776993e-01 2.47997406e+00] [-2.68038398e-02 9.99630646e-01 4.48607986e-03 -5.04073451e-01] [ 1.18854906e-01 -1.26897810e-03 9.92910822e-01 -2.75731054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.343201008 meters Centerline goodness [0,1] 0.8897920991841867 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.28 [[ 9.92582472e-01 2.77630511e-02 -1.18360677e-01 2.47815466e+00] [-2.74042852e-02 9.99613580e-01 4.65787911e-03 -5.02576946e-01] [ 1.18444257e-01 -1.37973940e-03 9.92959745e-01 -2.75088621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.373201008 meters Centerline goodness [0,1] 0.884965034965035 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 9.92584028e-01 2.81219151e-02 -1.18262867e-01 2.47731589e+00] [-2.77740261e-02 9.99603693e-01 4.58906134e-03 -5.00688144e-01] [ 1.18345051e-01 -1.27039305e-03 9.92971719e-01 -2.74626962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.403201008 meters Centerline goodness [0,1] 0.8815427794334655 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99238985 0.03252329 -0.11876291 2.4781375 ] [-0.03170115 0.9994586 0.00880567 -0.49930298] [ 0.118985 -0.00497373 0.99288359 -0.27318267] [ 0. 0. 0. 1. ]] SLAMing on 69.433201008 meters Centerline goodness [0,1] 0.8830488863176165 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99239703 0.03281822 -0.11862168 2.47750891] [-0.03206445 0.99945169 0.00825785 -0.49683961] [ 0.11882765 -0.00439153 0.99290518 -0.27356373] [ 0. 0. 0. 1. ]] SLAMing on 69.463201008 meters Centerline goodness [0,1] 0.8784824790037649 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99241802 0.03347262 -0.1182627 2.4758121 ] [-0.03273022 0.99943046 0.0082147 -0.49530273] [ 0.11847031 -0.00428165 0.99294836 -0.27318688] [ 0. 0. 0. 1. ]] SLAMing on 69.493201008 meters Centerline goodness [0,1] 0.8781831892801206 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.49, Z:-0.27 [[ 0.99240592 0.03354045 -0.11834493 2.47572721] [-0.03281349 0.99942878 0.00808647 -0.49469309] [ 0.11854855 -0.00414175 0.99293962 -0.27295405] [ 0. 0. 0. 1. ]] SLAMing on 69.52320100799999 meters Centerline goodness [0,1] 0.8781831892801206 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.49, Z:-0.27 [[ 0.99240592 0.03354045 -0.11834493 2.47572721] [-0.03281349 0.99942878 0.00808647 -0.49469309] [ 0.11854855 -0.00414175 0.99293962 -0.27295405] [ 0. 0. 0. 1. ]] SLAMing on 69.55320100799999 meters Centerline goodness [0,1] 0.8759910550924985 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99237224 0.03318326 -0.11872746 2.47676536] [-0.03245907 0.99944082 0.00802872 -0.49508573] [ 0.11892749 -0.0041137 0.99289442 -0.27271593] [ 0. 0. 0. 1. ]] SLAMing on 69.58320100799999 meters Centerline goodness [0,1] 0.8748441351312165 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99229155 0.03211533 -0.11969161 2.48017146] [-0.0313829 0.99947542 0.0079997 -0.49617386] [ 0.11988573 -0.00418177 0.99277889 -0.27267152] [ 0. 0. 0. 1. ]] SLAMing on 69.61320100799999 meters Centerline goodness [0,1] 0.874286376677196 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99227667 0.03161022 -0.11994914 2.48164467] [-0.03089051 0.99949191 0.00785525 -0.49632346] [ 0.1201365 -0.00408929 0.99274896 -0.27315409] [ 0. 0. 0. 1. ]] SLAMing on 69.64320100799999 meters Centerline goodness [0,1] 0.8656564184758851 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99227626 0.03119063 -0.12006238 2.48241598] [-0.03037833 0.99950156 0.00859045 -0.49862528] [ 0.12027047 -0.00487681 0.99272918 -0.27228348] [ 0. 0. 0. 1. ]] SLAMing on 69.67320100799999 meters Centerline goodness [0,1] 0.8620448383429055 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99222772 0.03112917 -0.12047877 2.48301462] [-0.03022591 0.99949966 0.00931786 -0.50037247] [ 0.12070855 -0.00560386 0.99267217 -0.27090808] [ 0. 0. 0. 1. ]] SLAMing on 69.703201008 meters Centerline goodness [0,1] 0.8589874675002191 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99220772 0.03115478 -0.12063671 2.48307942] [-0.03021677 0.99949729 0.00959745 -0.50100601] [ 0.12087507 -0.00587742 0.99265033 -0.27020088] [ 0. 0. 0. 1. ]] SLAMing on 69.733201008 meters Centerline goodness [0,1] 0.8615532622004548 Centerline is valid? [False, False] Translation: X:2.48, Y:-0.50, Z:-0.27 [[ 0.99218416 0.03079808 -0.12092174 2.48424552] [-0.02990056 0.99951026 0.00923025 -0.50076478] [ 0.1211468 -0.00554248 0.99261913 -0.27071471] [ 0. 0. 0. 1. ]] SLAMing on 69.763201008 meters Centerline goodness [0,1] 0.8584091439234897 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.9921481 0.03003731 -0.12140799 2.48656464] [-0.02920267 0.9995361 0.00864855 -0.50082396] [ 0.12161145 -0.0050352 0.99256501 -0.27173467] [ 0. 0. 0. 1. ]] SLAMing on 69.793201008 meters Centerline goodness [0,1] 0.857051151119022 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99211864 0.02999826 -0.12165813 2.48713455] [-0.02914005 0.99953636 0.00882766 -0.50163164] [ 0.12186654 -0.00521296 0.99253281 -0.27147891] [ 0. 0. 0. 1. ]] SLAMing on 69.823201008 meters Centerline goodness [0,1] 0.8588131868131867 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99210114 0.02994198 -0.1218146 2.48755159] [-0.02906145 0.99953712 0.00899914 -0.50239285] [ 0.12202767 -0.00538795 0.99251207 -0.27125455] [ 0. 0. 0. 1. ]] SLAMing on 69.853201008 meters Centerline goodness [0,1] 0.858051654891384 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99208864 0.02981567 -0.12194739 2.48792691] [-0.02892375 0.9995404 0.00907804 -0.50281499] [ 0.12216201 -0.00547905 0.99249505 -0.27105516] [ 0. 0. 0. 1. ]] SLAMing on 69.88320100799999 meters Centerline goodness [0,1] 0.8522121300908292 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99204351 0.02925822 -0.12244852 2.48954774] [-0.02834717 0.99955602 0.00917609 -0.50350741] [ 0.12266263 -0.00563201 0.99243245 -0.27070793] [ 0. 0. 0. 1. ]] SLAMing on 69.91320100799999 meters Centerline goodness [0,1] 0.8486090775988286 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99204766 0.02921503 -0.12242516 2.48962481] [-0.02830414 0.99955727 0.00917327 -0.50340843] [ 0.12263895 -0.00563518 0.99243535 -0.27072088] [ 0. 0. 0. 1. ]] SLAMing on 69.94320100799999 meters Centerline goodness [0,1] 0.8487132299243421 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99203929 0.0289503 -0.12255577 2.49026276] [-0.02805796 0.99956577 0.00900104 -0.50281133] [ 0.12276314 -0.00549072 0.99242081 -0.27083546] [ 0. 0. 0. 1. ]] SLAMing on 69.97320100799999 meters Centerline goodness [0,1] 0.8428048601961645 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99205491 0.0283854 -0.12256155 2.49117046] [-0.02752773 0.9995833 0.00868585 -0.50179682] [ 0.12275703 -0.005243 0.9924229 -0.27133445] [ 0. 0. 0. 1. ]] SLAMing on 70.00320100799999 meters Centerline goodness [0,1] 0.840898400752587 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99204611 0.02815709 -0.12268531 2.49158341] [-0.02728726 0.99958921 0.00876479 -0.50208893] [ 0.1228817 -0.00534733 0.99240692 -0.27106118] [ 0. 0. 0. 1. ]] SLAMing on 70.03320100799999 meters Centerline goodness [0,1] 0.8412703075883545 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.50, Z:-0.27 [[ 0.99200098 0.02792481 -0.12310262 2.49227824] [-0.02699106 0.99959291 0.00924668 -0.50350459] [ 0.12331071 -0.00585005 0.99235087 -0.26987852] [ 0. 0. 0. 1. ]] SLAMing on 70.063201008 meters Centerline goodness [0,1] 0.8392725774652032 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.51, Z:-0.27 [[ 0.99197469 0.02779706 -0.1233432 2.49265363] [-0.0267925 0.99959302 0.00979602 -0.50522256] [ 0.1235653 -0.00641274 0.99231572 -0.26883274] [ 0. 0. 0. 1. ]] SLAMing on 70.093201008 meters Centerline goodness [0,1] 0.838926964143895 Centerline is valid? [False, False] Translation: X:2.49, Y:-0.51, Z:-0.27 [[ 0.99196429 0.02748026 -0.12349774 2.49349065] [-0.02649049 0.99960249 0.00964968 -0.50530504] [ 0.12371382 -0.00630063 0.99229794 -0.26909115] [ 0. 0. 0. 1. ]] SLAMing on 70.123201008 meters Centerline goodness [0,1] 0.8435456312967655 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.27 [[ 0.99195949 0.02626303 -0.12380077 2.49685924] [-0.02544337 0.99964265 0.00819742 -0.50318729] [ 0.12397182 -0.0049816 0.99227323 -0.27222097] [ 0. 0. 0. 1. ]] SLAMing on 70.153201008 meters Centerline goodness [0,1] 0.8421624798002056 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.27 [[ 0.99194718 0.02562448 -0.12403295 2.49880081] [-0.02488391 0.99966209 0.00751651 -0.50221446] [ 0.12418364 -0.00436956 0.99224963 -0.27373867] [ 0. 0. 0. 1. ]] SLAMing on 70.183201008 meters Centerline goodness [0,1] 0.8388179195855654 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.28 [[ 0.99191877 0.0249388 -0.12439939 2.50105902] [-0.02428336 0.99968211 0.00678261 -0.50149787] [ 0.12452899 -0.00370696 0.99220904 -0.27532288] [ 0. 0. 0. 1. ]] SLAMing on 70.213201008 meters Centerline goodness [0,1] 0.8407648950925133 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.28 [[ 0.99188817 0.02445037 -0.12473992 2.50293407] [-0.02384184 0.99969545 0.00636918 -0.50162029] [ 0.12485766 -0.00334349 0.99216903 -0.27642034] [ 0. 0. 0. 1. ]] SLAMing on 70.243201008 meters Centerline goodness [0,1] 0.8496369832567787 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99180762 0.02369237 -0.12552415 2.50569558] [-0.02313486 0.99971496 0.00589754 -0.50263231] [ 0.1256281 -0.00294524 0.99207304 -0.27724643] [ 0. 0. 0. 1. ]] SLAMing on 70.27320100799999 meters Centerline goodness [0,1] 0.8548272387838558 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99179383 0.02370832 -0.12563004 2.50600239] [-0.02314465 0.99971445 0.0059447 -0.50339031] [ 0.12573511 -0.00298826 0.99205935 -0.27731303] [ 0. 0. 0. 1. ]] SLAMing on 70.30320100799999 meters Centerline goodness [0,1] 0.8558981629157068 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99174883 0.02327484 -0.12606563 2.50752125] [-0.02273025 0.99972506 0.00575687 -0.50332545] [ 0.12616496 -0.00284386 0.9920052 -0.27748478] [ 0. 0. 0. 1. ]] SLAMing on 70.33320100799999 meters Centerline goodness [0,1] 0.8586106834063721 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99174194 0.02310541 -0.12615096 2.50816969] [-0.02258037 0.9997294 0.0055906 -0.50331283] [ 0.12624599 -0.0026959 0.9919953 -0.2779666 ] [ 0. 0. 0. 1. ]] SLAMing on 70.36320100799999 meters Centerline goodness [0,1] 0.8538329180016613 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99175435 0.02323952 -0.12602871 2.50792735] [-0.02268075 0.99972554 0.00586698 -0.50378175] [ 0.12613047 -0.00296018 0.99200925 -0.27778001] [ 0. 0. 0. 1. ]] SLAMing on 70.39320100799999 meters Centerline goodness [0,1] 0.8509460219702129 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99177376 0.02351661 -0.12582435 2.50712394] [-0.02291587 0.99971805 0.00621998 -0.5037139 ] [ 0.12593515 -0.00328544 0.99203304 -0.27719937] [ 0. 0. 0. 1. ]] SLAMing on 70.42320100799999 meters Centerline goodness [0,1] 0.8480963941026703 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99180872 0.02398581 -0.1254597 2.50571307] [-0.02335237 0.99970605 0.00651746 -0.5034272 ] [ 0.12557915 -0.0035343 0.99207731 -0.276713 ] [ 0. 0. 0. 1. ]] SLAMing on 70.453201008 meters Centerline goodness [0,1] 0.8497209357558485 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.28 [[ 0.99183353 0.0244886 -0.1251661 2.50425492] [-0.02380651 0.99969248 0.00694263 -0.50352805] [ 0.12529762 -0.00390616 0.99211151 -0.2758534 ] [ 0. 0. 0. 1. ]] SLAMing on 70.483201008 meters Centerline goodness [0,1] 0.8454391137317967 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.27 [[ 0.99189456 0.02573783 -0.12442966 2.50101709] [-0.02495262 0.99965769 0.00786512 -0.50463278] [ 0.1245895 -0.00469653 0.99219726 -0.27459963] [ 0. 0. 0. 1. ]] SLAMing on 70.513201008 meters Centerline goodness [0,1] 0.8452508321445554 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.27 [[ 0.9918847 0.02554003 -0.12454895 2.50156305] [-0.02476693 0.9996632 0.00775183 -0.50446708] [ 0.12470499 -0.00460423 0.99218318 -0.27471722] [ 0. 0. 0. 1. ]] SLAMing on 70.543201008 meters Centerline goodness [0,1] 0.8481245913332938 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.27 [[ 0.99189264 0.0255957 -0.12447427 2.50146257] [-0.02483339 0.99966216 0.00767229 -0.50436924] [ 0.12462859 -0.00451897 0.99219317 -0.27490131] [ 0. 0. 0. 1. ]] SLAMing on 70.573201008 meters Centerline goodness [0,1] 0.847726461135579 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.27 [[ 0.99188851 0.02556063 -0.1245144 2.50141146] [-0.02475132 0.99966129 0.0080426 -0.50574913] [ 0.1246778 -0.00489546 0.9921852 -0.27431354] [ 0. 0. 0. 1. ]] SLAMing on 70.603201008 meters Centerline goodness [0,1] 0.8452185833060166 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.27 [[ 0.99188211 0.02529379 -0.12461986 2.50200782] [-0.02447228 0.99966754 0.00811884 -0.50645889] [ 0.12478378 -0.0050032 0.99217134 -0.27426634] [ 0. 0. 0. 1. ]] SLAMing on 70.63320100799999 meters Centerline goodness [0,1] 0.8417450303535293 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.27 [[ 0.99188239 0.02524747 -0.12462697 2.50205805] [-0.02439816 0.99966756 0.00833669 -0.50694796] [ 0.12479602 -0.00522835 0.99216864 -0.27393064] [ 0. 0. 0. 1. ]] SLAMing on 70.66320100799999 meters Centerline goodness [0,1] 0.8406026725658425 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.27 [[ 0.99189235 0.02531432 -0.12453415 2.5020175 ] [-0.02444596 0.99966505 0.00849626 -0.5075707 ] [ 0.12470751 -0.00538301 0.99217895 -0.27403086] [ 0. 0. 0. 1. ]] SLAMing on 70.69320100799999 meters Centerline goodness [0,1] 0.8415622476748706 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.28 [[ 0.99189134 0.02491654 -0.12462237 2.50344771] [-0.02415186 0.99967908 0.00764326 -0.50663184] [ 0.12477282 -0.00457142 0.99217481 -0.27594495] [ 0. 0. 0. 1. ]] SLAMing on 70.72320100799999 meters Centerline goodness [0,1] 0.8405510631925727 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.51, Z:-0.28 [[ 0.99190251 0.02489237 -0.12453828 2.50373023] [-0.0241921 0.99968189 0.00713235 -0.50552824] [ 0.1246762 -0.00406175 0.99218917 -0.27699949] [ 0. 0. 0. 1. ]] SLAMing on 70.75320100799999 meters Centerline goodness [0,1] 0.8431888128604297 Centerline is valid? [False, False] Translation: X:2.50, Y:-0.50, Z:-0.28 [[ 0.99188956 0.02466665 -0.12468625 2.5046386 ] [-0.02404431 0.9996898 0.00649388 -0.50420409] [ 0.12480776 -0.00344322 0.99217497 -0.27800748] [ 0. 0. 0. 1. ]] SLAMing on 70.78320100799999 meters Centerline goodness [0,1] 0.8413692339803799 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99186035 0.02449497 -0.12495216 2.50548507] [-0.02390483 0.99969489 0.00622035 -0.50409652] [ 0.1250664 -0.00318276 0.99214327 -0.27833958] [ 0. 0. 0. 1. ]] SLAMing on 70.813201008 meters Centerline goodness [0,1] 0.8453645256828313 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99183621 0.02471856 -0.12509968 2.50532758] [-0.02409615 0.9996886 0.00648624 -0.50550353] [ 0.12522106 -0.00341887 0.99212298 -0.27783091] [ 0. 0. 0. 1. ]] SLAMing on 70.843201008 meters Centerline goodness [0,1] 0.8455734858237778 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99183094 0.0243686 -0.12521002 2.50638462] [-0.02377034 0.99969778 0.00627013 -0.50548221] [ 0.12532498 -0.00324263 0.99211045 -0.27853469] [ 0. 0. 0. 1. ]] SLAMing on 70.873201008 meters Centerline goodness [0,1] 0.8411438838149423 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99183803 0.02384114 -0.12525545 2.5079233 ] [-0.02330104 0.99971181 0.00577548 -0.50466319] [ 0.12535705 -0.00280976 0.99210771 -0.27998439] [ 0. 0. 0. 1. ]] SLAMing on 70.903201008 meters Centerline goodness [0,1] 0.8378936654292899 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 9.91842111e-01 2.32977192e-02 -1.25325347e-01 2.50935256e+00] [-2.28410202e-02 9.99726203e-01 5.08001561e-03 -5.03197067e-01] [ 1.25409387e-01 -2.17601462e-03 9.92102692e-01 -2.81436033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.933201008 meters Centerline goodness [0,1] 0.8378710276454908 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 9.91831853e-01 2.31562171e-02 -1.25432710e-01 2.50990770e+00] [-2.27441877e-02 9.99730194e-01 4.71615106e-03 -5.02137444e-01] [ 1.25508075e-01 -1.82476376e-03 9.92090920e-01 -2.81955702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.963201008 meters Centerline goodness [0,1] 0.8414369405537216 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99163597 0.02659796 -0.12629591 2.51286545] [-0.02565112 0.99962938 0.00911768 -0.50511767] [ 0.12649161 -0.00580178 0.99195071 -0.28090223] [ 0. 0. 0. 1. ]] SLAMing on 70.993201008 meters Centerline goodness [0,1] 0.8438701600643834 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99160915 0.02668449 -0.12648806 2.51293378] [-0.02570403 0.99962561 0.00937759 -0.50595967] [ 0.12669094 -0.00604765 0.9919238 -0.28029928] [ 0. 0. 0. 1. ]] SLAMing on 71.02320100799999 meters Centerline goodness [0,1] 0.8532946663477636 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99160187 0.02688535 -0.12650257 2.51253433] [-0.02588124 0.99961917 0.00957466 -0.50657411] [ 0.12671182 -0.00622021 0.99192007 -0.27985102] [ 0. 0. 0. 1. ]] SLAMing on 71.05320100799999 meters Centerline goodness [0,1] 0.8532414040114613 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 0.99163725 0.02697849 -0.1262051 2.51221518] [-0.02599478 0.99961755 0.00943533 -0.50619534] [ 0.12641138 -0.00607575 0.9919593 -0.28053341] [ 0. 0. 0. 1. ]] SLAMing on 71.08320100799999 meters Centerline goodness [0,1] 0.8438161070226142 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99164374 0.02657134 -0.1262405 2.51323023] [-0.02565712 0.99963152 0.00886265 -0.50477586] [ 0.12642948 -0.00554962 0.99196007 -0.28160199] [ 0. 0. 0. 1. ]] SLAMing on 71.11320100799999 meters Centerline goodness [0,1] 0.8392511681895294 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99164217 0.0264308 -0.12628227 2.51355181] [-0.02556138 0.99963711 0.00850053 -0.50349151] [ 0.12646112 -0.00520154 0.99195793 -0.28199305] [ 0. 0. 0. 1. ]] SLAMing on 71.14320100799999 meters Centerline goodness [0,1] 0.8399284329804682 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 0.99164772 0.02663261 -0.12619628 2.51299412] [-0.02573548 0.99963063 0.00873441 -0.50397863] [ 0.12638228 -0.00541374 0.99196684 -0.28157812] [ 0. 0. 0. 1. ]] SLAMing on 71.17320100799999 meters Centerline goodness [0,1] 0.8377796387127647 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.50, Z:-0.28 [[ 9.91754085e-01 2.18098975e-02 -1.26286035e-01 2.51332606e+00] [-2.13941199e-02 9.99760316e-01 4.64789493e-03 -5.04894546e-01] [ 1.26357136e-01 -1.90779021e-03 9.91982981e-01 -2.81676748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.203201008 meters Centerline goodness [0,1] 0.8418988895207878 Centerline is valid? [False, False] Translation: X:2.51, Y:-0.51, Z:-0.28 [[ 9.91744585e-01 2.17138056e-02 -1.26377167e-01 2.51390081e+00] [-2.12889641e-02 9.99762263e-01 4.71152021e-03 -5.05352798e-01] [ 1.26449427e-01 -1.98218570e-03 9.91971075e-01 -2.81913282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.233201008 meters Centerline goodness [0,1] 0.8422811781909338 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91726834e-01 2.12722714e-02 -1.26591382e-01 2.51545555e+00] [-2.09176590e-02 9.99772671e-01 4.13007430e-03 -5.04249666e-01] [ 1.26650460e-01 -1.44791015e-03 9.91946352e-01 -2.83181740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.263201008 meters Centerline goodness [0,1] 0.8400800047764045 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91756595e-01 2.13485624e-02 -1.26345139e-01 2.51557326e+00] [-2.10974734e-02 9.99771894e-01 3.32529014e-03 -5.02286886e-01] [ 1.26387309e-01 -6.32315217e-04 9.91980770e-01 -2.84907664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.293201008 meters Centerline goodness [0,1] 0.8417143879742305 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91727194e-01 2.14007218e-02 -1.26566906e-01 2.51597334e+00] [-2.11697678e-02 9.99770871e-01 3.16973761e-03 -5.02345903e-01] [ 1.26605740e-01 -4.64122982e-04 9.91953009e-01 -2.85055847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.323201008 meters Centerline goodness [0,1] 0.8436399450844625 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91718983e-01 2.14369647e-02 -1.26625096e-01 2.51618025e+00] [-2.11958605e-02 9.99770056e-01 3.25131556e-03 -5.02927551e-01] [ 1.26665678e-01 -5.40463483e-04 9.91945318e-01 -2.85035288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.353201008 meters Centerline goodness [0,1] 0.8482446206115515 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91706577e-01 2.14482949e-02 -1.26720308e-01 2.51648946e+00] [-2.11880990e-02 9.99769722e-01 3.40102342e-03 -5.03474830e-01] [ 1.26764074e-01 -6.87854855e-04 9.91932657e-01 -2.84944876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38320100799999 meters Centerline goodness [0,1] 0.8432479245057636 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91685703e-01 2.11489015e-02 -1.26933805e-01 2.51779002e+00] [-2.09211620e-02 9.99776238e-01 3.12723566e-03 -5.03347497e-01] [ 1.26971539e-01 -4.45632202e-04 9.91906260e-01 -2.85780558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41320100799999 meters Centerline goodness [0,1] 0.8479353093319856 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91651284e-01 2.09434993e-02 -1.27236398e-01 2.51845279e+00] [-2.07059897e-02 9.99780521e-01 3.18919258e-03 -5.03507428e-01] [ 1.27275266e-01 -5.28011359e-04 9.91867294e-01 -2.85300478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44320100799999 meters Centerline goodness [0,1] 0.8479353093319856 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91651284e-01 2.09434993e-02 -1.27236398e-01 2.51845279e+00] [-2.07059897e-02 9.99780521e-01 3.18919258e-03 -5.03507428e-01] [ 1.27275266e-01 -5.28011359e-04 9.91867294e-01 -2.85300478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47320100799999 meters Centerline goodness [0,1] 0.8482480990010437 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91658749e-01 2.13266378e-02 -1.27114517e-01 2.51756662e+00] [-2.10478837e-02 9.99772216e-01 3.53588206e-03 -5.03567782e-01] [ 1.27160971e-01 -8.30896812e-04 9.91881746e-01 -2.84652317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50320100799999 meters Centerline goodness [0,1] 0.8523503831020915 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.51, Z:-0.28 [[ 0.99149282 0.02448397 -0.12783784 2.52067518] [-0.02368497 0.9996893 0.00776675 -0.50545644] [ 0.12798828 -0.00467284 0.99176467 -0.28389663] [ 0. 0. 0. 1. ]] SLAMing on 71.53320100799999 meters Centerline goodness [0,1] 0.836116006093008 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.29 [[ 9.91624440e-01 1.92922142e-02 -1.27705834e-01 2.52125343e+00] [-1.90788304e-02 9.99813794e-01 2.89405183e-03 -5.03487443e-01] [ 1.27737887e-01 -4.33334567e-04 9.91807867e-01 -2.85260019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.563201008 meters Centerline goodness [0,1] 0.834894962998329 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91556374e-01 1.84517376e-02 -1.28356889e-01 2.52343384e+00] [-1.82132682e-02 9.99829529e-01 3.03146894e-03 -5.04690062e-01] [ 1.28390944e-01 -6.68073908e-04 9.91723409e-01 -2.84749165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.593201008 meters Centerline goodness [0,1] 0.8390474480942979 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 9.91498506e-01 1.78989720e-02 -1.28881107e-01 2.52517869e+00] [-1.76487363e-02 9.99839494e-01 3.08348836e-03 -5.05659091e-01] [ 1.28915613e-01 -7.82685421e-04 9.91655259e-01 -2.84623451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.623201008 meters Centerline goodness [0,1] 0.8439531469997903 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 9.91482645e-01 1.80212023e-02 -1.28986052e-01 2.52526078e+00] [-1.77156101e-02 9.99836883e-01 3.51621596e-03 -5.07044923e-01] [ 1.29028378e-01 -1.20120050e-03 9.91640174e-01 -2.84145105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.653201008 meters Centerline goodness [0,1] 0.8405636668262326 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.51, Z:-0.28 [[ 9.91499105e-01 1.82938544e-02 -1.28821039e-01 2.52479140e+00] [-1.79859885e-02 9.99831926e-01 3.55289931e-03 -5.06289179e-01] [ 1.28864384e-01 -1.20572276e-03 9.91661493e-01 -2.84234238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.683201008 meters Centerline goodness [0,1] 0.8353734997312952 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91527770e-01 1.90412548e-02 -1.28491679e-01 2.52325787e+00] [-1.87472595e-02 9.99818138e-01 3.49721843e-03 -5.04311596e-01] [ 1.28534903e-01 -1.05872234e-03 9.91704421e-01 -2.84185334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.713201008 meters Centerline goodness [0,1] 0.8369325956332917 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 9.91551410e-01 1.95271196e-02 -1.28236079e-01 2.52239294e+00] [-1.92625285e-02 9.99809003e-01 3.30330362e-03 -5.02188837e-01] [ 1.28276091e-01 -8.05244229e-04 9.91738169e-01 -2.84541212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.743201008 meters Centerline goodness [0,1] 0.8364034827933424 Centerline is valid? [False, False] Translation: X:2.52, Y:-0.50, Z:-0.28 [[ 0.99140424 0.02347057 -0.12871197 2.52429013] [-0.02273919 0.99971587 0.00714908 -0.50155807] [ 0.1288432 -0.00416082 0.99165625 -0.28450191] [ 0. 0. 0. 1. ]] SLAMing on 71.77320100799999 meters Centerline goodness [0,1] 0.8409654927913023 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.28 [[ 0.99136802 0.02324237 -0.12903194 2.52522438] [-0.02255929 0.9997227 0.00675314 -0.50059596] [ 0.12915312 -0.00378398 0.99161744 -0.28477037] [ 0. 0. 0. 1. ]] SLAMing on 71.80320100799999 meters Centerline goodness [0,1] 0.8388619962581296 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.28 [[ 0.99134667 0.0233851 -0.12917013 2.5251782 ] [-0.02268861 0.99971904 0.00686116 -0.50089188] [ 0.12929429 -0.0038711 0.99159871 -0.28442426] [ 0. 0. 0. 1. ]] SLAMing on 71.83320100799999 meters Centerline goodness [0,1] 0.8503036798856735 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.28 [[ 0.99131698 0.02333339 -0.12940713 2.52573999] [-0.02263435 0.9997202 0.00687016 -0.50171684] [ 0.12953122 -0.00388146 0.99156775 -0.28445479] [ 0. 0. 0. 1. ]] SLAMing on 71.86320100799999 meters Centerline goodness [0,1] 0.8464180129602532 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.28 [[ 0.99127341 0.02321674 -0.12976133 2.52667304] [-0.02248782 0.99972205 0.00708005 -0.50311745] [ 0.12988964 -0.00410022 0.99151998 -0.28427892] [ 0. 0. 0. 1. ]] SLAMing on 71.89320100799999 meters Centerline goodness [0,1] 0.850766375284397 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.28 [[ 0.99122769 0.0230136 -0.13014622 2.52789077] [-0.02226224 0.99972606 0.0072253 -0.50447808] [ 0.13027685 -0.00426457 0.99146848 -0.28434241] [ 0. 0. 0. 1. ]] SLAMing on 71.92320100799999 meters Centerline goodness [0,1] 0.8540903907328492 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.29 [[ 0.99117976 0.02209752 -0.13066902 2.53097846] [-0.02141328 0.99974866 0.00663931 -0.50479913] [ 0.13078289 -0.0037827 0.99140382 -0.28610931] [ 0. 0. 0. 1. ]] SLAMing on 71.953201008 meters Centerline goodness [0,1] 0.8498003542586088 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.29 [[ 0.99116469 0.02164118 -0.13085955 2.53240509] [-0.02098751 0.99975943 0.00637244 -0.50439879] [ 0.13096597 -0.00356972 0.99138044 -0.28692198] [ 0. 0. 0. 1. ]] SLAMing on 71.983201008 meters Centerline goodness [0,1] 0.8479668945663907 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.29 [[ 0.99112133 0.02108556 -0.13127796 2.53404143] [-0.02042819 0.99977114 0.0063523 -0.50470833] [ 0.13138186 -0.00361413 0.99132525 -0.28701145] [ 0. 0. 0. 1. ]] SLAMing on 72.013201008 meters Centerline goodness [0,1] 0.846817075735272 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.29 [[ 0.9911125 0.02133946 -0.13130362 2.53349312] [-0.02059136 0.9997631 0.00705276 -0.50639821] [ 0.13142302 -0.00428636 0.99131711 -0.28584227] [ 0. 0. 0. 1. ]] SLAMing on 72.043201008 meters Centerline goodness [0,1] 0.8468820435762585 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 0.99110521 0.02185448 -0.13127395 2.53223833] [-0.02104111 0.99974988 0.00758002 -0.50718464] [ 0.13140678 -0.00475045 0.99131715 -0.28447339] [ 0. 0. 0. 1. ]] SLAMing on 72.073201008 meters Centerline goodness [0,1] 0.8575514013064812 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 0.99108478 0.02243023 -0.13133103 2.5309877 ] [-0.02156594 0.99973542 0.0079998 -0.50758832] [ 0.13147572 -0.0050962 0.99130629 -0.28310945] [ 0. 0. 0. 1. ]] SLAMing on 72.103201008 meters Centerline goodness [0,1] 0.8639498432601881 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 0.99091498 0.02738685 -0.13167176 2.53100774] [-0.02596867 0.9995849 0.01247596 -0.50801759] [ 0.13195878 -0.00894327 0.99121486 -0.28188223] [ 0. 0. 0. 1. ]] SLAMing on 72.13320100799999 meters Centerline goodness [0,1] 0.8592475742603727 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.51, Z:-0.28 [[ 0.99095563 0.02724112 -0.1313958 2.53139924] [-0.02594781 0.99959663 0.01154528 -0.50545691] [ 0.13165731 -0.00803142 0.99126275 -0.2837549 ] [ 0. 0. 0. 1. ]] SLAMing on 72.16320100799999 meters Centerline goodness [0,1] 0.860161204290879 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.29 [[ 0.99094855 0.02652478 -0.13159564 2.53329789] [-0.02537972 0.99962408 0.01037125 -0.50249478] [ 0.13182127 -0.00693752 0.99124922 -0.28567252] [ 0. 0. 0. 1. ]] SLAMing on 72.19320100799999 meters Centerline goodness [0,1] 0.8599917154861234 Centerline is valid? [False, False] Translation: X:2.53, Y:-0.50, Z:-0.29 [[ 0.99096513 0.02608184 -0.13155928 2.53444569] [-0.02504053 0.99964069 0.00956359 -0.50054983] [ 0.13176144 -0.00618287 0.99126217 -0.28733597] [ 0. 0. 0. 1. ]] SLAMing on 72.22320100799999 meters Centerline goodness [0,1] 0.8646581007236744 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99095597 0.0256004 -0.13172276 2.5356645 ] [-0.02462364 0.99965593 0.00903904 -0.49964906] [ 0.13190884 -0.0057138 0.99124538 -0.28826263] [ 0. 0. 0. 1. ]] SLAMing on 72.25320100799999 meters Centerline goodness [0,1] 0.8479049332114528 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99092846 0.02510485 -0.13202474 2.53689408] [-0.02409977 0.99966717 0.00920547 -0.50031802] [ 0.1322119 -0.00594019 0.99120368 -0.28801343] [ 0. 0. 0. 1. ]] SLAMing on 72.28320100799999 meters Centerline goodness [0,1] 0.8575629263702658 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99085607 0.02447439 -0.1326848 2.53877984] [-0.02345691 0.99968227 0.00922633 -0.50143535] [ 0.13286846 -0.00602959 0.99111534 -0.28761656] [ 0. 0. 0. 1. ]] SLAMing on 72.313201008 meters Centerline goodness [0,1] 0.8643947880431578 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 9.90990312e-01 2.05099977e-02 -1.32353851e-01 2.53749981e+00] [-2.00427040e-02 9.99787303e-01 4.86204051e-03 -5.00111438e-01] [ 1.32425420e-01 -2.16550599e-03 9.91190607e-01 -2.88344291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.343201008 meters Centerline goodness [0,1] 0.8660040819948531 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99094672 0.02052689 -0.13267725 2.53786108] [-0.01999155 0.99978575 0.00536588 -0.50208175] [ 0.13275897 -0.00266488 0.99114477 -0.28744775] [ 0. 0. 0. 1. ]] SLAMing on 72.373201008 meters Centerline goodness [0,1] 0.8783148558758315 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99090072 0.02024577 -0.1330634 2.53900361] [-0.01964752 0.9997901 0.00580756 -0.50425898] [ 0.13315304 -0.00314035 0.99109051 -0.28690597] [ 0. 0. 0. 1. ]] SLAMing on 72.403201008 meters Centerline goodness [0,1] 0.8817585534479702 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99088688 0.02013233 -0.13318366 2.53978407] [-0.01953912 0.9997925 0.00575968 -0.50451884] [ 0.13327199 -0.0031049 0.99107464 -0.28741294] [ 0. 0. 0. 1. ]] SLAMing on 72.433201008 meters Centerline goodness [0,1] 0.8798703212496316 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99090325 0.02006567 -0.13307186 2.5401537 ] [-0.01950706 0.99979459 0.00550033 -0.50385422] [ 0.1331549 -0.00285446 0.99109113 -0.28830858] [ 0. 0. 0. 1. ]] SLAMing on 72.463201008 meters Centerline goodness [0,1] 0.885809574405289 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.50, Z:-0.29 [[ 0.99083023 0.01918021 -0.13374446 2.54268958] [-0.01863867 0.99981224 0.00530009 -0.50423466] [ 0.133821 -0.00275867 0.99100168 -0.28852438] [ 0. 0. 0. 1. ]] SLAMing on 72.493201008 meters Centerline goodness [0,1] 0.8943142041944877 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90755975e-01 1.81821974e-02 -1.34432160e-01 2.54580800e+00] [-1.77075629e-02 9.99832041e-01 4.72557914e-03 -5.04117457e-01] [ 1.34495502e-01 -2.30142984e-03 9.90911531e-01 -2.89582861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52320100799999 meters Centerline goodness [0,1] 0.9079693329025057 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90654085e-01 1.66154285e-02 -1.35382466e-01 2.55055570e+00] [-1.63084543e-02 9.99861308e-01 3.37626601e-03 -5.02887566e-01] [ 1.35419787e-01 -1.13683296e-03 9.90787661e-01 -2.92076865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55320100799999 meters Centerline goodness [0,1] 0.908674995600915 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90619123e-01 1.61719907e-02 -1.35691639e-01 2.55206317e+00] [-1.59220021e-02 9.99868951e-01 2.92745857e-03 -5.02201659e-01] [ 1.35721199e-01 -7.39513884e-04 9.90746794e-01 -2.92854039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58320100799999 meters Centerline goodness [0,1] 0.9100223109441052 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90589574e-01 1.60482279e-02 -1.35921857e-01 2.55273643e+00] [-1.58200580e-02 9.99871049e-01 2.75874667e-03 -5.01658166e-01] [ 1.35948602e-01 -5.82494036e-04 9.90715720e-01 -2.92995010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61320100799999 meters Centerline goodness [0,1] 0.9113009777151414 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90563269e-01 1.63442156e-02 -1.36078198e-01 2.55225348e+00] [-1.60838644e-02 9.99866108e-01 3.01254665e-03 -5.01410533e-01] [ 1.36109216e-01 -7.95454784e-04 9.90693519e-01 -2.92048919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64320100799999 meters Centerline goodness [0,1] 0.9143620456814046 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90550126e-01 1.62206677e-02 -1.36188608e-01 2.55279073e+00] [-1.59611906e-02 9.99868120e-01 2.99708746e-03 -5.00993720e-01] [ 1.36219263e-01 -7.95033021e-04 9.90678394e-01 -2.92078190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67320100799999 meters Centerline goodness [0,1] 0.9135209535244677 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90520310e-01 1.59401782e-02 -1.36438362e-01 2.55356146e+00] [-1.56854757e-02 9.99872648e-01 2.94173824e-03 -5.00449038e-01] [ 1.36467879e-01 -7.73750860e-04 9.90644194e-01 -2.91863844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.703201008 meters Centerline goodness [0,1] 0.9180822399250235 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90510891e-01 1.60967519e-02 -1.36488350e-01 2.55330832e+00] [-1.57988396e-02 9.99869857e-01 3.26573226e-03 -5.00800514e-01] [ 1.36523155e-01 -1.07838582e-03 9.90636293e-01 -2.91219196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.733201008 meters Centerline goodness [0,1] 0.9154616240266963 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90470539e-01 1.60929735e-02 -1.36781315e-01 2.55307038e+00] [-1.56299881e-02 9.99867905e-01 4.45824802e-03 -5.02361884e-01] [ 1.36834993e-01 -2.27787300e-03 9.90591236e-01 -2.88618256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.763201008 meters Centerline goodness [0,1] 0.9192149970708846 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 0.99044267 0.01610333 -0.13698173 2.55318588] [-0.01558149 0.99986669 0.00488105 -0.50335363] [ 0.13704207 -0.00270002 0.99056155 -0.28777936] [ 0. 0. 0. 1. ]] SLAMing on 72.793201008 meters Centerline goodness [0,1] 0.9177396699051855 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 0.99039662 0.0158487 -0.13734393 2.5539881 ] [-0.01528804 0.99986994 0.00513611 -0.50399463] [ 0.13740747 -0.00298707 0.9905101 -0.28704114] [ 0. 0. 0. 1. ]] SLAMing on 72.823201008 meters Centerline goodness [0,1] 0.9214273210013422 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 0.990364 0.01582879 -0.13758122 2.55417231] [-0.01526194 0.99987014 0.00517409 -0.50341849] [ 0.13764526 -0.00302448 0.99047697 -0.28643246] [ 0. 0. 0. 1. ]] SLAMing on 72.853201008 meters Centerline goodness [0,1] 0.9190914922152895 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 0.99037241 0.01593333 -0.13750864 2.55391477] [-0.01540425 0.99986929 0.00491104 -0.5021121 ] [ 0.13756891 -0.00274554 0.99048839 -0.28664828] [ 0. 0. 0. 1. ]] SLAMing on 72.88320100799999 meters Centerline goodness [0,1] 0.9187152707066593 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.50, Z:-0.29 [[ 9.90351247e-01 1.58249441e-02 -1.37673446e-01 2.55445738e+00] [-1.53570408e-02 9.99872126e-01 4.46023489e-03 -5.00192275e-01] [ 1.37726424e-01 -2.30294245e-03 9.90467631e-01 -2.86961771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91320100799999 meters Centerline goodness [0,1] 0.917910447761194 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.50, Z:-0.29 [[ 9.90322725e-01 1.56121505e-02 -1.37902722e-01 2.55537373e+00] [-1.52400922e-02 9.99876818e-01 3.75349902e-03 -4.97887078e-01] [ 1.37944335e-01 -1.61552518e-03 9.90438666e-01 -2.87728658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94320100799999 meters Centerline goodness [0,1] 0.918386274055182 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.50, Z:-0.29 [[ 0.99018331 0.02001364 -0.1383346 2.55588723] [-0.01912371 0.99978702 0.00775939 -0.49618975] [ 0.13846043 -0.00503775 0.99035515 -0.2865666 ] [ 0. 0. 0. 1. ]] SLAMing on 72.97320100799999 meters Centerline goodness [0,1] 0.9160837139388334 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.29 [[ 0.99019164 0.02028654 -0.13823519 2.55520252] [-0.01945098 0.99978348 0.00739285 -0.49320218] [ 0.13835523 -0.00463153 0.99037184 -0.28650586] [ 0. 0. 0. 1. ]] SLAMing on 73.00320100799999 meters Centerline goodness [0,1] 0.9172165394035442 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.29 [[ 0.99019981 0.02060409 -0.13812969 2.55458873] [-0.01982952 0.999779 0.00698146 -0.49005257] [ 0.13824301 -0.004174 0.99038954 -0.2866658 ] [ 0. 0. 0. 1. ]] SLAMing on 73.03320100799999 meters Centerline goodness [0,1] 0.9148740893707337 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.29 [[ 0.99006014 0.0250534 -0.13839525 2.55491703] [-0.02378249 0.9996585 0.01082954 -0.48834947] [ 0.13861931 -0.00743052 0.99031787 -0.28595353] [ 0. 0. 0. 1. ]] SLAMing on 73.063201008 meters Centerline goodness [0,1] 0.9142334723730072 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.29 [[ 0.99003342 0.02510194 -0.13857752 2.55491879] [-0.02386376 0.99965913 0.01058947 -0.48676269] [ 0.1387961 -0.00717695 0.99029497 -0.28564054] [ 0. 0. 0. 1. ]] SLAMing on 73.093201008 meters Centerline goodness [0,1] 0.9155795857649617 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.28 [[ 0.99002758 0.02561133 -0.13852598 2.55372919] [-0.0243236 0.99964383 0.01098109 -0.48659426] [ 0.13875788 -0.00750213 0.99029792 -0.28456149] [ 0. 0. 0. 1. ]] SLAMing on 73.123201008 meters Centerline goodness [0,1] 0.9147111784377054 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.28 [[ 0.98998116 0.02570399 -0.13884021 2.55360231] [-0.02435713 0.99963842 0.01139151 -0.48681327] [ 0.13908281 -0.00789563 0.99024928 -0.28310526] [ 0. 0. 0. 1. ]] SLAMing on 73.153201008 meters Centerline goodness [0,1] 0.9182334059383239 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.28 [[ 0.98992419 0.02603093 -0.1391851 2.55281628] [-0.02452276 0.99962062 0.01253998 -0.48939896] [ 0.13945872 -0.00900043 0.99018698 -0.28042074] [ 0. 0. 0. 1. ]] SLAMing on 73.183201008 meters Centerline goodness [0,1] 0.9192402452300464 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.49, Z:-0.28 [[ 0.98987658 0.0255826 -0.13960621 2.55405022] [-0.02405807 0.99963119 0.01259716 -0.48999037] [ 0.13987699 -0.00911098 0.99012697 -0.28006577] [ 0. 0. 0. 1. ]] SLAMing on 73.213201008 meters Centerline goodness [0,1] 0.918112222954956 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 0.98981376 0.02463031 -0.14022149 2.55656539] [-0.02313469 0.99965686 0.01228644 -0.49028323] [ 0.140476 -0.00891731 0.99004393 -0.2803919 ] [ 0. 0. 0. 1. ]] SLAMing on 73.243201008 meters Centerline goodness [0,1] 0.9177842732691426 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 0.9897467 0.02359366 -0.1408716 2.5593558 ] [-0.02211469 0.99968276 0.01205519 -0.49101108] [ 0.14111133 -0.00881625 0.98995448 -0.28072977] [ 0. 0. 0. 1. ]] SLAMing on 73.27320100799999 meters Centerline goodness [0,1] 0.9189850815045216 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 0.98987454 0.01866169 -0.14071293 2.56028984] [-0.01784329 0.99981576 0.00707563 -0.48933189] [ 0.14081905 -0.0044932 0.99002515 -0.2829702 ] [ 0. 0. 0. 1. ]] SLAMing on 73.30320100799999 meters Centerline goodness [0,1] 0.921590217611776 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89930047e-01 1.36747245e-02 -1.40895366e-01 2.56177970e+00] [-1.34375144e-02 9.99906241e-01 2.63488512e-03 -4.89522485e-01] [ 1.40918187e-01 -7.15068432e-04 9.90020986e-01 -2.84286289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33320100799999 meters Centerline goodness [0,1] 0.921590217611776 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89930047e-01 1.36747245e-02 -1.40895366e-01 2.56177970e+00] [-1.34375144e-02 9.99906241e-01 2.63488512e-03 -4.89522485e-01] [ 1.40918187e-01 -7.15068432e-04 9.90020986e-01 -2.84286289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36320100799999 meters Centerline goodness [0,1] 0.9183283097611871 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89853992e-01 1.34591470e-02 -1.41449378e-01 2.56265389e+00] [-1.31428153e-02 9.99908603e-01 3.17038279e-03 -4.90044005e-01] [ 1.41479120e-01 -1.27917302e-03 9.89940413e-01 -2.82809896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39320100799999 meters Centerline goodness [0,1] 0.9208047076557382 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89810424e-01 1.34534749e-02 -1.41754463e-01 2.56293099e+00] [-1.30306358e-02 9.99907450e-01 3.91078066e-03 -4.91374165e-01] [ 1.41793957e-01 -2.02378069e-03 9.89894125e-01 -2.81357366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42320100799999 meters Centerline goodness [0,1] 0.9205671286208199 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89774270e-01 1.33799613e-02 -1.42013630e-01 2.56328120e+00] [-1.29222254e-02 9.99907913e-01 4.14497515e-03 -4.91543923e-01] [ 1.42056012e-01 -2.26745760e-03 9.89856024e-01 -2.80639845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.453201008 meters Centerline goodness [0,1] 0.9197084514374964 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.49, Z:-0.28 [[ 9.89730301e-01 1.28177684e-02 -1.42371475e-01 2.56489497e+00] [-1.23900547e-02 9.99915672e-01 3.89035044e-03 -4.90880519e-01] [ 1.42409335e-01 -2.08640734e-03 9.89805652e-01 -2.80926774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.483201008 meters Centerline goodness [0,1] 0.9198694811007478 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.28 [[ 9.89686950e-01 1.16062838e-02 -1.42776174e-01 2.56742776e+00] [-1.12605791e-02 9.99931384e-01 3.22910526e-03 -4.89575415e-01] [ 1.42803855e-01 -1.58806094e-03 9.89749735e-01 -2.81787625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.513201008 meters Centerline goodness [0,1] 0.9192834138486312 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.28 [[ 9.89604253e-01 1.07754952e-02 -1.43413079e-01 2.56969595e+00] [-1.04433648e-02 9.99940759e-01 3.06846970e-03 -4.89067546e-01] [ 1.43437648e-01 -1.53885557e-03 9.89658160e-01 -2.81583168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.543201008 meters Centerline goodness [0,1] 0.9172847701232358 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.28 [[ 9.89506439e-01 9.50525120e-03 -1.44175787e-01 2.57258391e+00] [-9.16676253e-03 9.99953448e-01 3.01186615e-03 -4.89954641e-01] [ 1.44197704e-01 -1.65863574e-03 9.89547508e-01 -2.81173390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.573201008 meters Centerline goodness [0,1] 0.9186996564367584 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.49, Z:-0.28 [[ 9.89366645e-01 8.77181894e-03 -1.45178156e-01 2.57493186e+00] [-8.33403289e-03 9.99958706e-01 3.62342776e-03 -4.91216894e-01] [ 1.45203945e-01 -2.37497904e-03 9.89398895e-01 -2.79373137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.603201008 meters Centerline goodness [0,1] 0.9170347276348835 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.28 [[ 0.98925571 0.00808493 -0.14597183 2.57684026] [-0.00757431 0.9999631 0.00405354 -0.49262703] [ 0.14599922 -0.00290435 0.98928044 -0.27804746] [ 0. 0. 0. 1. ]] SLAMing on 73.63320100799999 meters Centerline goodness [0,1] 0.9187933025404157 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.28 [[ 0.98916784 0.0074838 -0.14659803 2.57853815] [-0.00697198 0.99996768 0.00400479 -0.49224858] [ 0.14662326 -0.00293933 0.98918804 -0.27740115] [ 0. 0. 0. 1. ]] SLAMing on 73.66320100799999 meters Centerline goodness [0,1] 0.91423799101486 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.28 [[ 9.89056690e-01 6.15634145e-03 -1.47407476e-01 2.58181493e+00] [-5.78596992e-03 9.99978936e-01 2.94123152e-03 -4.89368852e-01] [ 1.47422478e-01 -2.05614949e-03 9.89071476e-01 -2.78313568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69320100799999 meters Centerline goodness [0,1] 0.909049057689541 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.49, Z:-0.28 [[ 9.88942583e-01 5.03790983e-03 -1.48213316e-01 2.58495298e+00] [-4.73483378e-03 9.99985916e-01 2.39762621e-03 -4.87879430e-01] [ 1.48223308e-01 -1.66934924e-03 9.88952509e-01 -2.78715362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72320100799999 meters Centerline goodness [0,1] 0.9076233699086574 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.28 [[ 9.88807720e-01 3.96858123e-03 -1.49142695e-01 2.58788052e+00] [-3.66901342e-03 9.99990662e-01 2.28368791e-03 -4.87271984e-01] [ 1.49150365e-01 -1.71092169e-03 9.88813047e-01 -2.78169658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75320100799999 meters Centerline goodness [0,1] 0.907483032324859 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.28 [[ 9.88715451e-01 3.28944040e-03 -1.49769613e-01 2.58950355e+00] [-2.93071139e-03 9.99992284e-01 2.61585360e-03 -4.87676177e-01] [ 1.49777062e-01 -2.14740336e-03 9.88717462e-01 -2.76973048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78320100799999 meters Centerline goodness [0,1] 0.8978148361127085 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.28 [[ 9.88636023e-01 1.77070881e-03 -1.50318588e-01 2.59150406e+00] [-1.35407558e-03 9.99994953e-01 2.87397571e-03 -4.88197269e-01] [ 1.50322918e-01 -2.63777318e-03 9.88633432e-01 -2.75234746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.813201008 meters Centerline goodness [0,1] 0.8825283927956866 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.27 [[ 9.88537909e-01 1.27004403e-03 -1.50967510e-01 2.59261102e+00] [-7.62589657e-04 9.99993864e-01 3.41919563e-03 -4.88423838e-01] [ 1.50970926e-01 -3.26487824e-03 9.88532812e-01 -2.73317066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.843201008 meters Centerline goodness [0,1] 0.9071074285386622 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.27 [[ 9.88472229e-01 1.20454052e-03 -1.51397494e-01 2.59264337e+00] [-5.74186675e-04 9.99990985e-01 4.20721677e-03 -4.88770396e-01] [ 1.51401197e-01 -4.07178651e-03 9.88464010e-01 -2.71037087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.873201008 meters Centerline goodness [0,1] 0.8637625576003892 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.27 [[ 9.88457577e-01 1.43465237e-03 -1.51491121e-01 2.59179605e+00] [-7.29004792e-04 9.99988626e-01 4.71344943e-03 -4.88639059e-01] [ 1.51496160e-01 -4.54860705e-03 9.88447380e-01 -2.69420314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.903201008 meters Centerline goodness [0,1] 0.9068392183750429 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.49, Z:-0.27 [[ 9.88412723e-01 1.49495040e-03 -1.51782916e-01 2.59173919e+00] [-7.87983234e-04 9.99988561e-01 4.71779475e-03 -4.86784795e-01] [ 1.51788233e-01 -4.54352596e-03 9.88402594e-01 -2.68453575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.933201008 meters Centerline goodness [0,1] 0.913315333238596 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.48, Z:-0.27 [[ 0.98837278 0.00631963 -0.15191876 2.59111077] [-0.00505608 0.99994935 0.00870211 -0.48312354] [ 0.15196606 -0.00783282 0.98835467 -0.26721275] [ 0. 0. 0. 1. ]] SLAMing on 73.963201008 meters Centerline goodness [0,1] 0.9049750679963735 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.48, Z:-0.27 [[ 0.98828665 0.01099838 -0.15221215 2.59107028] [-0.00909111 0.99987127 0.01322063 -0.48260277] [ 0.15233796 -0.011682 0.98825942 -0.26561195] [ 0. 0. 0. 1. ]] SLAMing on 73.993201008 meters Centerline goodness [0,1] 0.9144638474341975 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.48, Z:-0.27 [[ 0.98898257 0.01419075 -0.14735024 2.60689559] [-0.01333996 0.99988816 0.00676059 -0.47925974] [ 0.1474297 -0.00472046 0.98906127 -0.26858949] [ 0. 0. 0. 1. ]] SLAMing on 74.02320100799999 meters Centerline goodness [0,1] 0.9138815307445189 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.48, Z:-0.27 [[ 0.98899888 0.01483423 -0.14717732 2.60577782] [-0.01402828 0.99988039 0.00651256 -0.47642089] [ 0.14725632 -0.00437627 0.98908868 -0.26861667] [ 0. 0. 0. 1. ]] SLAMing on 74.05320100799999 meters Centerline goodness [0,1] 0.91373792948574 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.27 [[ 0.98884712 0.01898291 -0.14771939 2.60721333] [-0.01771073 0.99979391 0.00992281 -0.47370839] [ 0.14787731 -0.00719593 0.98897953 -0.26855882] [ 0. 0. 0. 1. ]] SLAMing on 74.08320100799999 meters Centerline goodness [0,1] 0.9132904308897594 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.27 [[ 0.98880933 0.0188859 -0.14798457 2.60782614] [-0.01768803 0.99979931 0.00940654 -0.47123226] [ 0.14813252 -0.00668372 0.98894494 -0.26881222] [ 0. 0. 0. 1. ]] SLAMing on 74.11320100799999 meters Centerline goodness [0,1] 0.9131444236202411 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.27 [[ 0.98880448 0.01912385 -0.14798642 2.60724615] [-0.01794224 0.99979563 0.0093155 -0.46971604] [ 0.14813433 -0.006556 0.98894552 -0.26836541] [ 0. 0. 0. 1. ]] SLAMing on 74.14320100799999 meters Centerline goodness [0,1] 0.9138306181655881 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.27 [[ 0.98873619 0.0188942 -0.14847137 2.60817426] [-0.01774509 0.99980149 0.00906059 -0.46823032] [ 0.14861309 -0.00632389 0.9888752 -0.26794794] [ 0. 0. 0. 1. ]] SLAMing on 74.17320100799999 meters Centerline goodness [0,1] 0.9128772017977277 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.27 [[ 0.98868838 0.01853077 -0.14883511 2.60951257] [-0.01749183 0.99981267 0.00828655 -0.46567377] [ 0.14896078 -0.00558942 0.98882731 -0.2687544 ] [ 0. 0. 0. 1. ]] SLAMing on 74.203201008 meters Centerline goodness [0,1] 0.9121059972105997 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.98867142 0.01842389 -0.14896104 2.61022091] [-0.01741314 0.99981568 0.00808686 -0.46462046] [ 0.14908257 -0.00540136 0.98881 -0.26920772] [ 0. 0. 0. 1. ]] SLAMing on 74.233201008 meters Centerline goodness [0,1] 0.9120778062646304 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.98866129 0.01835638 -0.14903658 2.6107746 ] [-0.01736863 0.99981773 0.00792658 -0.46354934] [ 0.14915492 -0.00524815 0.98879991 -0.26951791] [ 0. 0. 0. 1. ]] SLAMing on 74.263201008 meters Centerline goodness [0,1] 0.9114642767680704 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.98861631 0.01830203 -0.14934128 2.61131689] [-0.01730629 0.99981851 0.00796447 -0.46272343] [ 0.14945994 -0.00528926 0.98875363 -0.26905909] [ 0. 0. 0. 1. ]] SLAMing on 74.293201008 meters Centerline goodness [0,1] 0.912118254078929 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.9886782 0.01952066 -0.14877621 2.60820132] [-0.01838615 0.99979048 0.00899728 -0.46270687] [ 0.14892067 -0.00615999 0.98882996 -0.26722129] [ 0. 0. 0. 1. ]] SLAMing on 74.323201008 meters Centerline goodness [0,1] 0.9127997769102063 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.98864584 0.0196276 -0.14897705 2.60825855] [-0.01844862 0.99978663 0.00929177 -0.46230293] [ 0.14912764 -0.00643785 0.988797 -0.26638426] [ 0. 0. 0. 1. ]] SLAMing on 74.353201008 meters Centerline goodness [0,1] 0.91098204562589 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.27 [[ 0.98864604 0.02001361 -0.14892434 2.60741452] [-0.01876988 0.99977627 0.00975236 -0.46255753] [ 0.1490862 -0.00684634 0.9888005 -0.26543634] [ 0. 0. 0. 1. ]] SLAMing on 74.38320100799999 meters Centerline goodness [0,1] 0.9130909396254934 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.26 [[ 0.98862036 0.02086068 -0.14897857 2.60575317] [-0.01940098 0.99974855 0.01124478 -0.46484047] [ 0.14917568 -0.00822649 0.98877649 -0.26270542] [ 0. 0. 0. 1. ]] SLAMing on 74.41320100799999 meters Centerline goodness [0,1] 0.9131225517627308 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98859461 0.02083434 -0.14915306 2.6061771 ] [-0.0193379 0.99974714 0.01147628 -0.46516568] [ 0.14935444 -0.00846108 0.98874752 -0.26231906] [ 0. 0. 0. 1. ]] SLAMing on 74.44320100799999 meters Centerline goodness [0,1] 0.9124618699801305 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98859006 0.02111144 -0.14914424 2.60569631] [-0.01956372 0.99973854 0.011837 -0.46539356] [ 0.14935514 -0.00878412 0.9887446 -0.26169149] [ 0. 0. 0. 1. ]] SLAMing on 74.47320100799999 meters Centerline goodness [0,1] 0.9131955129101743 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98852722 0.02097872 -0.14957884 2.60647471] [-0.0193481 0.99973655 0.01234845 -0.46653891] [ 0.14979849 -0.00931271 0.98867269 -0.26058265] [ 0. 0. 0. 1. ]] SLAMing on 74.50320100799999 meters Centerline goodness [0,1] 0.9118759985424784 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98848721 0.02083057 -0.14986366 2.60737295] [-0.0191772 0.99973834 0.01246931 -0.46724 ] [ 0.15008419 -0.00945178 0.98862804 -0.260523 ] [ 0. 0. 0. 1. ]] SLAMing on 74.53320100799999 meters Centerline goodness [0,1] 0.9139269598363182 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98844981 0.0204182 -0.15016679 2.60907873] [-0.01882422 0.99975045 0.01202867 -0.46722934] [ 0.15037492 -0.00906297 0.9885875 -0.26164306] [ 0. 0. 0. 1. ]] SLAMing on 74.563201008 meters Centerline goodness [0,1] 0.9146528844810727 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98839422 0.01964131 -0.15063561 2.61176904] [-0.01815732 0.99977218 0.01122078 -0.4661563 ] [ 0.15082168 -0.00835542 0.98852567 -0.2632087 ] [ 0. 0. 0. 1. ]] SLAMing on 74.593201008 meters Centerline goodness [0,1] 0.9134043088272278 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.26 [[ 0.98840396 0.01971386 -0.15056218 2.61217998] [-0.01831513 0.99977532 0.01067123 -0.46491661] [ 0.15073872 -0.00778992 0.98854295 -0.26445783] [ 0. 0. 0. 1. ]] SLAMing on 74.623201008 meters Centerline goodness [0,1] 0.9137665967854647 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.46, Z:-0.26 [[ 0.98839029 0.01957454 -0.15067011 2.6125168 ] [-0.01819777 0.99977915 0.01051116 -0.46462505] [ 0.15084258 -0.00764727 0.98852822 -0.26447208] [ 0. 0. 0. 1. ]] SLAMing on 74.653201008 meters Centerline goodness [0,1] 0.9132574592433098 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.9883692 0.01970774 -0.15079101 2.61232735] [-0.0182585 0.9997729 0.01098955 -0.46555382] [ 0.15097334 -0.00810851 0.98850458 -0.26352081] [ 0. 0. 0. 1. ]] SLAMing on 74.683201008 meters Centerline goodness [0,1] 0.9127695323438813 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98826607 0.01910717 -0.15154239 2.61418753] [-0.01760499 0.99978175 0.01124823 -0.46687767] [ 0.15172424 -0.00844834 0.98838676 -0.26260313] [ 0. 0. 0. 1. ]] SLAMing on 74.713201008 meters Centerline goodness [0,1] 0.9177537967372009 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.47, Z:-0.26 [[ 0.98835003 0.01471068 -0.15148539 2.61423769] [-0.01375894 0.99987848 0.00732901 -0.46791428] [ 0.1515748 -0.00515935 0.98843233 -0.2632107 ] [ 0. 0. 0. 1. ]] SLAMing on 74.743201008 meters Centerline goodness [0,1] 0.916657274878846 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.47, Z:-0.26 [[ 0.98829043 0.01443529 -0.1519001 2.61528328] [-0.01339653 0.99987937 0.00785967 -0.4693091 ] [ 0.15199524 -0.0057327 0.9883646 -0.26232836] [ 0. 0. 0. 1. ]] SLAMing on 74.77320100799999 meters Centerline goodness [0,1] 0.9180059775559691 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.47, Z:-0.26 [[ 0.98825418 0.01413524 -0.15216397 2.61618071] [-0.01303569 0.99988123 0.00822129 -0.47025021] [ 0.15226211 -0.00614116 0.98832107 -0.26183692] [ 0. 0. 0. 1. ]] SLAMing on 74.80320100799999 meters Centerline goodness [0,1] 0.9202480040767793 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.47, Z:-0.26 [[ 0.98818373 0.01297142 -0.15272411 2.61877745] [-0.01179351 0.99989333 0.00861608 -0.47265407] [ 0.15281958 -0.00671312 0.9882313 -0.2613574 ] [ 0. 0. 0. 1. ]] SLAMing on 74.83320100799999 meters Centerline goodness [0,1] 0.9220126143530882 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.47, Z:-0.26 [[ 0.98810293 0.01255629 -0.15328058 2.6203382 ] [-0.01127292 0.99989378 0.00923896 -0.47499077] [ 0.15338031 -0.00740112 0.98813952 -0.26042988] [ 0. 0. 0. 1. ]] SLAMing on 74.86320100799999 meters Centerline goodness [0,1] 0.9220238095238096 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.26 [[ 0.98798063 0.01194579 -0.15411545 2.62253602] [-0.01057908 0.99989713 0.00968518 -0.47698409] [ 0.15421529 -0.00793837 0.98800538 -0.25944257] [ 0. 0. 0. 1. ]] SLAMing on 74.89320100799999 meters Centerline goodness [0,1] 0.9205233963874271 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.26 [[ 0.98792076 0.01182845 -0.15450782 2.62324527] [-0.01036007 0.99989323 0.01030536 -0.47886853] [ 0.15461322 -0.00858016 0.98793782 -0.25838946] [ 0. 0. 0. 1. ]] SLAMing on 74.92320100799999 meters Centerline goodness [0,1] 0.9207633152947878 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.26 [[ 0.98781222 0.01095408 -0.15526436 2.6256797 ] [-0.00937747 0.9998968 0.0108832 -0.48125713] [ 0.15536755 -0.00929457 0.98781301 -0.25726894] [ 0. 0. 0. 1. ]] SLAMing on 74.953201008 meters Centerline goodness [0,1] 0.9220708602827543 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.26 [[ 0.98790131 0.00680889 -0.15493431 2.62455817] [-0.00584939 0.99996079 0.00664802 -0.47979665] [ 0.1549735 -0.00566132 0.98790241 -0.25778245] [ 0. 0. 0. 1. ]] SLAMing on 74.983201008 meters Centerline goodness [0,1] 0.9188198224004583 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.26 [[ 0.98785869 0.00684299 -0.15520435 2.62480246] [-0.00572726 0.99995445 0.0076348 -0.48210932] [ 0.15524953 -0.00665321 0.98785288 -0.25626445] [ 0. 0. 0. 1. ]] SLAMing on 75.013201008 meters Centerline goodness [0,1] 0.9216931521020719 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98779962 0.00677135 -0.15558294 2.62519173] [-0.00553353 0.99994951 0.00838775 -0.48375248] [ 0.15563188 -0.0074245 0.98778722 -0.25477751] [ 0. 0. 0. 1. ]] SLAMing on 75.043201008 meters Centerline goodness [0,1] 0.9154897364057407 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98772175 0.00626928 -0.15609752 2.62668434] [-0.0049894 0.99995066 0.00858969 -0.48411928] [ 0.15614367 -0.00770539 0.9877043 -0.25412592] [ 0. 0. 0. 1. ]] SLAMing on 75.073201008 meters Centerline goodness [0,1] 0.91813266969879 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98769807 0.00599798 -0.15625798 2.62719307] [-0.00475412 0.99995398 0.00833278 -0.48286338] [ 0.15630076 -0.00748741 0.98768113 -0.25413147] [ 0. 0. 0. 1. ]] SLAMing on 75.103201008 meters Centerline goodness [0,1] 0.907428048815342 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98766454 0.0059103 -0.15647306 2.62749176] [-0.00468602 0.99995547 0.00819196 -0.4821708 ] [ 0.15651451 -0.00735767 0.98764825 -0.25386735] [ 0. 0. 0. 1. ]] SLAMing on 75.13320100799999 meters Centerline goodness [0,1] 0.9089845644668892 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98764252 0.00629985 -0.15659681 2.62685418] [-0.00501481 0.99995045 0.00859978 -0.48228317] [ 0.15664323 -0.00770821 0.98762517 -0.25278495] [ 0. 0. 0. 1. ]] SLAMing on 75.16320100799999 meters Centerline goodness [0,1] 0.9091168497645884 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98767 0.00682272 -0.15640145 2.62545918] [-0.00550005 0.99994537 0.00888811 -0.48188466] [ 0.15645354 -0.0079183 0.98765358 -0.25193016] [ 0. 0. 0. 1. ]] SLAMing on 75.19320100799999 meters Centerline goodness [0,1] 0.9231141061730501 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.48, Z:-0.25 [[ 0.98763089 0.01180158 -0.15635203 2.62462274] [-0.00987241 0.99986533 0.01310944 -0.48068891] [ 0.15648568 -0.01140371 0.98761439 -0.25095538] [ 0. 0. 0. 1. ]] SLAMing on 75.22320100799999 meters Centerline goodness [0,1] 0.9234926293749823 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.9874941 0.01577622 -0.15686466 2.62660396] [-0.01332705 0.99977251 0.0166529 -0.47953941] [ 0.15709169 -0.0143541 0.9874797 -0.25128305] [ 0. 0. 0. 1. ]] SLAMing on 75.25320100799999 meters Centerline goodness [0,1] 0.9234926293749823 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.9874941 0.01577622 -0.15686466 2.62660396] [-0.01332705 0.99977251 0.0166529 -0.47953941] [ 0.15709169 -0.0143541 0.9874797 -0.25128305] [ 0. 0. 0. 1. ]] SLAMing on 75.28320100799999 meters Centerline goodness [0,1] 0.9221035425414987 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.25 [[ 0.98749936 0.01626864 -0.15678118 2.62662456] [-0.01397044 0.99977836 0.01574955 -0.47537759] [ 0.15700266 -0.01336237 0.98750778 -0.25299161] [ 0. 0. 0. 1. ]] SLAMing on 75.313201008 meters Centerline goodness [0,1] 0.9180608098640886 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:-0.25 [[ 0.98739771 0.02105018 -0.1568523 2.62707059] [-0.01838213 0.99966095 0.01844138 -0.47140323] [ 0.15718731 -0.01532569 0.98744988 -0.25466944] [ 0. 0. 0. 1. ]] SLAMing on 75.343201008 meters Centerline goodness [0,1] 0.9185444366689993 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:-0.26 [[ 0.98743245 0.02174235 -0.15653888 2.62572413] [-0.01914066 0.9996528 0.01810856 -0.46997858] [ 0.15687825 -0.01488472 0.98750578 -0.25509646] [ 0. 0. 0. 1. ]] SLAMing on 75.373201008 meters Centerline goodness [0,1] 0.9152997816716117 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:-0.26 [[ 0.98813479 0.02353062 -0.15177597 2.64038221] [-0.02224835 0.99970104 0.01014138 -0.46798275] [ 0.15196923 -0.00664428 0.98836289 -0.25767837] [ 0. 0. 0. 1. ]] SLAMing on 75.403201008 meters Centerline goodness [0,1] 0.9159339120694483 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:-0.26 [[ 0.9881549 0.02447381 -0.15149561 2.63848462] [-0.02312447 0.99967573 0.01066245 -0.46828634] [ 0.15170744 -0.0070329 0.98840042 -0.25676973] [ 0. 0. 0. 1. ]] SLAMing on 75.433201008 meters Centerline goodness [0,1] 0.9171414209115282 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:-0.26 [[ 0.98816401 0.02552455 -0.15126261 2.63713239] [-0.02419189 0.99965067 0.0106442 -0.46727716] [ 0.15148146 -0.00685889 0.9884363 -0.25715017] [ 0. 0. 0. 1. ]] SLAMing on 75.463201008 meters Centerline goodness [0,1] 0.9151755759337956 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:-0.26 [[ 0.98821009 0.02608688 -0.15086517 2.63600533] [-0.02473158 0.99963521 0.01085314 -0.46689035] [ 0.15109326 -0.00699405 0.98849477 -0.25727393] [ 0. 0. 0. 1. ]] SLAMing on 75.493201008 meters Centerline goodness [0,1] 0.9168158424703513 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.47, Z:-0.26 [[ 0.98823885 0.02643063 -0.15061671 2.63538962] [-0.0250445 0.99962479 0.01109283 -0.46743651] [ 0.15085339 -0.00719025 0.98853 -0.25733594] [ 0. 0. 0. 1. ]] SLAMing on 75.52320100799999 meters Centerline goodness [0,1] 0.9161656458953756 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:-0.26 [[ 0.98822957 0.0268432 -0.15060464 2.63481047] [-0.02533754 0.99960803 0.01190781 -0.46942235] [ 0.15086525 -0.0079517 0.98852236 -0.25637131] [ 0. 0. 0. 1. ]] SLAMing on 75.55320100799999 meters Centerline goodness [0,1] 0.9159174441617189 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:-0.26 [[ 0.98838057 0.02296806 -0.15025417 2.63410627] [-0.02198118 0.99972454 0.00822583 -0.47138909] [ 0.15040171 -0.00482749 0.98861318 -0.25740466] [ 0. 0. 0. 1. ]] SLAMing on 75.58320100799999 meters Centerline goodness [0,1] 0.9159601916697383 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.47, Z:-0.26 [[ 0.98835121 0.02303057 -0.15043765 2.63457167] [-0.02194881 0.99971995 0.00884745 -0.47366085] [ 0.15059929 -0.00544246 0.98857991 -0.25692796] [ 0. 0. 0. 1. ]] SLAMing on 75.61320100799999 meters Centerline goodness [0,1] 0.9155849688982305 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.26 [[ 0.98834509 0.02320591 -0.15045089 2.63454615] [-0.0220443 0.99971295 0.00938433 -0.47553232] [ 0.15062547 -0.00595837 0.98857294 -0.25653356] [ 0. 0. 0. 1. ]] SLAMing on 75.64320100799999 meters Centerline goodness [0,1] 0.9164128113879003 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.26 [[ 0.98835515 0.02362224 -0.15031996 2.63422649] [-0.02239537 0.99970067 0.00984959 -0.47789286] [ 0.15050764 -0.00636842 0.98858833 -0.25657954] [ 0. 0. 0. 1. ]] SLAMing on 75.67320100799999 meters Centerline goodness [0,1] 0.916340466870482 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.48, Z:-0.26 [[ 0.98832075 0.02384181 -0.15051132 2.63450622] [-0.02254625 0.99969265 0.01030859 -0.47975123] [ 0.15071084 -0.00679473 0.98855454 -0.25625529] [ 0. 0. 0. 1. ]] SLAMing on 75.703201008 meters Centerline goodness [0,1] 0.9160617319234067 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.26 [[ 0.9882874 0.02366289 -0.15075833 2.63558146] [-0.02235526 0.99969638 0.01036285 -0.48118683] [ 0.15095777 -0.00687123 0.98851633 -0.25654903] [ 0. 0. 0. 1. ]] SLAMing on 75.733201008 meters Centerline goodness [0,1] 0.9158219354101824 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.26 [[ 0.98825996 0.02378239 -0.15091934 2.63591731] [-0.02242195 0.99969123 0.01070991 -0.48278017] [ 0.15112744 -0.00720027 0.98848806 -0.25634986] [ 0. 0. 0. 1. ]] SLAMing on 75.763201008 meters Centerline goodness [0,1] 0.9152595730066968 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.26 [[ 0.98825738 0.02390789 -0.15091642 2.63621692] [-0.02252131 0.99968704 0.01089053 -0.48385596] [ 0.15112956 -0.00736382 0.98848654 -0.25668079] [ 0. 0. 0. 1. ]] SLAMing on 75.793201008 meters Centerline goodness [0,1] 0.9136931120189697 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.26 [[ 0.98828356 0.02366969 -0.15078244 2.63744749] [-0.02230554 0.99969359 0.01073227 -0.48478281] [ 0.15099027 -0.00724324 0.98850871 -0.25831251] [ 0. 0. 0. 1. ]] SLAMing on 75.823201008 meters Centerline goodness [0,1] 0.9106831124974959 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.98826666 0.02344208 -0.15092871 2.63851012] [-0.02208428 0.99969921 0.01066649 -0.4852714 ] [ 0.15113336 -0.00720819 0.9884871 -0.25894471] [ 0. 0. 0. 1. ]] SLAMing on 75.853201008 meters Centerline goodness [0,1] 0.9114000517791905 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.48, Z:-0.26 [[ 0.98840432 0.01909572 -0.15063947 2.63807844] [-0.01833892 0.99981127 0.00641167 -0.48481443] [ 0.15073347 -0.00357476 0.98856797 -0.26000536] [ 0. 0. 0. 1. ]] SLAMing on 75.88320100799999 meters Centerline goodness [0,1] 0.9103619608862697 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88519649e-01 1.50347428e-02 -1.50342478e-01 2.63689274e+00] [-1.48270780e-02 9.99886942e-01 2.50218744e-03 -4.85113192e-01] [ 1.50363100e-01 -2.44321798e-04 9.88630810e-01 -2.60224682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91320100799999 meters Centerline goodness [0,1] 0.9105898745935903 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88451185e-01 1.50533834e-02 -1.50790086e-01 2.63735015e+00] [-1.46697259e-02 9.99885708e-01 3.65644048e-03 -4.89135060e-01] [ 1.50827894e-01 -1.40216368e-03 9.88559042e-01 -2.58420648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94320100799999 meters Centerline goodness [0,1] 0.9084151922348209 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.50, Z:-0.26 [[ 0.98837627 0.0145015 -0.15133425 2.63844273] [-0.01385228 0.99988978 0.00534336 -0.49530641] [ 0.15139506 -0.00318493 0.9884682 -0.25551479] [ 0. 0. 0. 1. ]] SLAMing on 75.97320100799999 meters Centerline goodness [0,1] 0.9088122829037625 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.50, Z:-0.26 [[ 0.98833017 0.01433423 -0.15165091 2.63949686] [-0.01361916 0.99989071 0.0057529 -0.49723649] [ 0.1517168 -0.00362041 0.98841737 -0.2552652 ] [ 0. 0. 0. 1. ]] SLAMing on 76.00320100799999 meters Centerline goodness [0,1] 0.9079510165817074 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.50, Z:-0.26 [[ 0.98828479 0.01406151 -0.15197185 2.64076705] [-0.01332784 0.9998941 0.0058453 -0.49819283] [ 0.15203795 -0.00375137 0.98836754 -0.25545154] [ 0. 0. 0. 1. ]] SLAMing on 76.03320100799999 meters Centerline goodness [0,1] 0.9088383247543285 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.50, Z:-0.26 [[ 0.98826892 0.01392832 -0.15208729 2.64150089] [-0.01320785 0.99989626 0.00574647 -0.49822297] [ 0.15215156 -0.00367031 0.98835036 -0.25588356] [ 0. 0. 0. 1. ]] SLAMing on 76.063201008 meters Centerline goodness [0,1] 0.9039890039188162 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88283937e-01 1.36824885e-02 -1.52012006e-01 2.64252655e+00] [-1.31342994e-02 9.99903115e-01 4.60980537e-03 -4.94720197e-01] [ 1.52060352e-01 -2.55922540e-03 9.88367897e-01 -2.58028650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.093201008 meters Centerline goodness [0,1] 0.9045016077170418 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88253878e-01 1.34976775e-02 -1.52223803e-01 2.64321175e+00] [-1.29687654e-02 9.99905924e-01 4.46694315e-03 -4.94141092e-01] [ 1.52269775e-01 -2.44031911e-03 9.88335955e-01 -2.58117812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.123201008 meters Centerline goodness [0,1] 0.9028925016782932 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88192108e-01 1.31465608e-02 -1.52654925e-01 2.64433801e+00] [-1.25951894e-02 9.99910196e-01 4.57838780e-03 -4.94558326e-01] [ 1.52701406e-01 -2.60160899e-03 9.88268947e-01 -2.57660686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.153201008 meters Centerline goodness [0,1] 0.9026869158878504 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88099645e-01 1.25098805e-02 -1.53305556e-01 2.64633132e+00] [-1.20257238e-02 9.99919344e-01 4.08503179e-03 -4.93342503e-01] [ 1.53344294e-01 -2.19280819e-03 9.88170390e-01 -2.57854587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.183201008 meters Centerline goodness [0,1] 0.9021437946623888 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88106005e-01 1.24588557e-02 -1.53268716e-01 2.64663159e+00] [-1.20479327e-02 9.99920906e-01 3.60957941e-03 -4.91972142e-01] [ 1.53301565e-01 -1.72007591e-03 9.88177955e-01 -2.58670321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.213201008 meters Centerline goodness [0,1] 0.9028308212588554 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88111589e-01 1.27775046e-02 -1.53206469e-01 2.64613947e+00] [-1.23806306e-02 9.99917076e-01 3.54423965e-03 -4.90872519e-01] [ 1.53239051e-01 -1.60531158e-03 9.88187845e-01 -2.58662951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.243201008 meters Centerline goodness [0,1] 0.9042167971031422 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.98810953 0.01383369 -0.15312801 2.64378922] [-0.01324993 0.99990054 0.00483213 -0.4921742 ] [ 0.15317963 -0.00274574 0.98819455 -0.25605146] [ 0. 0. 0. 1. ]] SLAMing on 76.27320100799999 meters Centerline goodness [0,1] 0.9031796548804345 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.9881318 0.01426911 -0.15294425 2.6425924 ] [-0.01362293 0.9998933 0.00527205 -0.49229679] [ 0.15300316 -0.00312593 0.98822076 -0.25520941] [ 0. 0. 0. 1. ]] SLAMing on 76.30320100799999 meters Centerline goodness [0,1] 0.9013115709705625 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.25 [[ 0.98811821 0.01428142 -0.15303083 2.64269532] [-0.01358556 0.99989208 0.00559192 -0.49263674] [ 0.15309418 -0.00344647 0.98820559 -0.2546516 ] [ 0. 0. 0. 1. ]] SLAMing on 76.33320100799999 meters Centerline goodness [0,1] 0.9031391444006425 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.25 [[ 0.98810621 0.01423172 -0.15311298 2.64300328] [-0.01351785 0.99989237 0.00570243 -0.49249307] [ 0.15317765 -0.00356485 0.98819224 -0.25452627] [ 0. 0. 0. 1. ]] SLAMing on 76.36320100799999 meters Centerline goodness [0,1] 0.9005555555555556 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.98812471 0.01384652 -0.15302886 2.644212 ] [-0.01324278 0.99989999 0.00496389 -0.49060834] [ 0.15308229 -0.00287841 0.98820925 -0.2563107 ] [ 0. 0. 0. 1. ]] SLAMing on 76.39320100799999 meters Centerline goodness [0,1] 0.9010716989923699 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88091294e-01 1.35786846e-02 -1.53268439e-01 2.64506389e+00] [-1.30167113e-02 9.99904376e-01 4.66950035e-03 -4.89293576e-01] [ 1.53317189e-01 -2.61884162e-03 9.88173558e-01 -2.56489354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42320100799999 meters Centerline goodness [0,1] 0.9006930432494078 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.98809485 0.01385205 -0.15322103 2.64454221] [-0.01326816 0.9999003 0.00483269 -0.48932614] [ 0.1532727 -0.00274219 0.98818013 -0.25615149] [ 0. 0. 0. 1. ]] SLAMing on 76.453201008 meters Centerline goodness [0,1] 0.8990138413367278 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 0.98810068 0.01450293 -0.15312316 2.64321781] [-0.01383365 0.99988954 0.00543539 -0.49024085] [ 0.15318507 -0.00325246 0.98819217 -0.25504784] [ 0. 0. 0. 1. ]] SLAMing on 76.483201008 meters Centerline goodness [0,1] 0.8995436461502457 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.25 [[ 0.9880679 0.01505075 -0.15328177 2.64233301] [-0.01434981 0.99988091 0.00567824 -0.49039405] [ 0.15334897 -0.00341092 0.98816621 -0.25399792] [ 0. 0. 0. 1. ]] SLAMing on 76.513201008 meters Centerline goodness [0,1] 0.9037336142322098 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.25 [[ 0.98806596 0.01498743 -0.15330046 2.64272771] [-0.01432569 0.99988269 0.00542037 -0.48969264] [ 0.15336371 -0.00315955 0.98816476 -0.25451929] [ 0. 0. 0. 1. ]] SLAMing on 76.543201008 meters Centerline goodness [0,1] 0.9026884862653419 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.49, Z:-0.26 [[ 9.88049217e-01 1.45154592e-02 -1.53453724e-01 2.64410769e+00] [-1.39659840e-02 9.99891621e-01 4.65812383e-03 -4.87973110e-01] [ 1.53504708e-01 -2.45932335e-03 9.88144856e-01 -2.55831176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.573201008 meters Centerline goodness [0,1] 0.9010395374642294 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88037514e-01 1.40411739e-02 -1.53573165e-01 2.64559266e+00] [-1.35919314e-02 9.99899725e-01 3.97483365e-03 -4.86414991e-01] [ 1.53613577e-01 -1.83992883e-03 9.88129285e-01 -2.57267264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.603201008 meters Centerline goodness [0,1] 0.8982559840814655 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88050210e-01 1.36138625e-02 -1.53529950e-01 2.64675450e+00] [-1.32464714e-02 9.99906428e-01 3.41568370e-03 -4.85236267e-01] [ 1.53562084e-01 -1.34113691e-03 9.88138091e-01 -2.58706639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63320100799999 meters Centerline goodness [0,1] 0.8980901048684751 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 9.88038779e-01 1.39157655e-02 -1.53576437e-01 2.64625006e+00] [-1.34510631e-02 9.99901269e-01 4.06455318e-03 -4.86434743e-01] [ 1.53617835e-01 -1.95016982e-03 9.88128411e-01 -2.57668740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66320100799999 meters Centerline goodness [0,1] 0.8982363315696649 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.98801073 0.01424598 -0.15372656 2.64564599] [-0.01364075 0.9998945 0.00499119 -0.48838377] [ 0.15378144 -0.0028344 0.98810082 -0.25600208] [ 0. 0. 0. 1. ]] SLAMing on 76.69320100799999 meters Centerline goodness [0,1] 0.8996049062389433 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98795649 0.01450834 -0.15405027 2.64544759] [-0.01371444 0.99988664 0.00621499 -0.49094352] [ 0.15412298 -0.00402743 0.98804346 -0.25385062] [ 0. 0. 0. 1. ]] SLAMing on 76.72320100799999 meters Centerline goodness [0,1] 0.8992181484333353 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98791524 0.01453199 -0.15431233 2.6457188 ] [-0.01363614 0.99988348 0.00686236 -0.49329609] [ 0.15439407 -0.0046752 0.98799829 -0.25283108] [ 0. 0. 0. 1. ]] SLAMing on 76.75320100799999 meters Centerline goodness [0,1] 0.8974024433637765 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98790835 0.01403822 -0.15440211 2.64724176] [-0.01325547 0.99989355 0.00609797 -0.4920674 ] [ 0.15447128 -0.00397756 0.98798927 -0.25445323] [ 0. 0. 0. 1. ]] SLAMing on 76.78320100799999 meters Centerline goodness [0,1] 0.8972750673096838 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.98789316 0.01354211 -0.15454357 2.64886855] [-0.01288291 0.99990314 0.00526622 -0.49012355] [ 0.15459992 -0.00321149 0.98797194 -0.25607061] [ 0. 0. 0. 1. ]] SLAMing on 76.813201008 meters Centerline goodness [0,1] 0.8932985565665846 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.98788592 0.01318354 -0.15462081 2.64997359] [-0.01260506 0.99990941 0.00472108 -0.48901322] [ 0.15466904 -0.00271488 0.98796261 -0.25718487] [ 0. 0. 0. 1. ]] SLAMing on 76.843201008 meters Centerline goodness [0,1] 0.8957022438561083 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.98786686 0.01377219 -0.15469126 2.64885688] [-0.01300237 0.99989754 0.00598721 -0.49131345] [ 0.15475787 -0.00390321 0.98794472 -0.25500883] [ 0. 0. 0. 1. ]] SLAMing on 76.873201008 meters Centerline goodness [0,1] 0.894276274667381 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98784623 0.01412127 -0.15479153 2.64823087] [-0.01321674 0.99988905 0.00687113 -0.49336231] [ 0.15487139 -0.00474178 0.98792326 -0.25353387] [ 0. 0. 0. 1. ]] SLAMing on 76.903201008 meters Centerline goodness [0,1] 0.8925789379794256 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98783154 0.01421269 -0.15487686 2.6482059 ] [-0.01321578 0.9998848 0.00746458 -0.49490302] [ 0.15496511 -0.00532693 0.98790558 -0.25272608] [ 0. 0. 0. 1. ]] SLAMing on 76.933201008 meters Centerline goodness [0,1] 0.8944273647136077 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98781016 0.0142954 -0.15500561 2.64833115] [-0.01320496 0.99988031 0.00806224 -0.49628503] [ 0.15510231 -0.00591712 0.98788069 -0.25198726] [ 0. 0. 0. 1. ]] SLAMing on 76.963201008 meters Centerline goodness [0,1] 0.8910454870207192 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98778294 0.0141023 -0.15519661 2.64905601] [-0.0129706 0.99988141 0.0083023 -0.49692914] [ 0.15529528 -0.00618787 0.98784872 -0.25177178] [ 0. 0. 0. 1. ]] SLAMing on 76.993201008 meters Centerline goodness [0,1] 0.8903214306933634 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98773064 0.01332636 -0.15559755 2.65110469] [-0.01215617 0.99989024 0.00846973 -0.49769645] [ 0.15569334 -0.00647435 0.98778422 -0.25168559] [ 0. 0. 0. 1. ]] SLAMing on 77.02320100799999 meters Centerline goodness [0,1] 0.8844460311793407 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98772891 0.01329734 -0.15561099 2.65134904] [-0.01209818 0.99988939 0.00865068 -0.49833775] [ 0.15570881 -0.00666191 0.98778053 -0.25166694] [ 0. 0. 0. 1. ]] SLAMing on 77.05320100799999 meters Centerline goodness [0,1] 0.885600693510298 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98770659 0.01328384 -0.15575377 2.65157865] [-0.01201642 0.99988661 0.00907615 -0.49943698] [ 0.15585667 -0.00709297 0.98775421 -0.2510112 ] [ 0. 0. 0. 1. ]] SLAMing on 77.08320100799999 meters Centerline goodness [0,1] 0.8782590475050139 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98767423 0.01341029 -0.15594797 2.65136725] [-0.01201422 0.9998789 0.00989134 -0.50141318] [ 0.15606173 -0.00789583 0.98771574 -0.24950235] [ 0. 0. 0. 1. ]] SLAMing on 77.11320100799999 meters Centerline goodness [0,1] 0.8761685043144775 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98764789 0.01331012 -0.15612332 2.65117576] [-0.0116921 0.99986805 0.01127748 -0.50492036] [ 0.15625282 -0.00931277 0.98767319 -0.2469659 ] [ 0. 0. 0. 1. ]] SLAMing on 77.14320100799999 meters Centerline goodness [0,1] 0.8761685043144775 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98764789 0.01331012 -0.15612332 2.65117576] [-0.0116921 0.99986805 0.01127748 -0.50492036] [ 0.15625282 -0.00931277 0.98767319 -0.2469659 ] [ 0. 0. 0. 1. ]] SLAMing on 77.17320100799999 meters Centerline goodness [0,1] 0.8728122752337569 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.51, Z:-0.25 [[ 0.98763284 0.01326428 -0.15622235 2.65141234] [-0.01157607 0.99986441 0.0117114 -0.50577875] [ 0.15635651 -0.00975812 0.98765248 -0.24635041] [ 0. 0. 0. 1. ]] SLAMing on 77.203201008 meters Centerline goodness [0,1] 0.8807100520864515 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.51, Z:-0.25 [[ 0.98760867 0.01305563 -0.15639269 2.65207925] [-0.01133657 0.99986518 0.01187891 -0.50622069] [ 0.15652669 -0.00995875 0.98762352 -0.24616914] [ 0. 0. 0. 1. ]] SLAMing on 77.233201008 meters Centerline goodness [0,1] 0.8713862009047605 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.51, Z:-0.25 [[ 0.98759754 0.01280773 -0.15648343 2.65274362] [-0.01108019 0.99986772 0.01190714 -0.50636809] [ 0.15661523 -0.0100256 0.98760881 -0.24626496] [ 0. 0. 0. 1. ]] SLAMing on 77.263201008 meters Centerline goodness [0,1] 0.8722895169732316 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.51, Z:-0.25 [[ 0.98757444 0.01205566 -0.15668884 2.6545126 ] [-0.01041966 0.99988233 0.01125828 -0.50517717] [ 0.15680613 -0.00948574 0.98758385 -0.24739835] [ 0. 0. 0. 1. ]] SLAMing on 77.293201008 meters Centerline goodness [0,1] 0.8709898833149303 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.50, Z:-0.25 [[ 0.98757412 0.01187893 -0.15670434 2.65505561] [-0.01029502 0.99988743 0.01091544 -0.50400094] [ 0.15681636 -0.00916653 0.98758524 -0.24805831] [ 0. 0. 0. 1. ]] SLAMing on 77.323201008 meters Centerline goodness [0,1] 0.8695665154048244 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.50, Z:-0.25 [[ 0.98756012 0.01166837 -0.15680833 2.65572357] [-0.01013947 0.99989298 0.01054649 -0.50291566] [ 0.1569146 -0.00882534 0.98757274 -0.24860116] [ 0. 0. 0. 1. ]] SLAMing on 77.353201008 meters Centerline goodness [0,1] 0.8708966338993149 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.50, Z:-0.25 [[ 0.98755036 0.01148182 -0.15688357 2.6562932 ] [-0.01001534 0.99989848 0.01013495 -0.50189032] [ 0.15698401 -0.00843753 0.9875651 -0.24921445] [ 0. 0. 0. 1. ]] SLAMing on 77.38320100799999 meters Centerline goodness [0,1] 0.8717589974101747 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98754485 0.01197889 -0.15688107 2.65493906] [-0.01045097 0.99988962 0.01056065 -0.50154937] [ 0.15699025 -0.00878956 0.98756104 -0.24776469] [ 0. 0. 0. 1. ]] SLAMing on 77.41320100799999 meters Centerline goodness [0,1] 0.8714755848083252 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98751392 0.01202002 -0.15707254 2.65468856] [-0.01043824 0.9998862 0.01089139 -0.50155535] [ 0.15718558 -0.00911584 0.98752701 -0.24651848] [ 0. 0. 0. 1. ]] SLAMing on 77.44320100799999 meters Centerline goodness [0,1] 0.8739041279087045 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98751668 0.01219139 -0.15704198 2.65436277] [-0.01061319 0.99988444 0.01088422 -0.50103976] [ 0.15715652 -0.00908163 0.98753195 -0.24642386] [ 0. 0. 0. 1. ]] SLAMing on 77.47320100799999 meters Centerline goodness [0,1] 0.8722385752088723 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.50, Z:-0.25 [[ 0.98752237 0.0120283 -0.15701873 2.65481744] [-0.01056791 0.99989282 0.01013231 -0.49864086] [ 0.15712378 -0.00834653 0.98754365 -0.24751928] [ 0. 0. 0. 1. ]] SLAMing on 77.50320100799999 meters Centerline goodness [0,1] 0.8685375354107648 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.50, Z:-0.25 [[ 0.9874095 0.0157853 -0.15739537 2.65728359] [-0.01385561 0.99981488 0.01334997 -0.49609283] [ 0.15757696 -0.01100108 0.98744543 -0.24873554] [ 0. 0. 0. 1. ]] SLAMing on 77.53320100799999 meters Centerline goodness [0,1] 0.8639413738301254 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.49, Z:-0.25 [[ 0.9874295 0.01597719 -0.15725046 2.65681875] [-0.01410073 0.99981553 0.01304142 -0.49437865] [ 0.15742982 -0.01066013 0.98747264 -0.24909782] [ 0. 0. 0. 1. ]] SLAMing on 77.563201008 meters Centerline goodness [0,1] 0.8630531168335438 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98749403 0.01705792 -0.15673085 2.65388622] [-0.01515942 0.99979662 0.01330062 -0.49286926] [ 0.15692586 -0.01075834 0.98755179 -0.24806835] [ 0. 0. 0. 1. ]] SLAMing on 77.593201008 meters Centerline goodness [0,1] 0.8646517354596623 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98749694 0.0173268 -0.15668303 2.6531565 ] [-0.01544924 0.99979361 0.01319314 -0.49208157] [ 0.15687929 -0.01060755 0.98756082 -0.24780248] [ 0. 0. 0. 1. ]] SLAMing on 77.623201008 meters Centerline goodness [0,1] 0.8679675843304759 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98753816 0.0179307 -0.15635498 2.65142712] [-0.01603233 0.99978176 0.01339415 -0.49211217] [ 0.15656103 -0.0107205 0.9876101 -0.24725591] [ 0. 0. 0. 1. ]] SLAMing on 77.653201008 meters Centerline goodness [0,1] 0.8620204978038067 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98756243 0.01852173 -0.15613264 2.64994292] [-0.01657055 0.99976761 0.01378939 -0.49218117] [ 0.15635176 -0.01103068 0.98763984 -0.24643992] [ 0. 0. 0. 1. ]] SLAMing on 77.683201008 meters Centerline goodness [0,1] 0.8577680525164114 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.9876415 0.01942169 -0.15552192 2.64813647] [-0.01752502 0.9997545 0.01355745 -0.49018203] [ 0.15574705 -0.01066437 0.9877394 -0.24740906] [ 0. 0. 0. 1. ]] SLAMing on 77.713201008 meters Centerline goodness [0,1] 0.8580834155113406 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98765487 0.01940334 -0.15543929 2.64829119] [-0.01757506 0.99975936 0.01312782 -0.48856531] [ 0.15565661 -0.0102339 0.98775821 -0.24813035] [ 0. 0. 0. 1. ]] SLAMing on 77.743201008 meters Centerline goodness [0,1] 0.857582800697269 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98769731 0.01984803 -0.15511314 2.64745585] [-0.01804082 0.99975208 0.01305007 -0.48778789] [ 0.15533371 -0.01009115 0.98781051 -0.2486343 ] [ 0. 0. 0. 1. ]] SLAMing on 77.77320100799999 meters Centerline goodness [0,1] 0.857084914679723 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98772271 0.02018882 -0.15490727 2.64691366] [-0.01838551 0.9997456 0.01306522 -0.48753142] [ 0.15513164 -0.01005676 0.98784262 -0.24892402] [ 0. 0. 0. 1. ]] SLAMing on 77.80320100799999 meters Centerline goodness [0,1] 0.8588880506064651 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98774103 0.02116369 -0.15466013 2.64511768] [-0.01926298 0.99971951 0.01377811 -0.48914869] [ 0.15490834 -0.01062999 0.98787166 -0.24805502] [ 0. 0. 0. 1. ]] SLAMing on 77.83320100799999 meters Centerline goodness [0,1] 0.8597504352872896 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98771216 0.02122636 -0.15483584 2.64535615] [-0.01930956 0.9997173 0.01387324 -0.48970804] [ 0.15508655 -0.01071295 0.9878428 -0.24783659] [ 0. 0. 0. 1. ]] SLAMing on 77.86320100799999 meters Centerline goodness [0,1] 0.8595476218164902 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98770762 0.0212984 -0.15485486 2.64571496] [-0.01940676 0.99971757 0.01371721 -0.49000232] [ 0.15510328 -0.01054336 0.987842 -0.24847906] [ 0. 0. 0. 1. ]] SLAMing on 77.89320100799999 meters Centerline goodness [0,1] 0.8624891209747607 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98768762 0.02097636 -0.15502628 2.64740307] [-0.01919515 0.99973152 0.01297789 -0.4894373 ] [ 0.15525689 -0.00984235 0.9878251 -0.25033925] [ 0. 0. 0. 1. ]] SLAMing on 77.92320100799999 meters Centerline goodness [0,1] 0.8668380908355484 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98764273 0.02030577 -0.15540112 2.64998213] [-0.01868525 0.99975481 0.01188179 -0.48797056] [ 0.15560428 -0.00883125 0.98777999 -0.25257381] [ 0. 0. 0. 1. ]] SLAMing on 77.953201008 meters Centerline goodness [0,1] 0.8760929158851537 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.98768291 0.01999463 -0.15518594 2.65174513] [-0.01857352 0.99977128 0.01060217 -0.48619651] [ 0.15536243 -0.00758923 0.98782839 -0.25607782] [ 0. 0. 0. 1. ]] SLAMing on 77.983201008 meters Centerline goodness [0,1] 0.8801153568853641 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.26 [[ 0.9876896 0.02039018 -0.15509191 2.65131475] [-0.01891463 0.99976077 0.01098391 -0.48716198] [ 0.15527877 -0.00791519 0.98783898 -0.25592699] [ 0. 0. 0. 1. ]] SLAMing on 78.013201008 meters Centerline goodness [0,1] 0.8799237060370488 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.49, Z:-0.25 [[ 0.98767168 0.0208085 -0.15515046 2.65077556] [-0.01921737 0.9997463 0.01174835 -0.48932136] [ 0.15535557 -0.00862193 0.98782099 -0.25487301] [ 0. 0. 0. 1. ]] SLAMing on 78.043201008 meters Centerline goodness [0,1] 0.8758027489611484 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.49, Z:-0.26 [[ 9.88794065e-01 1.41827342e-02 -1.48610722e-01 2.66263842e+00] [-1.46772158e-02 9.99889795e-01 -2.23114914e-03 -4.89357628e-01] [ 1.48562700e-01 4.38733867e-03 9.88893258e-01 -2.55785417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.073201008 meters Centerline goodness [0,1] 0.8857201059278875 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.49, Z:-0.25 [[ 9.88718629e-01 1.37206839e-02 -1.49155008e-01 2.66354666e+00] [-1.40602809e-02 9.99900402e-01 -1.22251599e-03 -4.92110970e-01] [ 1.49123378e-01 3.30588565e-03 9.88813071e-01 -2.53648970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.103201008 meters Centerline goodness [0,1] 0.8885771894450776 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.49, Z:-0.25 [[ 9.88621088e-01 1.28678727e-02 -1.49875823e-01 2.66623816e+00] [-1.32109888e-02 9.99911894e-01 -1.29389218e-03 -4.93253982e-01] [ 1.49845968e-01 3.25917692e-03 9.88703982e-01 -2.53896596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13320100799999 meters Centerline goodness [0,1] 0.8947031058796108 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.49, Z:-0.26 [[ 9.88532066e-01 1.18287306e-02 -1.50547124e-01 2.66966136e+00] [-1.22315310e-02 9.99923661e-01 -1.74983716e-03 -4.93691327e-01] [ 1.50514933e-01 3.57119195e-03 9.88601285e-01 -2.55213728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16320100799999 meters Centerline goodness [0,1] 0.8986340552215282 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.49, Z:-0.26 [[ 0.98840461 0.01030488 -0.15149301 2.6743781 ] [-0.01084899 0.99993732 -0.00276554 -0.49323013] [ 0.15145502 0.00437702 0.98845446 -0.25728863] [ 0. 0. 0. 1. ]] SLAMing on 78.19320100799999 meters Centerline goodness [0,1] 0.9051802395384931 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.49, Z:-0.26 [[ 0.98828566 0.00758154 -0.15242692 2.68136711] [-0.00833019 0.99995617 -0.0042735 -0.49390476] [ 0.15238784 0.00549319 0.98830551 -0.26081797] [ 0. 0. 0. 1. ]] SLAMing on 78.22320100799999 meters Centerline goodness [0,1] 0.9056869534597101 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.26 [[ 0.98821324 0.00757399 -0.15289614 2.68221918] [-0.00815114 0.99996182 -0.00314833 -0.49697159] [ 0.15286646 0.0043575 0.98823725 -0.25931537] [ 0. 0. 0. 1. ]] SLAMing on 78.25320100799999 meters Centerline goodness [0,1] 0.9047619047619048 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.26 [[ 9.88129661e-01 7.63017246e-03 -1.53432570e-01 2.68290860e+00] [-8.03907179e-03 9.99965596e-01 -2.04477664e-03 -5.00318816e-01] [ 1.53411690e-01 3.25395989e-03 9.88157004e-01 -2.57667637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28320100799999 meters Centerline goodness [0,1] 0.9116514630967895 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.25 [[ 9.88009665e-01 7.04863313e-03 -1.54231053e-01 2.68470540e+00] [-7.18482309e-03 9.99974136e-01 -3.25640224e-04 -5.05544096e-01] [ 1.54224769e-01 1.42985852e-03 9.88034755e-01 -2.54725495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.313201008 meters Centerline goodness [0,1] 0.9116171362408336 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.51, Z:-0.25 [[ 9.87944696e-01 7.12994323e-03 -1.54642947e-01 2.68516344e+00] [-7.14583192e-03 9.99974366e-01 4.53132337e-04 -5.07418826e-01] [ 1.54642213e-01 6.57382816e-04 9.87970320e-01 -2.53432889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.343201008 meters Centerline goodness [0,1] 0.9154449874130016 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.25 [[ 9.87936149e-01 7.45447918e-03 -1.54682242e-01 2.68479010e+00] [-7.39354574e-03 9.99972198e-01 9.69218002e-04 -5.07814853e-01] [ 1.54685167e-01 1.86124734e-04 9.87963797e-01 -2.52627412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.373201008 meters Centerline goodness [0,1] 0.9132660610185541 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.51, Z:-0.25 [[ 9.87957345e-01 7.86542575e-03 -1.54526437e-01 2.68387597e+00] [-7.82162335e-03 9.99969013e-01 8.91444809e-04 -5.06442584e-01] [ 1.54528660e-01 3.27938138e-04 9.87988252e-01 -2.52505652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.403201008 meters Centerline goodness [0,1] 0.9147621988882026 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.51, Z:-0.25 [[ 0.98781099 0.01218574 -0.1551804 2.68516453] [-0.01144117 0.99991836 0.00569033 -0.50785164] [ 0.15523707 -0.00384553 0.98786976 -0.25079711] [ 0. 0. 0. 1. ]] SLAMing on 78.433201008 meters Centerline goodness [0,1] 0.9127190800830969 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.51, Z:-0.25 [[ 0.98768633 0.01644189 -0.1555808 2.68650308] [-0.01512701 0.99983919 0.00963165 -0.50639789] [ 0.15571415 -0.00715958 0.98777621 -0.25050842] [ 0. 0. 0. 1. ]] SLAMing on 78.463201008 meters Centerline goodness [0,1] 0.9107357203501478 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 0.9877215 0.01661388 -0.15533904 2.68605259] [-0.01536442 0.99983926 0.00924076 -0.50453551] [ 0.15546759 -0.0067406 0.987818 -0.25117557] [ 0. 0. 0. 1. ]] SLAMing on 78.493201008 meters Centerline goodness [0,1] 0.9106171395144779 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.25 [[ 0.98775227 0.01735457 -0.15506213 2.68449184] [-0.01611087 0.9998272 0.00927383 -0.50291649] [ 0.15519628 -0.00666206 0.98786119 -0.25087939] [ 0. 0. 0. 1. ]] SLAMing on 78.52320100799999 meters Centerline goodness [0,1] 0.9114027413240011 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.25 [[ 0.98778198 0.01780812 -0.15482126 2.68341455] [-0.01656279 0.9998193 0.00933002 -0.50216967] [ 0.15495943 -0.00665176 0.98789844 -0.25068721] [ 0. 0. 0. 1. ]] SLAMing on 78.55320100799999 meters Centerline goodness [0,1] 0.9112407056422219 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.25 [[ 0.98783337 0.01833929 -0.15443093 2.68212631] [-0.01712854 0.99981127 0.00916709 -0.50044082] [ 0.1545699 -0.00641038 0.98796106 -0.25097846] [ 0. 0. 0. 1. ]] SLAMing on 78.58320100799999 meters Centerline goodness [0,1] 0.9090776924866248 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.50, Z:-0.25 [[ 0.98787182 0.01888241 -0.15411916 2.68085076] [-0.01770221 0.99980256 0.00902659 -0.49881955] [ 0.15425917 -0.00618887 0.98801104 -0.25103527] [ 0. 0. 0. 1. ]] SLAMing on 78.61320100799999 meters Centerline goodness [0,1] 0.9114240092901728 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88653553e-01 2.25753736e-02 -1.48507593e-01 2.69261498e+00] [-2.25313233e-02 9.99744178e-01 1.97919563e-03 -4.96774406e-01] [ 1.48514283e-01 1.38933379e-03 9.88909287e-01 -2.53379571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64320100799999 meters Centerline goodness [0,1] 0.9154181184668989 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88640233e-01 2.30215987e-02 -1.48527759e-01 2.69180317e+00] [-2.28726791e-02 9.99734711e-01 2.71087720e-03 -4.97695450e-01] [ 1.48550764e-01 7.17145483e-04 9.88904523e-01 -2.52130618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67320100799999 meters Centerline goodness [0,1] 0.9138036363636364 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88664211e-01 2.34235916e-02 -1.48305133e-01 2.69078832e+00] [-2.32015788e-02 9.99725599e-01 3.22708729e-03 -4.98067818e-01] [ 1.48340028e-01 2.50407518e-04 9.88936385e-01 -2.51410666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.703201008 meters Centerline goodness [0,1] 0.9177660254547568 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88660461e-01 2.34971234e-02 -1.48318500e-01 2.69071026e+00] [-2.32079004e-02 9.99723885e-01 3.68060635e-03 -4.98673348e-01] [ 1.48364031e-01 -1.96708987e-04 9.88932796e-01 -2.50805422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.733201008 meters Centerline goodness [0,1] 0.9202197227308396 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88616768e-01 2.29352149e-02 -1.48697219e-01 2.69294170e+00] [-2.26634135e-02 9.99736947e-01 3.52226591e-03 -4.99835247e-01] [ 1.48738888e-01 -1.12184591e-04 9.88876499e-01 -2.51876504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.763201008 meters Centerline goodness [0,1] 0.9233958653483719 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.50, Z:-0.25 [[ 9.88580090e-01 2.24974615e-02 -1.49007618e-01 2.69469087e+00] [-2.22706839e-02 9.99746887e-01 3.19052424e-03 -4.99921354e-01] [ 1.49041681e-01 1.64412812e-04 9.88830901e-01 -2.52851661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.793201008 meters Centerline goodness [0,1] 0.9217693981145758 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.50, Z:-0.25 [[ 9.88560020e-01 2.24048197e-02 -1.49154656e-01 2.69550792e+00] [-2.21685878e-02 9.99748976e-01 3.24640195e-03 -5.00434160e-01] [ 1.49189950e-01 9.72849129e-05 9.88808550e-01 -2.53135916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.823201008 meters Centerline goodness [0,1] 0.926307517680957 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.50, Z:-0.25 [[ 9.88452859e-01 2.21885305e-02 -1.49895347e-01 2.69705835e+00] [-2.18668309e-02 9.99753693e-01 3.79420619e-03 -5.03101396e-01] [ 1.49942615e-01 -4.72657749e-04 9.88694588e-01 -2.52184646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.853201008 meters Centerline goodness [0,1] 0.9280177187153932 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88381401e-01 2.21953476e-02 -1.50364796e-01 2.69770100e+00] [-2.17585864e-02 9.99752903e-01 4.54947595e-03 -5.05180435e-01] [ 1.50428618e-01 -1.22489201e-03 9.88620114e-01 -2.50854066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88320100799999 meters Centerline goodness [0,1] 0.9279013355934185 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88329724e-01 2.20341622e-02 -1.50727746e-01 2.69882485e+00] [-2.15590064e-02 9.99756122e-01 4.78599162e-03 -5.06502346e-01] [ 1.50796442e-01 -1.48059734e-03 9.88563726e-01 -2.50771222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91320100799999 meters Centerline goodness [0,1] 0.9233288496403298 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88290285e-01 2.13865396e-02 -1.51079214e-01 2.70095220e+00] [-2.09718942e-02 9.99770656e-01 4.33756233e-03 -5.06347308e-01] [ 1.51137330e-01 -1.11835342e-03 9.88512143e-01 -2.51910885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94320100799999 meters Centerline goodness [0,1] 0.9243145384997226 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.50, Z:-0.25 [[ 9.88244889e-01 2.01868898e-02 -1.51540522e-01 2.70447598e+00] [-1.99564268e-02 9.99796224e-01 3.04169080e-03 -5.04151735e-01] [ 1.51571044e-01 1.82719382e-05 9.88446366e-01 -2.54505411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97320100799999 meters Centerline goodness [0,1] 0.9228434691257149 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.50, Z:-0.25 [[ 9.88216698e-01 2.00818400e-02 -1.51738188e-01 2.70499984e+00] [-1.98580567e-02 9.99798338e-01 2.99019628e-03 -5.03758578e-01] [ 1.51767637e-01 5.82636480e-05 9.88416198e-01 -2.54389450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00320100799999 meters Centerline goodness [0,1] 0.9210817742029492 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.50, Z:-0.25 [[ 9.88157205e-01 2.00569237e-02 -1.52128427e-01 2.70531020e+00] [-1.97734289e-02 9.99798786e-01 3.37630331e-03 -5.04196672e-01] [ 1.52165535e-01 -3.28217807e-04 9.88354968e-01 -2.53124377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03320100799999 meters Centerline goodness [0,1] 0.9230274693161894 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88124123e-01 2.04693332e-02 -1.52288295e-01 2.70457990e+00] [-2.00682804e-02 9.99789914e-01 4.17025466e-03 -5.05245624e-01] [ 1.52341663e-01 -1.06456503e-03 9.88327316e-01 -2.51476023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.063201008 meters Centerline goodness [0,1] 0.9230274693161894 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88124123e-01 2.04693332e-02 -1.52288295e-01 2.70457990e+00] [-2.00682804e-02 9.99789914e-01 4.17025466e-03 -5.05245624e-01] [ 1.52341663e-01 -1.06456503e-03 9.88327316e-01 -2.51476023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.093201008 meters Centerline goodness [0,1] 0.9239491634116481 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.51, Z:-0.25 [[ 9.88098355e-01 2.05851888e-02 -1.52439796e-01 2.70456902e+00] [-2.01251651e-02 9.99787068e-01 4.56024634e-03 -5.05550199e-01] [ 1.52501211e-01 -1.43809583e-03 9.88302237e-01 -2.50696273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.123201008 meters Centerline goodness [0,1] 0.923588233579196 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.88055035e-01 2.00261263e-02 -1.52794639e-01 2.70590216e+00] [-1.95738319e-02 9.99798449e-01 4.46394507e-03 -5.05006129e-01] [ 1.52853239e-01 -1.41984683e-03 9.88247880e-01 -2.50527905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.153201008 meters Centerline goodness [0,1] 0.9247512619262976 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.88004620e-01 1.97151669e-02 -1.53160642e-01 2.70694745e+00] [-1.92453668e-02 9.99804440e-01 4.54947248e-03 -5.05230910e-01] [ 1.53220383e-01 -1.54726711e-03 9.88190832e-01 -2.50201891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.183201008 meters Centerline goodness [0,1] 0.9211779485231821 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.87930160e-01 1.90848561e-02 -1.53719770e-01 2.70877652e+00] [-1.86217785e-02 9.99816688e-01 4.45187353e-03 -5.05236384e-01] [ 1.53776554e-01 -1.53560462e-03 9.88104455e-01 -2.50052500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.213201008 meters Centerline goodness [0,1] 0.9209004905395936 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.87847304e-01 1.84964530e-02 -1.54322992e-01 2.71065189e+00] [-1.80318533e-02 9.99827688e-01 4.40989489e-03 -5.05423045e-01] [ 1.54377968e-01 -1.57357323e-03 9.88010611e-01 -2.49828032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.243201008 meters Centerline goodness [0,1] 0.919047758313105 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.87738978e-01 1.75445298e-02 -1.55125436e-01 2.71285436e+00] [-1.70292314e-02 9.99844178e-01 4.65017462e-03 -5.06362052e-01] [ 1.55182850e-01 -1.95149177e-03 9.87883837e-01 -2.48581470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27320100799999 meters Centerline goodness [0,1] 0.9173215694294312 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.51, Z:-0.25 [[ 9.87649815e-01 1.71081009e-02 -1.55740668e-01 2.71447923e+00] [-1.65645523e-02 9.99851338e-01 4.78732043e-03 -5.06753041e-01] [ 1.55799417e-01 -2.14842169e-03 9.87786377e-01 -2.48040599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30320100799999 meters Centerline goodness [0,1] 0.914654770235596 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.51, Z:-0.25 [[ 9.87558624e-01 1.65684598e-02 -1.56375993e-01 2.71623776e+00] [-1.60315660e-02 9.99860468e-01 4.69404987e-03 -5.06509133e-01] [ 1.56431946e-01 -2.12869737e-03 9.87686446e-01 -2.47679922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33320100799999 meters Centerline goodness [0,1] 0.9220373613543491 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.50, Z:-0.25 [[ 9.87522593e-01 1.64523752e-02 -1.56615607e-01 2.71603683e+00] [-1.58958598e-02 9.99862106e-01 4.80530551e-03 -5.04939020e-01] [ 1.56673070e-01 -2.25580801e-03 9.87647944e-01 -2.46335751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36320100799999 meters Centerline goodness [0,1] 0.921619570294255 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.50, Z:-0.25 [[ 9.87513274e-01 1.66561361e-02 -1.56652824e-01 2.71545279e+00] [-1.60563117e-02 9.99858114e-01 5.09376046e-03 -5.04290157e-01] [ 1.56715440e-01 -2.51488949e-03 9.87640596e-01 -2.45373318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39320100799999 meters Centerline goodness [0,1] 0.9211904346308256 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.50, Z:-0.24 [[ 0.98750148 0.01693276 -0.15669748 2.71476272] [-0.01627795 0.99985259 0.00546125 -0.50369927] [ 0.15676686 -0.00284228 0.98763155 -0.24422779] [ 0. 0. 0. 1. ]] SLAMing on 79.42320100799999 meters Centerline goodness [0,1] 0.9240521051407304 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.50, Z:-0.24 [[ 0.98749258 0.01736222 -0.15670659 2.71378286] [-0.01664595 0.99984414 0.0058821 -0.50292237] [ 0.15678429 -0.0032 0.98762769 -0.24299091] [ 0. 0. 0. 1. ]] SLAMing on 79.453201008 meters Centerline goodness [0,1] 0.9189745671780297 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.50, Z:-0.24 [[ 0.98731951 0.02220827 -0.15718453 2.71398935] [-0.02080335 0.99972763 0.01057781 -0.50326072] [ 0.15737663 -0.00717371 0.9875126 -0.24108233] [ 0. 0. 0. 1. ]] SLAMing on 79.483201008 meters Centerline goodness [0,1] 0.9189539845461885 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.50, Z:-0.24 [[ 0.98711602 0.0265767 -0.15778351 2.71516678] [-0.02447992 0.99958449 0.01521787 -0.50436963] [ 0.15812239 -0.01115928 0.98735646 -0.23945364] [ 0. 0. 0. 1. ]] SLAMing on 79.513201008 meters Centerline goodness [0,1] 0.9177848467322152 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.50, Z:-0.24 [[ 0.98714679 0.0272498 -0.1574759 2.71375552] [-0.02518857 0.99956912 0.0150705 -0.50258755] [ 0.15781871 -0.0109102 0.98740783 -0.23957723] [ 0. 0. 0. 1. ]] SLAMing on 79.543201008 meters Centerline goodness [0,1] 0.9234561494551116 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98783808 0.0299714 -0.15257013 2.7286572 ] [-0.02917502 0.99954651 0.00745632 -0.49917665] [ 0.15272442 -0.0029144 0.98826452 -0.24307765] [ 0. 0. 0. 1. ]] SLAMing on 79.573201008 meters Centerline goodness [0,1] 0.9173753855911436 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98781861 0.03029416 -0.15263241 2.72819802] [-0.02944964 0.9995359 0.00779127 -0.49921674] [ 0.1527976 -0.00320139 0.98825232 -0.24234306] [ 0. 0. 0. 1. ]] SLAMing on 79.603201008 meters Centerline goodness [0,1] 0.9211269228553322 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98777067 0.03043171 -0.15291503 2.72830963] [-0.02951246 0.99953013 0.00827826 -0.49990837] [ 0.1530951 -0.00366413 0.98820467 -0.24128904] [ 0. 0. 0. 1. ]] SLAMing on 79.63320100799999 meters Centerline goodness [0,1] 0.9243603042876902 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98775924 0.03064462 -0.1529464 2.72805178] [-0.02965653 0.99952195 0.00873806 -0.50094913] [ 0.15314105 -0.00409524 0.98819585 -0.2406654 ] [ 0. 0. 0. 1. ]] SLAMing on 79.66320100799999 meters Centerline goodness [0,1] 0.9223985890652557 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98773083 0.03061406 -0.15313584 2.72858455] [-0.02959172 0.99952199 0.00895141 -0.50156478] [ 0.15333668 -0.00431003 0.9881646 -0.24047883] [ 0. 0. 0. 1. ]] SLAMing on 79.69320100799999 meters Centerline goodness [0,1] 0.9227940111783615 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98770266 0.03032548 -0.15337476 2.72982542] [-0.02928654 0.99953028 0.00902914 -0.50258348] [ 0.15357653 -0.00442629 0.98812684 -0.24078282] [ 0. 0. 0. 1. ]] SLAMing on 79.72320100799999 meters Centerline goodness [0,1] 0.9201286285416305 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98768437 0.03026178 -0.15350509 2.73043348] [-0.0292077 0.99953178 0.00911775 -0.50327569] [ 0.15370914 -0.00452193 0.98810579 -0.24092769] [ 0. 0. 0. 1. ]] SLAMing on 79.75320100799999 meters Centerline goodness [0,1] 0.9188585679900241 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98765737 0.03007612 -0.15371513 2.73119187] [-0.02901478 0.99953716 0.00914376 -0.50358708] [ 0.153919 -0.00457089 0.9880729 -0.24086989] [ 0. 0. 0. 1. ]] SLAMing on 79.78320100799999 meters Centerline goodness [0,1] 0.9215361839240617 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.24 [[ 0.98765024 0.03047787 -0.15368181 2.73053353] [-0.02934468 0.99952289 0.0096371 -0.50446418] [ 0.1539022 -0.00500835 0.98807339 -0.2401718 ] [ 0. 0. 0. 1. ]] SLAMing on 79.813201008 meters Centerline goodness [0,1] 0.9203119111806823 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.24 [[ 0.98760945 0.03075029 -0.15388955 2.73044656] [-0.0295278 0.99951167 0.01022384 -0.50554912] [ 0.15412879 -0.00555315 0.98803516 -0.23909976] [ 0. 0. 0. 1. ]] SLAMing on 79.843201008 meters Centerline goodness [0,1] 0.9234813932545101 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.24 [[ 0.9875567 0.03045014 -0.15428726 2.73164087] [-0.02922634 0.99952083 0.01019449 -0.50584873] [ 0.15452376 -0.00555838 0.98797344 -0.23899993] [ 0. 0. 0. 1. ]] SLAMing on 79.873201008 meters Centerline goodness [0,1] 0.9226001687665493 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.24 [[ 0.98752585 0.03021877 -0.15453002 2.73267041] [-0.02899488 0.99952784 0.01016831 -0.50623677] [ 0.15476433 -0.00556089 0.98793577 -0.23924074] [ 0. 0. 0. 1. ]] SLAMing on 79.903201008 meters Centerline goodness [0,1] 0.9197559558396281 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.51, Z:-0.24 [[ 0.98749411 0.0298364 -0.15480686 2.7340728 ] [-0.02860553 0.99953901 0.01017302 -0.50706618] [ 0.15503902 -0.00561746 0.98789238 -0.23954891] [ 0. 0. 0. 1. ]] SLAMing on 79.933201008 meters Centerline goodness [0,1] 0.919272346855748 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 0.98743828 0.0293523 -0.15525491 2.7356829 ] [-0.0280819 0.99955183 0.01037005 -0.50833411] [ 0.15548971 -0.00587993 0.98782001 -0.23933177] [ 0. 0. 0. 1. ]] SLAMing on 79.963201008 meters Centerline goodness [0,1] 0.9206659851029648 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 9.87572251e-01 2.47243555e-02 -1.55208750e-01 2.73561818e+00] [-2.40209914e-02 9.99690931e-01 6.40588503e-03 -5.08648920e-01] [ 1.55319161e-01 -2.59800625e-03 9.87860926e-01 -2.39553055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.993201008 meters Centerline goodness [0,1] 0.9212920970243146 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 0.98750881 0.02440597 -0.15566215 2.73669779] [-0.0236333 0.99969748 0.00681278 -0.51005393] [ 0.15578133 -0.00304887 0.98778686 -0.23871208] [ 0. 0. 0. 1. ]] SLAMing on 80.02320100799999 meters Centerline goodness [0,1] 0.9214223002633889 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 0.98746769 0.02415919 -0.1559612 2.73752769] [-0.02335804 0.99970288 0.00696779 -0.51058025] [ 0.15608319 -0.00323752 0.98773861 -0.23831239] [ 0. 0. 0. 1. ]] SLAMing on 80.05320100799999 meters Centerline goodness [0,1] 0.9210464707948027 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 9.87435167e-01 2.37770578e-02 -1.56225616e-01 2.73880018e+00] [-2.30792744e-02 9.99713919e-01 6.27917799e-03 -5.08818815e-01] [ 1.56330224e-01 -2.59470730e-03 9.87701437e-01 -2.39214775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08320100799999 meters Centerline goodness [0,1] 0.9218818316961553 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 9.87396747e-01 2.35226643e-02 -1.56506703e-01 2.73960403e+00] [-2.28682370e-02 9.99720597e-01 5.98101665e-03 -5.07787172e-01] [ 1.56603664e-01 -2.32660401e-03 9.87658787e-01 -2.39248594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11320100799999 meters Centerline goodness [0,1] 0.9200116856558574 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 9.87370952e-01 2.36175301e-02 -1.56655086e-01 2.73952015e+00] [-2.29413934e-02 9.99718061e-01 6.12304357e-03 -5.07448123e-01] [ 1.56755530e-01 -2.45182940e-03 9.87634392e-01 -2.38621013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14320100799999 meters Centerline goodness [0,1] 0.9184501737277001 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.51, Z:-0.24 [[ 9.87359962e-01 2.36512249e-02 -1.56719257e-01 2.73939906e+00] [-2.29604530e-02 9.99717044e-01 6.21685343e-03 -5.06912033e-01] [ 1.56821949e-01 -2.53992702e-03 9.87623625e-01 -2.38131274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17320100799999 meters Centerline goodness [0,1] 0.9205779334500875 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.24 [[ 9.87352121e-01 2.32257707e-02 -1.56832244e-01 2.74028469e+00] [-2.26186582e-02 9.99728172e-01 5.65494115e-03 -5.04570085e-01] [ 1.56920953e-01 -2.03608321e-03 9.87609067e-01 -2.38738972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.203201008 meters Centerline goodness [0,1] 0.9205452321314149 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.24 [[ 9.87344451e-01 2.31606869e-02 -1.56890143e-01 2.74052712e+00] [-2.25651612e-02 9.99729824e-01 5.57614838e-03 -5.03547493e-01] [ 1.56976903e-01 -1.96532778e-03 9.87600319e-01 -2.38715125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.233201008 meters Centerline goodness [0,1] 0.9214943466604499 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.24 [[ 9.87329220e-01 2.32155598e-02 -1.56977859e-01 2.74031996e+00] [-2.25947544e-02 9.99728237e-01 5.73832114e-03 -5.03067768e-01] [ 1.57068416e-01 -2.11873596e-03 9.87585451e-01 -2.38024083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.263201008 meters Centerline goodness [0,1] 0.9213447233844724 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.24 [[ 9.87306567e-01 2.37560294e-02 -1.57039466e-01 2.73875977e+00] [-2.30414439e-02 9.99714219e-01 6.36955550e-03 -5.02070955e-01] [ 1.57145903e-01 -2.67028793e-03 9.87571787e-01 -2.35830442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.293201008 meters Centerline goodness [0,1] 0.9207210360518026 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.23 [[ 0.98728923 0.02417498 -0.15708449 2.73779217] [-0.02339851 0.99970315 0.00679064 -0.50190953] [ 0.15720203 -0.00302878 0.98756182 -0.234605 ] [ 0. 0. 0. 1. ]] SLAMing on 80.323201008 meters Centerline goodness [0,1] 0.9209730860896356 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.23 [[ 0.9872788 0.02468539 -0.1570707 2.73657286] [-0.02381903 0.99968893 0.00739594 -0.50133372] [ 0.15720441 -0.00356058 0.98755967 -0.23302971] [ 0. 0. 0. 1. ]] SLAMing on 80.353201008 meters Centerline goodness [0,1] 0.9195029400689395 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.23 [[ 0.98728674 0.02504861 -0.15696326 2.73547595] [-0.02416388 0.99967956 0.00754256 -0.49953394] [ 0.15710189 -0.00365383 0.98757564 -0.23209993] [ 0. 0. 0. 1. ]] SLAMing on 80.38320100799999 meters Centerline goodness [0,1] 0.9198131003859883 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.50, Z:-0.23 [[ 0.987336 0.02592277 -0.15651083 2.73306443] [-0.02499934 0.99965652 0.00786601 -0.49790761] [ 0.15666098 -0.00385373 0.98764492 -0.23109729] [ 0. 0. 0. 1. ]] SLAMing on 80.41320100799999 meters Centerline goodness [0,1] 0.9203273663205992 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98732482 0.0273656 -0.1563356 2.73046465] [-0.02639179 0.9996172 0.00830171 -0.49422425] [ 0.15650293 -0.00407051 0.98766911 -0.2295645 ] [ 0. 0. 0. 1. ]] SLAMing on 80.44320100799999 meters Centerline goodness [0,1] 0.9201131345781985 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98733303 0.02749423 -0.1562612 2.7302494 ] [-0.02658714 0.99961534 0.00789247 -0.49236658] [ 0.15641809 -0.00363796 0.98768423 -0.22997744] [ 0. 0. 0. 1. ]] SLAMing on 80.47320100799999 meters Centerline goodness [0,1] 0.9209510086455331 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98735215 0.02760105 -0.15612144 2.72982157] [-0.02672135 0.99961303 0.00773109 -0.49091851] [ 0.15627441 -0.00346153 0.98770761 -0.22999598] [ 0. 0. 0. 1. ]] SLAMing on 80.50320100799999 meters Centerline goodness [0,1] 0.9172960507350821 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98734253 0.0277406 -0.15615756 2.72943073] [-0.02682622 0.99960842 0.00796036 -0.49055107] [ 0.15631724 -0.00367049 0.98770008 -0.22926354] [ 0. 0. 0. 1. ]] SLAMing on 80.53320100799999 meters Centerline goodness [0,1] 0.9175260710055753 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98727854 0.02767795 -0.1565727 2.72954161] [-0.02667619 0.99960802 0.00849618 -0.49153835] [ 0.15674648 -0.00421134 0.98762989 -0.22760745] [ 0. 0. 0. 1. ]] SLAMing on 80.563201008 meters Centerline goodness [0,1] 0.9178363673197696 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98724626 0.0275191 -0.15680408 2.73002798] [-0.02648033 0.99961139 0.00871024 -0.4919873 ] [ 0.15698285 -0.00444693 0.98759132 -0.22708778] [ 0. 0. 0. 1. ]] SLAMing on 80.593201008 meters Centerline goodness [0,1] 0.9173385927257962 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98720443 0.02717805 -0.1571266 2.73090988] [-0.02609595 0.99961941 0.00894608 -0.49258416] [ 0.15730993 -0.00473124 0.98753795 -0.22653585] [ 0. 0. 0. 1. ]] SLAMing on 80.623201008 meters Centerline goodness [0,1] 0.9170246110982122 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.49, Z:-0.23 [[ 0.98713553 0.02651913 -0.15767112 2.73271475] [-0.02539752 0.99963579 0.0091245 -0.49369854] [ 0.15785567 -0.00500266 0.98744952 -0.22611795] [ 0. 0. 0. 1. ]] SLAMing on 80.653201008 meters Centerline goodness [0,1] 0.9188024231127679 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.49, Z:-0.23 [[ 9.87196172e-01 2.07638076e-02 -1.58153667e-01 2.73518172e+00] [-2.02898621e-02 9.99783507e-01 4.61094695e-03 -4.94061954e-01] [ 1.58215169e-01 -1.34299308e-03 9.87403746e-01 -2.27021500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.683201008 meters Centerline goodness [0,1] 0.9235579451814622 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.23 [[ 9.87110744e-01 1.99518794e-02 -1.58790118e-01 2.73734121e+00] [-1.94309175e-02 9.99799521e-01 4.83287004e-03 -4.95464491e-01] [ 1.58854708e-01 -1.68514026e-03 9.87300533e-01 -2.26505932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.713201008 meters Centerline goodness [0,1] 0.9228314646213297 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.23 [[ 9.87041098e-01 1.94186507e-02 -1.59288376e-01 2.73886413e+00] [-1.88299220e-02 9.99809155e-01 5.20463518e-03 -4.97063161e-01] [ 1.59359044e-01 -2.13780112e-03 9.87218378e-01 -2.25828655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.743201008 meters Centerline goodness [0,1] 0.9193204082229436 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 9.86949565e-01 1.89547266e-02 -1.59910205e-01 2.74043129e+00] [-1.82853548e-02 9.99816808e-01 5.65649484e-03 -4.98719238e-01] [ 1.59988128e-01 -2.65866028e-03 9.87115358e-01 -2.24859839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77320100799999 meters Centerline goodness [0,1] 0.9260367176960526 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98690644 0.01915084 -0.16015284 2.7402197 ] [-0.01833739 0.99981036 0.00655578 -0.50082313] [ 0.16024802 -0.00353316 0.98707046 -0.22315682] [ 0. 0. 0. 1. ]] SLAMing on 80.80320100799999 meters Centerline goodness [0,1] 0.9259378758102836 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98693473 0.01952807 -0.15993278 2.73944044] [-0.01870642 0.99980296 0.00664156 -0.50014371] [ 0.16003097 -0.00356302 0.98710556 -0.2231142 ] [ 0. 0. 0. 1. ]] SLAMing on 80.83320100799999 meters Centerline goodness [0,1] 0.9276080455051897 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98696679 0.01971634 -0.15971169 2.73895857] [-0.0189363 0.99980018 0.00640468 -0.49844031] [ 0.15980606 -0.00329686 0.98714293 -0.22346882] [ 0. 0. 0. 1. ]] SLAMing on 80.86320100799999 meters Centerline goodness [0,1] 0.9269778064062775 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98702599 0.02039312 -0.15926019 2.73747862] [-0.01961347 0.99978673 0.00646589 -0.49692262] [ 0.15935809 -0.00325836 0.98721547 -0.22360816] [ 0. 0. 0. 1. ]] SLAMing on 80.89320100799999 meters Centerline goodness [0,1] 0.9250605291560923 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98688819 0.02513313 -0.15943656 2.73749186] [-0.02363586 0.99965699 0.01128069 -0.49729905] [ 0.15966539 -0.00736436 0.98714372 -0.22186326] [ 0. 0. 0. 1. ]] SLAMing on 80.92320100799999 meters Centerline goodness [0,1] 0.9241427694466369 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98694367 0.02568047 -0.15900536 2.73613706] [-0.02420708 0.99964426 0.01119658 -0.49609484] [ 0.15923633 -0.00720134 0.98721423 -0.22212481] [ 0. 0. 0. 1. ]] SLAMing on 80.953201008 meters Centerline goodness [0,1] 0.9241427694466369 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.50, Z:-0.22 [[ 0.98694367 0.02568047 -0.15900536 2.73613706] [-0.02420708 0.99964426 0.01119658 -0.49609484] [ 0.15923633 -0.00720134 0.98721423 -0.22212481] [ 0. 0. 0. 1. ]] SLAMing on 80.983201008 meters Centerline goodness [0,1] 0.9246543375532349 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87677959e-01 2.77514694e-02 -1.54019819e-01 2.75062176e+00] [-2.76282209e-02 9.99613941e-01 2.94099059e-03 -4.93515228e-01] [ 1.54041976e-01 1.35054201e-03 9.88063381e-01 -2.25704414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.013201008 meters Centerline goodness [0,1] 0.9236770592876136 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87676864e-01 2.81410000e-02 -1.53956149e-01 2.75002079e+00] [-2.79889788e-02 9.99603252e-01 3.15523764e-03 -4.93984341e-01] [ 1.53983858e-01 1.19272017e-03 9.88072643e-01 -2.25448924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.043201008 meters Centerline goodness [0,1] 0.9252399542105727 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87659904e-01 2.82915534e-02 -1.54037341e-01 2.75004398e+00] [-2.81111052e-02 9.99599192e-01 3.34985349e-03 -4.94528850e-01] [ 1.54070375e-01 1.02164393e-03 9.88059348e-01 -2.25227861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.073201008 meters Centerline goodness [0,1] 0.9223221346767816 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.23 [[ 9.87641408e-01 2.82746266e-02 -1.54158992e-01 2.75074083e+00] [-2.80889608e-02 9.99599703e-01 3.38279044e-03 -4.95111329e-01] [ 1.54192930e-01 9.89181968e-04 9.88040263e-01 -2.25634921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.103201008 meters Centerline goodness [0,1] 0.923714075165807 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.23 [[ 9.87592745e-01 2.66750419e-02 -1.54754683e-01 2.75441159e+00] [-2.64963851e-02 9.99643732e-01 3.21735483e-03 -4.97336435e-01] [ 1.54785372e-01 9.23003390e-04 9.87947689e-01 -2.26304542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13320100799999 meters Centerline goodness [0,1] 0.9228701406120761 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87531455e-01 2.59205339e-02 -1.55273148e-01 2.75689637e+00] [-2.57485839e-02 9.99663585e-01 3.11887309e-03 -4.98247995e-01] [ 1.55301754e-01 9.18078397e-04 9.87866652e-01 -2.26885077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16320100799999 meters Centerline goodness [0,1] 0.9218653033482077 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87468373e-01 2.52241146e-02 -1.55788177e-01 2.75926767e+00] [-2.50498533e-02 9.99681452e-01 3.08201604e-03 -4.99397762e-01] [ 1.55816292e-01 8.59077608e-04 9.87785678e-01 -2.27389510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19320100799999 meters Centerline goodness [0,1] 0.9200379641713133 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87383847e-01 2.46641078e-02 -1.56412340e-01 2.76133182e+00] [-2.44208306e-02 9.99695720e-01 3.47715133e-03 -5.01711948e-01] [ 1.56450508e-01 3.86436203e-04 9.87685724e-01 -2.27030230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22320100799999 meters Centerline goodness [0,1] 0.9166766359612394 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87459859e-01 2.02518301e-02 -1.56565932e-01 2.76156038e+00] [-2.05394900e-02 9.99789018e-01 -2.19489226e-04 -5.04334793e-01] [ 1.56528455e-01 3.43252120e-03 9.87667485e-01 -2.27218234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25320100799999 meters Centerline goodness [0,1] 0.9163181166347992 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.23 [[ 9.87426820e-01 2.06224258e-02 -1.56725843e-01 2.76123968e+00] [-2.07944025e-02 9.99783626e-01 5.42430817e-04 -5.05425543e-01] [ 1.56703118e-01 2.72340953e-03 9.87641998e-01 -2.25961673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28320100799999 meters Centerline goodness [0,1] 0.913373814722862 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.51, Z:-0.22 [[ 9.87457699e-01 2.14717106e-02 -1.56416935e-01 2.75929341e+00] [-2.15368768e-02 9.99767237e-01 1.27836523e-03 -5.05735477e-01] [ 1.56407976e-01 2.10640066e-03 9.87690290e-01 -2.24731168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.313201008 meters Centerline goodness [0,1] 0.9119076184763047 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87487107e-01 2.17345842e-02 -1.56194816e-01 2.75837096e+00] [-2.17592670e-02 9.99762034e-01 1.55201382e-03 -5.04976564e-01] [ 1.56191379e-01 1.86609105e-03 9.87725048e-01 -2.24163791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.343201008 meters Centerline goodness [0,1] 0.9137977447432177 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87524424e-01 2.14588062e-02 -1.55996897e-01 2.75890325e+00] [-2.16026189e-02 9.99766337e-01 7.73593572e-04 -5.02432961e-01] [ 1.55977047e-01 2.60599898e-03 9.87757242e-01 -2.25613256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.373201008 meters Centerline goodness [0,1] 0.9153038954826751 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87565731e-01 2.14568035e-02 -1.55735457e-01 2.75868119e+00] [-2.16559881e-02 9.99765394e-01 4.17746309e-04 -5.00488228e-01] [ 1.55707884e-01 2.96005326e-03 9.87798711e-01 -2.26251011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.403201008 meters Centerline goodness [0,1] 0.9137184654426034 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87574430e-01 2.17893242e-02 -1.55634093e-01 2.75782207e+00] [-2.19507507e-02 9.99758821e-01 6.81527748e-04 -4.99884784e-01] [ 1.55611407e-01 2.74322580e-03 9.87814540e-01 -2.25540686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.433201008 meters Centerline goodness [0,1] 0.9151444949359946 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87627977e-01 2.32776201e-02 -1.55077822e-01 2.75391463e+00] [-2.32509270e-02 9.99727688e-01 1.98619848e-03 -5.00453119e-01] [ 1.55081827e-01 1.64407795e-03 9.87900260e-01 -2.22836564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.463201008 meters Centerline goodness [0,1] 0.9159227735104837 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87659534e-01 2.35960086e-02 -1.54828529e-01 2.75304808e+00] [-2.35837165e-02 9.99720029e-01 1.91644213e-03 -4.99102240e-01] [ 1.54830402e-01 1.75863980e-03 9.87939499e-01 -2.22800212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.493201008 meters Centerline goodness [0,1] 0.9143634160040202 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87686745e-01 2.35892728e-02 -1.54655879e-01 2.75314401e+00] [-2.36742231e-02 9.99718891e-01 1.29271065e-03 -4.97103756e-01] [ 1.54642898e-01 2.38456461e-03 9.87967554e-01 -2.23912527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52320100799999 meters Centerline goodness [0,1] 0.9134038800705467 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87707328e-01 2.35806555e-02 -1.54525683e-01 2.75321586e+00] [-2.37240110e-02 9.99718126e-01 9.16541143e-04 -4.95289263e-01] [ 1.54503738e-01 2.76069460e-03 9.87988347e-01 -2.24541287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55320100799999 meters Centerline goodness [0,1] 0.911340206185567 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87747833e-01 2.36801321e-02 -1.54251322e-01 2.75291865e+00] [-2.38627640e-02 9.99715021e-01 6.67678443e-04 -4.94091025e-01] [ 1.54223174e-01 3.02136495e-03 9.88031419e-01 -2.25184631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58320100799999 meters Centerline goodness [0,1] 0.9108662994491737 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87783779e-01 2.37326699e-02 -1.54012878e-01 2.75263440e+00] [-2.39259159e-02 9.99713555e-01 5.98911944e-04 -4.93202006e-01] [ 1.53982975e-01 3.09330366e-03 9.88068659e-01 -2.25481934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61320100799999 meters Centerline goodness [0,1] 0.9065979381443299 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87813568e-01 2.37721850e-02 -1.53815599e-01 2.75239894e+00] [-2.39493927e-02 9.99712926e-01 7.01005556e-04 -4.92972135e-01] [ 1.53788107e-01 2.99132739e-03 9.88099322e-01 -2.25543435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64320100799999 meters Centerline goodness [0,1] 0.9079426624368464 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.22 [[ 9.87801974e-01 2.38549913e-02 -1.53877220e-01 2.75223359e+00] [-2.39674689e-02 9.99712107e-01 1.12434153e-03 -4.93775658e-01] [ 1.53859741e-01 2.57742071e-03 9.88089337e-01 -2.24787982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67320100799999 meters Centerline goodness [0,1] 0.906261085491309 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.22 [[ 9.87993553e-01 2.00341607e-02 -1.53190636e-01 2.74900750e+00] [-2.06550890e-02 9.99783628e-01 -2.46274102e-03 -4.93367333e-01] [ 1.53108151e-01 5.59733847e-03 9.88193586e-01 -2.23599827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.703201008 meters Centerline goodness [0,1] 0.9073761511355897 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.22 [[ 0.98814317 0.01607085 -0.15269188 2.74615562] [-0.0171987 0.99983368 -0.00606839 -0.49289315] [ 0.15256896 0.00862254 0.98825521 -0.22212011] [ 0. 0. 0. 1. ]] SLAMing on 81.733201008 meters Centerline goodness [0,1] 0.9051405598746638 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.22 [[ 0.98806258 0.01393255 -0.15342172 2.75125103] [-0.01528484 0.99985401 -0.00763816 -0.49117079] [ 0.1532929 0.00989201 0.98813128 -0.22483509] [ 0. 0. 0. 1. ]] SLAMing on 81.763201008 meters Centerline goodness [0,1] 0.90257044430704 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 0.9878389 0.01604721 -0.15465053 2.75786231] [-0.01698809 0.99984434 -0.00476421 -0.49051584] [ 0.15455 0.00733349 0.98795775 -0.22680988] [ 0. 0. 0. 1. ]] SLAMing on 81.793201008 meters Centerline goodness [0,1] 0.8997282846875274 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98764311 0.01776498 -0.15570961 2.76550544] [-0.01842505 0.99982633 -0.00279673 -0.48814715] [ 0.15563289 0.00563113 0.98779891 -0.23077689] [ 0. 0. 0. 1. ]] SLAMing on 81.823201008 meters Centerline goodness [0,1] 0.8980453066846409 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98763221 0.01768584 -0.15578778 2.7663195 ] [-0.0183586 0.99982732 -0.00288056 -0.48847045] [ 0.15570994 0.00570498 0.98778635 -0.23147412] [ 0. 0. 0. 1. ]] SLAMing on 81.853201008 meters Centerline goodness [0,1] 0.8969111515649774 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87610150e-01 1.78701707e-02 -1.55906535e-01 2.76649312e+00] [-1.84735016e-02 9.99826418e-01 -2.42163639e-03 -4.90015254e-01] [ 1.55836197e-01 5.27177230e-03 9.87768843e-01 -2.31155197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88320100799999 meters Centerline goodness [0,1] 0.8959863665746018 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87575726e-01 1.82505674e-02 -1.56080435e-01 2.76604942e+00] [-1.87020673e-02 9.99824086e-01 -1.42459089e-03 -4.92235726e-01] [ 1.56026979e-01 4.32591819e-03 9.87743321e-01 -2.29604874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91320100799999 meters Centerline goodness [0,1] 0.9020161883738043 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87628183e-01 1.98211035e-02 -1.55556085e-01 2.76221123e+00] [-1.99533803e-02 9.99800659e-01 7.11200979e-04 -4.95419097e-01] [ 1.55539173e-01 2.40146759e-03 9.87826806e-01 -2.26075219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94320100799999 meters Centerline goodness [0,1] 0.8950108842736954 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87673942e-01 2.05129798e-02 -1.55175389e-01 2.76062781e+00] [-2.05527002e-02 9.99787861e-01 1.34855034e-03 -4.95917740e-01] [ 1.55170133e-01 1.85734522e-03 9.87886016e-01 -2.25347383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97320100799999 meters Centerline goodness [0,1] 0.8985098315845164 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87726503e-01 2.09907752e-02 -1.54776427e-01 2.75947094e+00] [-2.10131017e-02 9.99778087e-01 1.49195569e-03 -4.95162699e-01] [ 1.54773398e-01 1.77868863e-03 9.87948395e-01 -2.25420692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00320100799999 meters Centerline goodness [0,1] 0.8896976812444967 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87777278e-01 2.14018862e-02 -1.54395623e-01 2.75856328e+00] [-2.14378653e-02 9.99769157e-01 1.43209733e-03 -4.93820855e-01] [ 1.54390631e-01 1.89531935e-03 9.88008067e-01 -2.25817284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03320100799999 meters Centerline goodness [0,1] 0.8902732176360225 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87804760e-01 2.23161599e-02 -1.54090058e-01 2.75639686e+00] [-2.21648641e-02 9.99750683e-01 2.69996600e-03 -4.95087227e-01] [ 1.54111893e-01 7.48345917e-04 9.88053118e-01 -2.23702902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.063201008 meters Centerline goodness [0,1] 0.8916568396226415 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87814661e-01 2.27977678e-02 -1.53956027e-01 2.75534576e+00] [-2.25500662e-02 9.99740085e-01 3.35522001e-03 -4.96190123e-01] [ 1.53992503e-01 1.57383081e-04 9.88072004e-01 -2.22754097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.093201008 meters Centerline goodness [0,1] 0.8906057223429881 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87832142e-01 2.29306106e-02 -1.53824073e-01 2.75527790e+00] [-2.26636778e-02 9.99737058e-01 3.48886754e-03 -4.96479600e-01] [ 1.53863628e-01 3.98037226e-05 9.88092092e-01 -2.22975538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.123201008 meters Centerline goodness [0,1] 0.8858896786700347 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87852709e-01 2.27229848e-02 -1.53722772e-01 2.75608902e+00] [-2.25223962e-02 9.99741697e-01 3.04642723e-03 -4.95387167e-01] [ 1.53752289e-01 4.52783793e-04 9.88109320e-01 -2.24313315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.153201008 meters Centerline goodness [0,1] 0.8881821912187116 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.22 [[ 9.87863951e-01 2.29346192e-02 -1.53619067e-01 2.75580866e+00] [-2.27041089e-02 9.99736930e-01 3.25490238e-03 -4.95548149e-01] [ 1.53653304e-01 2.72383301e-04 9.88124784e-01 -2.24262751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.183201008 meters Centerline goodness [0,1] 0.8883351411568116 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87875566e-01 2.33729380e-02 -1.53478245e-01 2.75482693e+00] [-2.30612583e-02 9.99726790e-01 3.81095524e-03 -4.95989043e-01] [ 1.53525387e-01 -2.25348113e-04 9.88144678e-01 -2.23326420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.213201008 meters Centerline goodness [0,1] 0.8900654093215616 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.50, Z:-0.22 [[ 9.87896292e-01 2.35031388e-02 -1.53324883e-01 2.75458734e+00] [-2.32016835e-02 9.99723751e-01 3.75535265e-03 -4.95503654e-01] [ 1.53370790e-01 -1.52503548e-04 9.88168699e-01 -2.23613506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.243201008 meters Centerline goodness [0,1] 0.8849320708110333 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.22 [[ 9.87911025e-01 2.34761359e-02 -1.53234060e-01 2.75473507e+00] [-2.32143042e-02 9.99724392e-01 3.49790790e-03 -4.94308688e-01] [ 1.53273945e-01 1.01600305e-04 9.88183732e-01 -2.24148109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27320100799999 meters Centerline goodness [0,1] 0.8838153520256553 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87933289e-01 2.33613054e-02 -1.53108019e-01 2.75509527e+00] [-2.31793811e-02 9.99726900e-01 2.97334637e-03 -4.92775118e-01] [ 1.53135666e-01 6.11481266e-04 9.88204986e-01 -2.25195983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30320100799999 meters Centerline goodness [0,1] 0.8830837004405286 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87964220e-01 2.35001238e-02 -1.52887034e-01 2.75481409e+00] [-2.33570011e-02 9.99723454e-01 2.73236780e-03 -4.91697657e-01] [ 1.52908965e-01 8.71500998e-04 9.88239894e-01 -2.25782328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33320100799999 meters Centerline goodness [0,1] 0.8815182584682276 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.49, Z:-0.23 [[ 9.87970428e-01 2.39803350e-02 -1.52772303e-01 2.75416771e+00] [-2.38103015e-02 9.99712164e-01 2.94267209e-03 -4.91669329e-01] [ 1.52798896e-01 7.30281589e-04 9.88257033e-01 -2.25720941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36320100799999 meters Centerline goodness [0,1] 0.8836732301922176 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87946504e-01 2.38824468e-02 -1.52942256e-01 2.75509263e+00] [-2.37430541e-02 9.99714345e-01 2.73800962e-03 -4.91374091e-01] [ 1.52963958e-01 9.26309231e-04 9.88231334e-01 -2.26354237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39320100799999 meters Centerline goodness [0,1] 0.8888045097409236 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87926038e-01 2.36556103e-02 -1.53109620e-01 2.75634264e+00] [-2.35789370e-02 9.99719294e-01 2.31679872e-03 -4.90345593e-01] [ 1.53121447e-01 1.32133632e-03 9.88206495e-01 -2.27366944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42320100799999 meters Centerline goodness [0,1] 0.8826792805419295 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87940464e-01 2.34204463e-02 -1.53052680e-01 2.75716505e+00] [-2.34173710e-02 9.99724114e-01 1.82301011e-03 -4.89246114e-01] [ 1.53053151e-01 1.78306594e-03 9.88216350e-01 -2.28612722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.453201008 meters Centerline goodness [0,1] 0.8848063555114201 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87919090e-01 2.32585854e-02 -1.53215240e-01 2.75789284e+00] [-2.32089672e-02 9.99728403e-01 2.11262680e-03 -4.89884745e-01] [ 1.53222764e-01 1.46886315e-03 9.88190582e-01 -2.28429984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.483201008 meters Centerline goodness [0,1] 0.8825735380288292 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87900187e-01 2.35194483e-02 -1.53297281e-01 2.75749247e+00] [-2.33533571e-02 9.99723113e-01 2.88426688e-03 -4.91625659e-01] [ 1.53322671e-01 7.30638350e-04 9.88175908e-01 -2.27271917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.513201008 meters Centerline goodness [0,1] 0.8823546716874558 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.87866540e-01 2.37559627e-02 -1.53477537e-01 2.75718187e+00] [-2.34454786e-02 9.99717770e-01 3.83283602e-03 -4.93700066e-01] [ 1.53525274e-01 -1.87976140e-04 9.88144703e-01 -2.25747070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.543201008 meters Centerline goodness [0,1] 0.8853349070522278 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.49, Z:-0.23 [[ 9.88025914e-01 1.92980912e-02 -1.53076379e-01 2.75652361e+00] [-1.95395472e-02 9.99809082e-01 -7.29841854e-05 -4.94389701e-01] [ 1.53045745e-01 3.06315339e-03 9.88214358e-01 -2.26385240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.573201008 meters Centerline goodness [0,1] 0.8915095735550886 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87964757e-01 1.89289866e-02 -1.53516557e-01 2.75795043e+00] [-1.90746115e-02 9.99817926e-01 5.24348851e-04 -4.96644017e-01] [ 1.53498531e-01 2.41023050e-03 9.88145936e-01 -2.25838327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.603201008 meters Centerline goodness [0,1] 0.8880950254532464 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87911904e-01 1.85140131e-02 -1.53906791e-01 2.75948784e+00] [-1.86064532e-02 9.99826532e-01 8.39890420e-04 -4.98359685e-01] [ 1.53895643e-01 2.03392177e-03 9.88085014e-01 -2.25771594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63320100799999 meters Centerline goodness [0,1] 0.895621301775148 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87826455e-01 1.80679431e-02 -1.54507100e-01 2.76115254e+00] [-1.81390828e-02 9.99835023e-01 9.49448194e-04 -4.98999730e-01] [ 1.54498764e-01 1.86472703e-03 9.87991222e-01 -2.25385864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66320100799999 meters Centerline goodness [0,1] 0.8947118241235889 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87814787e-01 1.82787784e-02 -1.54556894e-01 2.76106325e+00] [-1.83386835e-02 9.99831293e-01 1.03827090e-03 -4.98751515e-01] [ 1.54549797e-01 1.80875061e-03 9.87983344e-01 -2.25264970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69320100799999 meters Centerline goodness [0,1] 0.8910617840821413 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.50, Z:-0.23 [[ 9.87781608e-01 1.79514456e-02 -1.54807108e-01 2.76229388e+00] [-1.80763922e-02 9.99836428e-01 6.00627819e-04 -4.97607625e-01] [ 1.54792568e-01 2.20506489e-03 9.87944532e-01 -2.25978460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72320100799999 meters Centerline goodness [0,1] 0.8924084232879137 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.23 [[ 9.87563807e-01 2.14251877e-02 -1.55752009e-01 2.76582012e+00] [-2.09846834e-02 9.99769795e-01 4.47212062e-03 -4.98252894e-01] [ 1.55811970e-01 -1.14809787e-03 9.87786066e-01 -2.25978474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75320100799999 meters Centerline goodness [0,1] 0.8887447674075821 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87534817e-01 2.07173519e-02 -1.56031333e-01 2.76821121e+00] [-2.05097463e-02 9.99785329e-01 2.94053735e-03 -4.94778725e-01] [ 1.56058757e-01 2.96280024e-04 9.87747729e-01 -2.28640423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78320100799999 meters Centerline goodness [0,1] 0.8886629534671264 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87520525e-01 2.07201410e-02 -1.56121393e-01 2.76838920e+00] [-2.05125073e-02 9.99785270e-01 2.94110758e-03 -4.94383904e-01] [ 1.56148809e-01 2.98037109e-04 9.87733497e-01 -2.28551962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.813201008 meters Centerline goodness [0,1] 0.8928844457512496 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87481163e-01 2.07446439e-02 -1.56366914e-01 2.76873169e+00] [-2.04859839e-02 9.99784806e-01 3.26575856e-03 -4.94520289e-01] [ 1.56401012e-01 -2.15449750e-05 9.87693638e-01 -2.27848526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.843201008 meters Centerline goodness [0,1] 0.8922168008935395 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87490471e-01 2.09092744e-02 -1.56286189e-01 2.76828434e+00] [-2.06028180e-02 9.99781327e-01 3.58071114e-03 -4.94194667e-01] [ 1.56326883e-01 -3.15982225e-04 9.87705323e-01 -2.27285345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.873201008 meters Centerline goodness [0,1] 0.8922168008935395 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87490471e-01 2.09092744e-02 -1.56286189e-01 2.76828434e+00] [-2.06028180e-02 9.99781327e-01 3.58071114e-03 -4.94194667e-01] [ 1.56326883e-01 -3.15982225e-04 9.87705323e-01 -2.27285345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.903201008 meters Centerline goodness [0,1] 0.8922946059308362 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87504140e-01 2.09161401e-02 -1.56198874e-01 2.76831660e+00] [-2.06281143e-02 9.99781214e-01 3.46491445e-03 -4.93558000e-01] [ 1.56237173e-01 -1.99529149e-04 9.87719548e-01 -2.27570451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.933201008 meters Centerline goodness [0,1] 0.8889344983287398 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 9.87512918e-01 2.10600363e-02 -1.56124027e-01 2.76808210e+00] [-2.07986030e-02 9.99778213e-01 3.30811589e-03 -4.92562919e-01] [ 1.56159070e-01 -1.96455148e-05 9.87731919e-01 -2.27766222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.963201008 meters Centerline goodness [0,1] 0.8896895787139689 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98729476 0.0252964 -0.15687303 2.76946402] [-0.02431633 0.99967098 0.00816387 -0.49441798] [ 0.15702793 -0.00424557 0.98758504 -0.22564745] [ 0. 0. 0. 1. ]] SLAMing on 82.993201008 meters Centerline goodness [0,1] 0.8896219529995621 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98730978 0.02584411 -0.15668912 2.76830171] [-0.02488591 0.99965769 0.00807436 -0.49283503] [ 0.15684416 -0.00407254 0.98761497 -0.22546311] [ 0. 0. 0. 1. ]] SLAMing on 83.02320100799999 meters Centerline goodness [0,1] 0.8814293606257088 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.22 [[ 0.98712812 0.03122769 -0.15685313 2.76772619] [-0.02961116 0.99948166 0.01263281 -0.49361294] [ 0.15716632 -0.0078256 0.98754114 -0.22440743] [ 0. 0. 0. 1. ]] SLAMing on 83.05320100799999 meters Centerline goodness [0,1] 0.8832178174752776 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98712456 0.03191688 -0.15673675 2.76706109] [-0.03036073 0.99946316 0.0123131 -0.49198191] [ 0.15704561 -0.00739592 0.98756366 -0.2250706 ] [ 0. 0. 0. 1. ]] SLAMing on 83.08320100799999 meters Centerline goodness [0,1] 0.8854714690408741 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.22 [[ 0.98691363 0.03659077 -0.15704331 2.76806071] [-0.03438703 0.99926859 0.01672772 -0.49322658] [ 0.15754053 -0.01110856 0.98745004 -0.22463924] [ 0. 0. 0. 1. ]] SLAMing on 83.11320100799999 meters Centerline goodness [0,1] 0.8895446392408726 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98698728 0.03725443 -0.15642319 2.76682487] [-0.0351347 0.99924973 0.01629538 -0.49152059] [ 0.1569129 -0.01058745 0.98755569 -0.22604248] [ 0. 0. 0. 1. ]] SLAMing on 83.14320100799999 meters Centerline goodness [0,1] 0.8785354849904563 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98695495 0.03607301 -0.15690334 2.76883041] [-0.03386259 0.99928631 0.01673903 -0.49462006] [ 0.15739519 -0.01120752 0.9874721 -0.2250688 ] [ 0. 0. 0. 1. ]] SLAMing on 83.17320100799999 meters Centerline goodness [0,1] 0.8795691432221351 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.49, Z:-0.23 [[ 0.98715521 0.03155396 -0.15661716 2.76834478] [-0.030026 0.99947572 0.01211297 -0.49314485] [ 0.15691726 -0.0072548 0.98758511 -0.2263851 ] [ 0. 0. 0. 1. ]] SLAMing on 83.203201008 meters Centerline goodness [0,1] 0.8793133597575192 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.23 [[ 0.98708061 0.02997384 -0.15739583 2.77225244] [-0.02845308 0.99952421 0.01190687 -0.49531252] [ 0.15767784 -0.00727465 0.98746381 -0.22695996] [ 0. 0. 0. 1. ]] SLAMing on 83.233201008 meters Centerline goodness [0,1] 0.8791665447309122 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.23 [[ 0.9870437 0.02975805 -0.157668 2.77342284] [-0.0282401 0.99953081 0.01185956 -0.49593324] [ 0.15794694 -0.00725334 0.98742096 -0.22737047] [ 0. 0. 0. 1. ]] SLAMing on 83.263201008 meters Centerline goodness [0,1] 0.8820913426372919 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.23 [[ 0.9870232 0.02968839 -0.15780938 2.77415993] [-0.02816197 0.99953253 0.01190043 -0.49667158] [ 0.15808891 -0.00730177 0.98739788 -0.22772153] [ 0. 0. 0. 1. ]] SLAMing on 83.293201008 meters Centerline goodness [0,1] 0.8818229839183003 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.50, Z:-0.23 [[ 0.98698875 0.02961293 -0.15803884 2.77496528] [-0.02803106 0.99953224 0.01222952 -0.49806693] [ 0.15832707 -0.0076404 0.98735716 -0.22759875] [ 0. 0. 0. 1. ]] SLAMing on 83.323201008 meters Centerline goodness [0,1] 0.8826424490991651 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98692731 0.02902733 -0.15853046 2.77681422] [-0.02739646 0.99954694 0.01246364 -0.50006844] [ 0.15882043 -0.00795753 0.98727542 -0.2274065 ] [ 0. 0. 0. 1. ]] SLAMing on 83.353201008 meters Centerline goodness [0,1] 0.8836888588949855 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98690755 0.0290146 -0.15865575 2.77710995] [-0.02734075 0.9995452 0.01272322 -0.50096813] [ 0.15895275 -0.00821887 0.98725198 -0.22708473] [ 0. 0. 0. 1. ]] SLAMing on 83.38320100799999 meters Centerline goodness [0,1] 0.883043847573299 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98688483 0.02911168 -0.15877921 2.77707516] [-0.02738862 0.99953994 0.01302986 -0.50155143] [ 0.15908548 -0.00851023 0.98722813 -0.22649544] [ 0. 0. 0. 1. ]] SLAMing on 83.41320100799999 meters Centerline goodness [0,1] 0.8802267480933875 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98689111 0.0294861 -0.15867109 2.77586609] [-0.02769491 0.99952541 0.01348857 -0.50117646] [ 0.15899351 -0.00891737 0.98723935 -0.22517665] [ 0. 0. 0. 1. ]] SLAMing on 83.44320100799999 meters Centerline goodness [0,1] 0.8826187075523946 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.22 [[ 0.98690061 0.02951211 -0.1586071 2.77552276] [-0.02774169 0.99952577 0.01336528 -0.49994242] [ 0.15892632 -0.00879017 0.98725131 -0.22495976] [ 0. 0. 0. 1. ]] SLAMing on 83.47320100799999 meters Centerline goodness [0,1] 0.8810531539157593 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98692855 0.02961552 -0.1584139 2.77524806] [-0.02788392 0.99952476 0.01314281 -0.49876624] [ 0.15872785 -0.00855381 0.98728532 -0.22541063] [ 0. 0. 0. 1. ]] SLAMing on 83.50320100799999 meters Centerline goodness [0,1] 0.8804578334253261 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98689311 0.02897881 -0.15875209 2.77702306] [-0.02733584 0.99954785 0.01252367 -0.49712046] [ 0.15904323 -0.0080199 0.98723905 -0.22617951] [ 0. 0. 0. 1. ]] SLAMing on 83.53320100799999 meters Centerline goodness [0,1] 0.8805666249745484 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.23 [[ 0.98683975 0.02800049 -0.15925856 2.77980367] [-0.02652764 0.99958345 0.01136708 -0.494899 ] [ 0.15951051 -0.00699273 0.98717146 -0.22794373] [ 0. 0. 0. 1. ]] SLAMing on 83.563201008 meters Centerline goodness [0,1] 0.8825304701102727 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.49, Z:-0.23 [[ 0.98677841 0.02739668 -0.15974291 2.78150649] [-0.02593992 0.99960078 0.01119797 -0.49466758] [ 0.15998593 -0.00690619 0.98709514 -0.22785442] [ 0. 0. 0. 1. ]] SLAMing on 83.593201008 meters Centerline goodness [0,1] 0.8816878424058748 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98673428 0.0273319 -0.16002634 2.78175728] [-0.02580444 0.99959952 0.01161575 -0.49567477] [ 0.16027973 -0.00733227 0.9870444 -0.22684245] [ 0. 0. 0. 1. ]] SLAMing on 83.623201008 meters Centerline goodness [0,1] 0.8823168773538084 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.23 [[ 0.98669168 0.02734137 -0.16028719 2.78195961] [-0.0256978 0.99959386 0.01231826 -0.49750888] [ 0.16055889 -0.0080353 0.98699355 -0.22562315] [ 0. 0. 0. 1. ]] SLAMing on 83.653201008 meters Centerline goodness [0,1] 0.8866063851578732 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.22 [[ 0.98657403 0.02651433 -0.16114802 2.78348687] [-0.0245252 0.99959664 0.01432046 -0.50114953] [ 0.16146271 -0.010176 0.98682635 -0.22130642] [ 0. 0. 0. 1. ]] SLAMing on 83.683201008 meters Centerline goodness [0,1] 0.8850942620543842 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.22 [[ 0.98675977 0.02210008 -0.16067591 2.78212241] [-0.02075419 0.99973409 0.01005007 -0.49938189] [ 0.16085529 -0.0065823 0.98695605 -0.22170015] [ 0. 0. 0. 1. ]] SLAMing on 83.713201008 meters Centerline goodness [0,1] 0.8889804325437693 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.22 [[ 0.98671577 0.02174536 -0.16099418 2.78291781] [-0.02028301 0.99973679 0.01072133 -0.50134044] [ 0.16118495 -0.00731346 0.98689712 -0.22055254] [ 0. 0. 0. 1. ]] SLAMing on 83.743201008 meters Centerline goodness [0,1] 0.8924108324267106 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.50, Z:-0.22 [[ 0.98665949 0.02114586 -0.16141842 2.78470798] [-0.01964651 0.9997478 0.01087928 -0.50257346] [ 0.16160777 -0.00756284 0.98682609 -0.22048231] [ 0. 0. 0. 1. ]] SLAMing on 83.77320100799999 meters Centerline goodness [0,1] 0.893519882179676 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98661154 0.01990936 -0.1618681 2.78796567] [-0.01853433 0.99977821 0.01000049 -0.50167207] [ 0.1620313 -0.00686648 0.98676173 -0.22230515] [ 0. 0. 0. 1. ]] SLAMing on 83.80320100799999 meters Centerline goodness [0,1] 0.9022313564298297 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98658761 0.0196516 -0.16204535 2.78898578] [-0.01830611 0.99978448 0.00979219 -0.50130068] [ 0.16220285 -0.00669444 0.98673473 -0.22276388] [ 0. 0. 0. 1. ]] SLAMing on 83.83320100799999 meters Centerline goodness [0,1] 0.9063279988254295 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98656666 0.01992246 -0.1621398 2.78881715] [-0.01853708 0.99977763 0.01005283 -0.50177377] [ 0.16230402 -0.00691219 0.98671659 -0.2223202 ] [ 0. 0. 0. 1. ]] SLAMing on 83.86320100799999 meters Centerline goodness [0,1] 0.9091336546373575 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98654764 0.02089093 -0.16213365 2.78721638] [-0.01945452 0.99975621 0.01044213 -0.50171853] [ 0.16231227 -0.00714743 0.98671356 -0.22130252] [ 0. 0. 0. 1. ]] SLAMing on 83.89320100799999 meters Centerline goodness [0,1] 0.9047130546925377 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98654667 0.02123594 -0.16209474 2.78677445] [-0.01983948 0.99975085 0.01022902 -0.50027934] [ 0.16227158 -0.00687553 0.98672218 -0.22146836] [ 0. 0. 0. 1. ]] SLAMing on 83.92320100799999 meters Centerline goodness [0,1] 0.8989224642773483 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98655356 0.0213761 -0.16203437 2.78683852] [-0.02006392 0.99975135 0.00973038 -0.49788431] [ 0.16220208 -0.00634849 0.98673714 -0.22224433] [ 0. 0. 0. 1. ]] SLAMing on 83.953201008 meters Centerline goodness [0,1] 0.9008134347940173 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98635273 0.02523493 -0.16270059 2.78940301] [-0.02332761 0.99963505 0.01362297 -0.49792042] [ 0.16298499 -0.00964164 0.98658144 -0.22214757] [ 0. 0. 0. 1. ]] SLAMing on 83.983201008 meters Centerline goodness [0,1] 0.8991594194467875 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98617409 0.02922184 -0.16311578 2.79148315] [-0.02674968 0.9994919 0.01733219 -0.49656586] [ 0.16353938 -0.01272926 0.98645468 -0.22240343] [ 0. 0. 0. 1. ]] SLAMing on 84.013201008 meters Centerline goodness [0,1] 0.8972144684810421 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.9861763 0.0292395 -0.16309924 2.79123658] [-0.0267641 0.99949112 0.01735449 -0.49612155] [ 0.16352368 -0.01274938 0.98645702 -0.22210015] [ 0. 0. 0. 1. ]] SLAMing on 84.043201008 meters Centerline goodness [0,1] 0.9010617197526543 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98634224 0.02497155 -0.16280483 2.78945056] [-0.02309894 0.99964357 0.01338528 -0.49506553] [ 0.16308106 -0.00944185 0.98656749 -0.22144444] [ 0. 0. 0. 1. ]] SLAMing on 84.073201008 meters Centerline goodness [0,1] 0.9058662631670837 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98625748 0.02486889 -0.16333314 2.78974714] [-0.0228281 0.99963627 0.01435996 -0.4967566 ] [ 0.16363085 -0.01043403 0.98646646 -0.21905649] [ 0. 0. 0. 1. ]] SLAMing on 84.103201008 meters Centerline goodness [0,1] 0.905401468360331 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98623656 0.02491813 -0.16345195 2.78863801] [-0.02271679 0.9996245 0.01532345 -0.4980818 ] [ 0.1637724 -0.01139944 0.98643229 -0.21634405] [ 0. 0. 0. 1. ]] SLAMing on 84.13320100799999 meters Centerline goodness [0,1] 0.9143548199090803 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98622764 0.02484511 -0.16351684 2.78886882] [-0.02265042 0.99962678 0.01527283 -0.4972666 ] [ 0.16383527 -0.01135876 0.98642232 -0.21624385] [ 0. 0. 0. 1. ]] SLAMing on 84.16320100799999 meters Centerline goodness [0,1] 0.9058792742498255 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.50, Z:-0.22 [[ 0.98623679 0.02451569 -0.1635114 2.78971697] [-0.0224356 0.99964232 0.0145562 -0.49533338] [ 0.16380977 -0.01068738 0.98643405 -0.21743582] [ 0. 0. 0. 1. ]] SLAMing on 84.19320100799999 meters Centerline goodness [0,1] 0.9053139254481536 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.22 [[ 0.98625206 0.0241311 -0.16347648 2.79068631] [-0.02219905 0.99966058 0.01363528 -0.49227132] [ 0.16375002 -0.0098188 0.986453 -0.21891033] [ 0. 0. 0. 1. ]] SLAMing on 84.22320100799999 meters Centerline goodness [0,1] 0.9047564072962364 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.22 [[ 0.986077 0.02777737 -0.16395296 2.79359507] [-0.02535073 0.99953618 0.01687504 -0.49086015] [ 0.16434566 -0.01248376 0.98632381 -0.22007308] [ 0. 0. 0. 1. ]] SLAMing on 84.25320100799999 meters Centerline goodness [0,1] 0.9012648723576296 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.22 [[ 0.98608287 0.02770938 -0.16392917 2.79391238] [-0.02534238 0.99954243 0.01651331 -0.49021616] [ 0.16431173 -0.01212913 0.98633389 -0.22072004] [ 0. 0. 0. 1. ]] SLAMing on 84.28320100799999 meters Centerline goodness [0,1] 0.9045955776225392 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.22 [[ 0.98605609 0.02767039 -0.1640967 2.79431916] [-0.0253276 0.99954545 0.01635241 -0.49026747] [ 0.16447459 -0.01196822 0.98630871 -0.22084495] [ 0. 0. 0. 1. ]] SLAMing on 84.313201008 meters Centerline goodness [0,1] 0.9114183455521561 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.49, Z:-0.22 [[ 0.98604994 0.02754916 -0.16415407 2.79475081] [-0.02523813 0.99955104 0.01614784 -0.49043311] [ 0.16452523 -0.01177964 0.98630253 -0.22121275] [ 0. 0. 0. 1. ]] SLAMing on 84.343201008 meters Centerline goodness [0,1] 0.9085671270158372 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98600676 0.02674633 -0.16454575 2.79705463] [-0.02456031 0.99958118 0.01530573 -0.49007687] [ 0.1648862 -0.01105025 0.98625069 -0.2226769 ] [ 0. 0. 0. 1. ]] SLAMing on 84.373201008 meters Centerline goodness [0,1] 0.9117026503656175 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98597033 0.02613067 -0.16486265 2.79885888] [-0.02404177 0.99960355 0.01465367 -0.4895939 ] [ 0.1651802 -0.0104845 0.98620767 -0.22372733] [ 0. 0. 0. 1. ]] SLAMing on 84.403201008 meters Centerline goodness [0,1] 0.9116865102300312 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98593918 0.02579015 -0.16510238 2.79998497] [-0.02371878 0.99961343 0.0145056 -0.48986418] [ 0.16541266 -0.01038562 0.98616976 -0.22400156] [ 0. 0. 0. 1. ]] SLAMing on 84.433201008 meters Centerline goodness [0,1] 0.9100685966748052 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.23 [[ 0.98590738 0.02514824 -0.16539108 2.80205372] [-0.02313808 0.99963327 0.01406977 -0.49018851] [ 0.16568425 -0.01004466 0.9861277 -0.22520526] [ 0. 0. 0. 1. ]] SLAMing on 84.463201008 meters Centerline goodness [0,1] 0.9127868089685055 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.23 [[ 0.98589349 0.02489172 -0.16551262 2.80316666] [-0.02289601 0.99964045 0.01395506 -0.49047431] [ 0.16580047 -0.00996862 0.98610893 -0.22591645] [ 0. 0. 0. 1. ]] SLAMing on 84.49320100799999 meters Centerline goodness [0,1] 0.9110994672954327 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.23 [[ 0.98587232 0.02469311 -0.1656684 2.80388165] [-0.02269221 0.99964503 0.01395997 -0.49077478] [ 0.16595431 -0.01000337 0.9860827 -0.22603388] [ 0. 0. 0. 1. ]] SLAMing on 84.52320100799999 meters Centerline goodness [0,1] 0.9095213198559312 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.23 [[ 0.98584176 0.02447785 -0.16588205 2.80460436] [-0.02245681 0.9996491 0.01404859 -0.4910442 ] [ 0.16616772 -0.0101245 0.98604553 -0.22581477] [ 0. 0. 0. 1. ]] SLAMing on 84.55320100799999 meters Centerline goodness [0,1] 0.909976730657359 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98585715 0.02492169 -0.16572445 2.80348155] [-0.02280359 0.9996323 0.01467157 -0.4916201 ] [ 0.16602916 -0.01068496 0.98606295 -0.22475867] [ 0. 0. 0. 1. ]] SLAMing on 84.58320100799999 meters Centerline goodness [0,1] 0.9116196774567815 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98582178 0.02502337 -0.1659194 2.80336723] [-0.02282949 0.99962508 0.01511684 -0.49239096] [ 0.16623546 -0.01111465 0.98602345 -0.22366004] [ 0. 0. 0. 1. ]] SLAMing on 84.61320100799999 meters Centerline goodness [0,1] 0.9144957554187695 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98596111 0.02145248 -0.1655913 2.80136901] [-0.01987216 0.99973986 0.01119453 -0.4916475 ] [ 0.16578837 -0.00774671 0.98613093 -0.22380095] [ 0. 0. 0. 1. ]] SLAMing on 84.64320100799999 meters Centerline goodness [0,1] 0.9126946949291486 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98591946 0.02132183 -0.16585598 2.80205768] [-0.01973883 0.99974258 0.0111871 -0.49201536] [ 0.16605181 -0.00775578 0.98608653 -0.22374163] [ 0. 0. 0. 1. ]] SLAMing on 84.67320100799999 meters Centerline goodness [0,1] 0.9164894701581661 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98588528 0.02088912 -0.16611402 2.8034098 ] [-0.01931304 0.99975189 0.0110978 -0.49201033] [ 0.16630463 -0.00773299 0.9860441 -0.22394724] [ 0. 0. 0. 1. ]] SLAMing on 84.703201008 meters Centerline goodness [0,1] 0.916539990645463 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.23 [[ 0.98604915 0.01618954 -0.16566522 2.80286515] [-0.0153365 0.99986173 0.00642719 -0.48970368] [ 0.16574637 -0.0037968 0.98616111 -0.22523861] [ 0. 0. 0. 1. ]] SLAMing on 84.733201008 meters Centerline goodness [0,1] 0.9194387605963169 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98600594 0.01514232 -0.16602106 2.80455377] [-0.01418841 0.99987532 0.00693029 -0.49173452] [ 0.1661053 -0.00447773 0.98609786 -0.22410113] [ 0. 0. 0. 1. ]] SLAMing on 84.763201008 meters Centerline goodness [0,1] 0.9194387605963169 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98600594 0.01514232 -0.16602106 2.80455377] [-0.01418841 0.99987532 0.00693029 -0.49173452] [ 0.1661053 -0.00447773 0.98609786 -0.22410113] [ 0. 0. 0. 1. ]] SLAMing on 84.793201008 meters Centerline goodness [0,1] 0.9233242713905697 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.9859507 0.01489097 -0.16637151 2.80564248] [-0.01387403 0.9998773 0.00727305 -0.4927604 ] [ 0.1664594 -0.00486263 0.98603632 -0.22364988] [ 0. 0. 0. 1. ]] SLAMing on 84.823201008 meters Centerline goodness [0,1] 0.9236177972283005 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.98590484 0.01462806 -0.16666635 2.80671558] [-0.0135867 0.99988041 0.00738673 -0.49311028] [ 0.16675447 -0.00501817 0.98598568 -0.22353238] [ 0. 0. 0. 1. ]] SLAMing on 84.853201008 meters Centerline goodness [0,1] 0.9225144060607833 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.98590529 0.01460006 -0.16666614 2.80696121] [-0.01354679 0.99988045 0.00745482 -0.49299024] [ 0.16675506 -0.00509196 0.9859852 -0.22361034] [ 0. 0. 0. 1. ]] SLAMing on 84.88320100799999 meters Centerline goodness [0,1] 0.9251931631936314 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98595472 0.01533511 -0.16630732 2.80446999] [-0.01408091 0.99986285 0.008718 -0.49331892] [ 0.1664182 -0.00625379 0.98603543 -0.22098894] [ 0. 0. 0. 1. ]] SLAMing on 84.91320100799999 meters Centerline goodness [0,1] 0.9246785954842299 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98593208 0.01572826 -0.16640477 2.80357869] [-0.01433493 0.99985144 0.00957097 -0.49443358] [ 0.16653058 -0.00705093 0.98601108 -0.2191724 ] [ 0. 0. 0. 1. ]] SLAMing on 84.94320100799999 meters Centerline goodness [0,1] 0.9252769149621989 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.49, Z:-0.22 [[ 0.98585361 0.01557283 -0.16688363 2.8043022 ] [-0.01417306 0.99985371 0.00957548 -0.49403593] [ 0.16700833 -0.00707477 0.9859301 -0.21841384] [ 0. 0. 0. 1. ]] SLAMing on 84.97320100799999 meters Centerline goodness [0,1] 0.9257783896195191 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.98582665 0.01519347 -0.16707773 2.80551107] [-0.01389161 0.99986338 0.00895794 -0.49208058] [ 0.16719101 -0.00651 0.98590303 -0.219305 ] [ 0. 0. 0. 1. ]] SLAMing on 85.00320100799999 meters Centerline goodness [0,1] 0.9258576818460998 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.98584303 0.01503342 -0.16699554 2.80606636] [-0.01380258 0.99986837 0.00852878 -0.49000366] [ 0.16710178 -0.00610307 0.98592076 -0.22016221] [ 0. 0. 0. 1. ]] SLAMing on 85.03320100799999 meters Centerline goodness [0,1] 0.9261567131584312 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.49, Z:-0.22 [[ 0.98581408 0.01459675 -0.16720505 2.80713643] [-0.01343711 0.99987719 0.00806479 -0.48763298] [ 0.16730223 -0.00570363 0.98588916 -0.22046455] [ 0. 0. 0. 1. ]] SLAMing on 85.063201008 meters Centerline goodness [0,1] 0.9257142857142857 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.22 [[ 0.9857841 0.01432842 -0.16740493 2.8077687 ] [-0.01323743 0.99988326 0.00763118 -0.48465615] [ 0.16749473 -0.00530668 0.98585869 -0.22049684] [ 0. 0. 0. 1. ]] SLAMing on 85.093201008 meters Centerline goodness [0,1] 0.925063998138236 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.22 [[ 0.98578551 0.01439479 -0.16739092 2.80748794] [-0.01329977 0.99988221 0.00766094 -0.48376706] [ 0.16748148 -0.00532578 0.98586084 -0.22010787] [ 0. 0. 0. 1. ]] SLAMing on 85.123201008 meters Centerline goodness [0,1] 0.9242138273469032 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.22 [[ 0.98575703 0.0144909 -0.16755026 2.80745003] [-0.01337796 0.99988033 0.00776931 -0.48300169] [ 0.16764279 -0.00541717 0.98583292 -0.21944348] [ 0. 0. 0. 1. ]] SLAMing on 85.153201008 meters Centerline goodness [0,1] 0.9235655915220468 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.48, Z:-0.22 [[ 0.98575934 0.01530496 -0.16746429 2.80577838] [-0.01416971 0.99986782 0.00797196 -0.48010927] [ 0.16756416 -0.00548551 0.98584591 -0.21833441] [ 0. 0. 0. 1. ]] SLAMing on 85.183201008 meters Centerline goodness [0,1] 0.9214000172557592 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.22 [[ 0.98581448 0.01589681 -0.16708409 2.80413753] [-0.01476132 0.99985875 0.00803577 -0.477988 ] [ 0.16718823 -0.0054554 0.9859099 -0.21789994] [ 0. 0. 0. 1. ]] SLAMing on 85.213201008 meters Centerline goodness [0,1] 0.9201628860657853 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.22 [[ 0.98580938 0.01632843 -0.16707257 2.80325742] [-0.01517728 0.99985148 0.00816474 -0.47630065] [ 0.16718107 -0.00551317 0.98591079 -0.21715177] [ 0. 0. 0. 1. ]] SLAMing on 85.24320100799999 meters Centerline goodness [0,1] 0.9208800022916727 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.48, Z:-0.22 [[ 0.9858313 0.01669736 -0.16690669 2.80257186] [-0.01556557 0.99984615 0.00808696 -0.47507484] [ 0.16701604 -0.00537438 0.98593953 -0.21716822] [ 0. 0. 0. 1. ]] SLAMing on 85.27320100799999 meters Centerline goodness [0,1] 0.917202160932613 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.22 [[ 0.98567522 0.02136915 -0.16729532 2.80294332] [-0.01961665 0.9997341 0.01212119 -0.47315188] [ 0.16750985 -0.00866578 0.98583231 -0.2159498 ] [ 0. 0. 0. 1. ]] SLAMing on 85.30320100799999 meters Centerline goodness [0,1] 0.9136962197752299 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.22 [[ 0.98571736 0.02196736 -0.16696922 2.80170266] [-0.02026497 0.99972391 0.01189302 -0.4694679 ] [ 0.16718437 -0.00833953 0.98589038 -0.21608685] [ 0. 0. 0. 1. ]] SLAMing on 85.33320100799999 meters Centerline goodness [0,1] 0.9115584709341777 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.47, Z:-0.22 [[ 0.98573327 0.02220749 -0.16684346 2.80131889] [-0.02058514 0.99972257 0.01144709 -0.46682928] [ 0.16705139 -0.00784929 0.98591695 -0.21648151] [ 0. 0. 0. 1. ]] SLAMing on 85.36320100799999 meters Centerline goodness [0,1] 0.9083715822374905 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.46, Z:-0.22 [[ 9.86466032e-01 2.42144130e-02 -1.62167905e-01 2.81611000e+00] [-2.39048902e-02 9.99706786e-01 3.85989313e-03 -4.64866158e-01] [ 1.62213820e-01 6.89524955e-05 9.86755629e-01 -2.18383447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39320100799999 meters Centerline goodness [0,1] 0.909414155096512 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.46, Z:-0.22 [[ 9.86477164e-01 2.48181331e-02 -1.62008842e-01 2.81484617e+00] [-2.44341705e-02 9.99691923e-01 4.36232953e-03 -4.64913023e-01] [ 1.62067196e-01 -3.44786797e-04 9.86779664e-01 -2.17472307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42320100799999 meters Centerline goodness [0,1] 0.9102958179408365 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.46, Z:-0.22 [[ 9.86510735e-01 2.53636087e-02 -1.61719689e-01 2.81368182e+00] [-2.49306833e-02 9.99678105e-01 4.70602962e-03 -4.64395712e-01] [ 1.61786995e-01 -6.10766384e-04 9.86825514e-01 -2.17041747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.453201008 meters Centerline goodness [0,1] 0.9092572264910355 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.46, Z:-0.22 [[ 9.86505304e-01 2.57131759e-02 -1.61697613e-01 2.81312294e+00] [-2.52106343e-02 9.99668848e-01 5.15923839e-03 -4.64067775e-01] [ 1.61776727e-01 -1.01311666e-03 9.86826866e-01 -2.16231769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.483201008 meters Centerline goodness [0,1] 0.913159671430179 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.47, Z:-0.22 [[ 9.86440247e-01 2.54381869e-02 -1.62137403e-01 2.81467175e+00] [-2.48992744e-02 9.99675621e-01 5.35526578e-03 -4.65240635e-01] [ 1.62221038e-01 -1.24554600e-03 9.86753659e-01 -2.16122303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.513201008 meters Centerline goodness [0,1] 0.9137742053343076 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.22 [[ 9.86368684e-01 2.51714006e-02 -1.62613711e-01 2.81604840e+00] [-2.45872004e-02 9.99681980e-01 5.60439212e-03 -4.66152377e-01] [ 1.62703066e-01 -1.52978099e-03 9.86673893e-01 -2.15723529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.543201008 meters Centerline goodness [0,1] 0.9162305138161968 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.22 [[ 9.86310151e-01 2.49079818e-02 -1.63008830e-01 2.81726564e+00] [-2.43047492e-02 9.99688379e-01 5.69416462e-03 -4.66664512e-01] [ 1.63099864e-01 -1.65432362e-03 9.86608178e-01 -2.15558545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.573201008 meters Centerline goodness [0,1] 0.9142937693825768 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.22 [[ 9.86251246e-01 2.44647953e-02 -1.63431804e-01 2.81888763e+00] [-2.39013415e-02 9.99699665e-01 5.41338821e-03 -4.66339755e-01] [ 1.63515157e-01 -1.43272151e-03 9.86539782e-01 -2.15892568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.603201008 meters Centerline goodness [0,1] 0.914856302330844 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.21 [[ 9.86125651e-01 2.46351295e-02 -1.64162452e-01 2.81958842e+00] [-2.39578151e-02 9.99694330e-01 6.10482696e-03 -4.68531804e-01] [ 1.64262666e-01 -2.08715278e-03 9.86414426e-01 -2.14228176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63320100799999 meters Centerline goodness [0,1] 0.9152303308979097 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.21 [[ 0.98603199 0.02482883 -0.16469501 2.81999975] [-0.02402201 0.99968769 0.00688915 -0.47023068] [ 0.16481462 -0.00283662 0.98632048 -0.21256485] [ 0. 0. 0. 1. ]] SLAMing on 85.66320100799999 meters Centerline goodness [0,1] 0.9127049064695426 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.21 [[ 0.98600954 0.02603111 -0.16464378 2.81846608] [-0.02515118 0.99965607 0.00742728 -0.46890559] [ 0.16478049 -0.00318238 0.98632513 -0.21161305] [ 0. 0. 0. 1. ]] SLAMing on 85.69320100799999 meters Centerline goodness [0,1] 0.9126579784389338 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.21 [[ 0.98579551 0.03006319 -0.16523745 2.82059996] [-0.02859557 0.99952771 0.01125421 -0.46810012] [ 0.16549774 -0.00636929 0.9861896 -0.21144259] [ 0. 0. 0. 1. ]] SLAMing on 85.72320100799999 meters Centerline goodness [0,1] 0.9106887562021697 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.47, Z:-0.21 [[ 0.98558083 0.03408148 -0.16573737 2.82277996] [-0.03202969 0.99937379 0.0150376 -0.46716192] [ 0.16614609 -0.00951226 0.98605527 -0.21152964] [ 0. 0. 0. 1. ]] SLAMing on 85.75320100799999 meters Centerline goodness [0,1] 0.9111601407585321 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.21 [[ 0.98534411 0.03786387 -0.16632294 2.82542745] [-0.0352922 0.99920779 0.0183914 -0.46537647] [ 0.16688755 -0.01225195 0.98589981 -0.2120597 ] [ 0. 0. 0. 1. ]] SLAMing on 85.78320100799999 meters Centerline goodness [0,1] 0.9111463815331495 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.46, Z:-0.21 [[ 0.98529776 0.03730527 -0.16672322 2.82697107] [-0.0348094 0.99923422 0.0178684 -0.46459955] [ 0.16726214 -0.01180216 0.98584182 -0.21249175] [ 0. 0. 0. 1. ]] SLAMing on 85.813201008 meters Centerline goodness [0,1] 0.9111129739849666 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.47, Z:-0.21 [[ 0.98523466 0.03717068 -0.1671257 2.82744134] [-0.03462457 0.99923604 0.01812384 -0.46517778] [ 0.1676717 -0.01206958 0.985769 -0.21145668] [ 0. 0. 0. 1. ]] SLAMing on 85.843201008 meters Centerline goodness [0,1] 0.9112246616879106 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.46, Z:-0.21 [[ 9.86135066e-01 3.36635530e-02 -1.62494297e-01 2.84259677e+00] [-3.31116257e-02 9.99433017e-01 6.10440643e-03 -4.63806309e-01] [ 1.62607661e-01 -6.39318917e-04 9.86690600e-01 -2.13287853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.873201008 meters Centerline goodness [0,1] 0.9127359819667512 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.47, Z:-0.21 [[ 9.86005531e-01 3.31446970e-02 -1.63384583e-01 2.84452957e+00] [-3.24931724e-02 9.99449773e-01 6.65920992e-03 -4.65908538e-01] [ 1.63515402e-01 -1.25713440e-03 9.86539980e-01 -2.11836146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.903201008 meters Centerline goodness [0,1] 0.9110286260615263 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85901919e-01 3.27189604e-02 -1.64094104e-01 2.84618195e+00] [-3.19435395e-02 9.99462556e-01 7.36271918e-03 -4.67844296e-01] [ 1.64246813e-01 -2.01717247e-03 9.86417212e-01 -2.10396598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.933201008 meters Centerline goodness [0,1] 0.911918268280981 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85917589e-01 3.09212292e-02 -1.64348367e-01 2.84980939e+00] [-3.02102357e-02 9.99520269e-01 6.82448243e-03 -4.69385738e-01] [ 1.64480545e-01 -1.76337436e-03 9.86378751e-01 -2.11951781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.963201008 meters Centerline goodness [0,1] 0.9130778571630285 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85888519e-01 3.05245314e-02 -1.64596721e-01 2.85132400e+00] [-2.98548831e-02 9.99532839e-01 6.54135152e-03 -4.68610684e-01] [ 1.64719500e-01 -1.53502748e-03 9.86339257e-01 -2.12617883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99320100799999 meters Centerline goodness [0,1] 0.9145548138929743 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85877375e-01 3.05795589e-02 -1.64653245e-01 2.85151849e+00] [-2.98794906e-02 9.99530869e-01 6.72746686e-03 -4.68861945e-01] [ 1.64781724e-01 -1.71270229e-03 9.86328571e-01 -2.12424534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02320100799999 meters Centerline goodness [0,1] 0.9084716058456059 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85798823e-01 3.05364813e-02 -1.65130870e-01 2.85199986e+00] [-2.96835012e-02 9.99530216e-01 7.63137312e-03 -4.70367078e-01] [ 1.65286329e-01 -2.62133626e-03 9.86242140e-01 -2.10447241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05320100799999 meters Centerline goodness [0,1] 0.9146465790666063 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 0.98568742 0.03023864 -0.1658491 2.85316627] [-0.02919064 0.99953553 0.00875341 -0.47256959] [ 0.16603676 -0.00378688 0.98611229 -0.20803483] [ 0. 0. 0. 1. ]] SLAMing on 86.08320100799999 meters Centerline goodness [0,1] 0.9127095171468548 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.47, Z:-0.21 [[ 9.85782405e-01 2.53546860e-02 -1.66102950e-01 2.85399833e+00] [-2.48744528e-02 9.99678223e-01 4.97119131e-03 -4.74288670e-01] [ 1.66175545e-01 -7.68792945e-04 9.86095886e-01 -2.08043629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11320100799999 meters Centerline goodness [0,1] 0.9127782686771371 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.21 [[ 9.85666560e-01 2.45310900e-02 -1.66912127e-01 2.85658928e+00] [-2.39595700e-02 9.99698142e-01 5.43722114e-03 -4.76301208e-01] [ 1.66995124e-01 -1.36014427e-03 9.85956783e-01 -2.07140703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14320100799999 meters Centerline goodness [0,1] 0.9123124157126051 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.21 [[ 9.85581204e-01 2.38288728e-02 -1.67516794e-01 2.85869094e+00] [-2.31887567e-02 9.99714416e-01 5.77652510e-03 -4.77930187e-01] [ 1.67606602e-01 -1.80872839e-03 9.85852299e-01 -2.06558828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17320100799999 meters Centerline goodness [0,1] 0.9128322295167308 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.21 [[ 9.85555907e-01 2.10435721e-02 -1.68037859e-01 2.86327231e+00] [-2.04697318e-02 9.99777227e-01 5.14657303e-03 -4.80244162e-01] [ 1.68108727e-01 -1.63254556e-03 9.85767108e-01 -2.07207570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.203201008 meters Centerline goodness [0,1] 0.9140803848271466 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 9.85455150e-01 2.01702322e-02 -1.68734432e-01 2.86582667e+00] [-1.95217339e-02 9.99794297e-01 5.50148505e-03 -4.82205633e-01] [ 1.68810689e-01 -2.12747810e-03 9.85646197e-01 -2.06650835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.233201008 meters Centerline goodness [0,1] 0.9140899457074007 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 9.85368780e-01 1.95345665e-02 -1.69312635e-01 2.86792462e+00] [-1.87972756e-02 9.99805572e-01 5.95655439e-03 -4.84375532e-01] [ 1.69396075e-01 -2.68678648e-03 9.85544393e-01 -2.06101740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.263201008 meters Centerline goodness [0,1] 0.9143647212923883 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98534696 0.01906797 -0.16949272 2.86851598] [-0.01810646 0.99981002 0.00721684 -0.48741661] [ 0.16959813 -0.00404218 0.98550502 -0.20395117] [ 0. 0. 0. 1. ]] SLAMing on 86.293201008 meters Centerline goodness [0,1] 0.9138618181818182 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98530629 0.01920913 -0.16971309 2.86833483] [-0.01807648 0.99980284 0.00821662 -0.48869142] [ 0.16983746 -0.00502807 0.98545926 -0.20203552] [ 0. 0. 0. 1. ]] SLAMing on 86.323201008 meters Centerline goodness [0,1] 0.9201675782613755 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98528192 0.01934794 -0.16983872 2.8679047 ] [-0.01811884 0.99979725 0.00878395 -0.48927498] [ 0.16997423 -0.00557739 0.98543272 -0.20065674] [ 0. 0. 0. 1. ]] SLAMing on 86.353201008 meters Centerline goodness [0,1] 0.9187880545085532 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98525013 0.01926806 -0.1700321 2.86827083] [-0.01801327 0.99979796 0.00891941 -0.48879596] [ 0.17016961 -0.00572502 0.98539816 -0.20006091] [ 0. 0. 0. 1. ]] SLAMing on 86.38320100799999 meters Centerline goodness [0,1] 0.9195106432207312 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98524412 0.01963089 -0.17002546 2.86764249] [-0.01832593 0.99978936 0.00924123 -0.48830811] [ 0.17017106 -0.00598899 0.98539634 -0.19929203] [ 0. 0. 0. 1. ]] SLAMing on 86.41320100799999 meters Centerline goodness [0,1] 0.9212264559116213 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98504 0.02444241 -0.17058362 2.86755428] [-0.02226642 0.99964461 0.01465796 -0.4898141 ] [ 0.17088127 -0.01064039 0.98523417 -0.19574171] [ 0. 0. 0. 1. ]] SLAMing on 86.44320100799999 meters Centerline goodness [0,1] 0.9202293155104863 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98506201 0.02453374 -0.17044335 2.86754466] [-0.02242203 0.99964627 0.01430369 -0.4883249 ] [ 0.17073398 -0.01026834 0.98526365 -0.19639833] [ 0. 0. 0. 1. ]] SLAMing on 86.47320100799999 meters Centerline goodness [0,1] 0.9184119049671062 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.49, Z:-0.20 [[ 0.98508259 0.02504473 -0.17024995 2.86735197] [-0.0230115 0.99963849 0.01390571 -0.48518306] [ 0.17053667 -0.00978056 0.98530279 -0.19742559] [ 0. 0. 0. 1. ]] SLAMing on 86.50320100799999 meters Centerline goodness [0,1] 0.9155103565169928 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98502121 0.02464455 -0.17066301 2.86876791] [-0.02270066 0.9996534 0.01333262 -0.48385761] [ 0.17093243 -0.00925875 0.98523925 -0.19792542] [ 0. 0. 0. 1. ]] SLAMing on 86.53320100799999 meters Centerline goodness [0,1] 0.9156567687094366 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98499694 0.02457011 -0.17081374 2.86948871] [-0.02265799 0.99965699 0.01313496 -0.48360795] [ 0.17107788 -0.0090676 0.98521578 -0.19831798] [ 0. 0. 0. 1. ]] SLAMing on 86.563201008 meters Centerline goodness [0,1] 0.9157855418917366 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98496118 0.0242667 -0.17106315 2.87077292] [-0.02244016 0.99966874 0.01260341 -0.48284692] [ 0.17131233 -0.00857518 0.98517945 -0.19919762] [ 0. 0. 0. 1. ]] SLAMing on 86.593201008 meters Centerline goodness [0,1] 0.9133107370598035 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98497428 0.02431132 -0.17098137 2.87133868] [-0.02258729 0.9996726 0.01202152 -0.48079294] [ 0.17121765 -0.00797888 0.98520092 -0.20049666] [ 0. 0. 0. 1. ]] SLAMing on 86.623201008 meters Centerline goodness [0,1] 0.912362125769947 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98497149 0.02462723 -0.17095223 2.87088994] [-0.02288174 0.99966406 0.01217355 -0.4801262 ] [ 0.1711946 -0.00807892 0.98520411 -0.20008876] [ 0. 0. 0. 1. ]] SLAMing on 86.653201008 meters Centerline goodness [0,1] 0.9136955776482688 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98495557 0.02477797 -0.17102216 2.87101643] [-0.02304415 0.99966103 0.01211605 -0.47919306] [ 0.1712644 -0.00799271 0.98519268 -0.20006258] [ 0. 0. 0. 1. ]] SLAMing on 86.683201008 meters Centerline goodness [0,1] 0.9136955776482688 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98495557 0.02477797 -0.17102216 2.87101643] [-0.02304415 0.99966103 0.01211605 -0.47919306] [ 0.1712644 -0.00799271 0.98519268 -0.20006258] [ 0. 0. 0. 1. ]] SLAMing on 86.713201008 meters Centerline goodness [0,1] 0.9124258329529895 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98495529 0.02508591 -0.17097885 2.87067837] [-0.02335295 0.99965358 0.01213957 -0.47847191] [ 0.17122415 -0.00796408 0.98519991 -0.19998979] [ 0. 0. 0. 1. ]] SLAMing on 86.74320100799999 meters Centerline goodness [0,1] 0.9102937814357568 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98501303 0.02597191 -0.17051329 2.86896921] [-0.02421016 0.99962994 0.01240356 -0.47768648] [ 0.17077233 -0.00808952 0.98527731 -0.19988911] [ 0. 0. 0. 1. ]] SLAMing on 86.77320100799999 meters Centerline goodness [0,1] 0.9113241461953265 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98504239 0.02619003 -0.17031021 2.86876044] [-0.02445588 0.99962558 0.01227255 -0.47680257] [ 0.17056786 -0.0079239 0.98531407 -0.20040203] [ 0. 0. 0. 1. ]] SLAMing on 86.80320100799999 meters Centerline goodness [0,1] 0.908539364247465 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98509947 0.02683864 -0.16987854 2.86735259] [-0.02507411 0.99960714 0.01252429 -0.47614633] [ 0.17014794 -0.00807812 0.98538542 -0.20029088] [ 0. 0. 0. 1. ]] SLAMing on 86.83320100799999 meters Centerline goodness [0,1] 0.9085485383107474 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98521473 0.02864053 -0.16891316 2.86344873] [-0.0267065 0.99954928 0.01371106 -0.47597159] [ 0.16922972 -0.00899726 0.98553557 -0.19889354] [ 0. 0. 0. 1. ]] SLAMing on 86.86320100799999 meters Centerline goodness [0,1] 0.9083861475780897 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98520501 0.02891235 -0.16892354 2.86327125] [-0.02696878 0.99954117 0.01378914 -0.47556098] [ 0.16924471 -0.00902947 0.9855327 -0.19872687] [ 0. 0. 0. 1. ]] SLAMing on 86.89320100799999 meters Centerline goodness [0,1] 0.9097172994584172 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98526028 0.02952761 -0.16849421 2.86187611] [-0.0275443 0.99952119 0.01409647 -0.47578999] [ 0.16882977 -0.00924763 0.98560184 -0.1985658 ] [ 0. 0. 0. 1. ]] SLAMing on 86.92320100799999 meters Centerline goodness [0,1] 0.9089673143375063 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98530401 0.03032363 -0.16809665 2.86025081] [-0.02822985 0.99949141 0.01483206 -0.47711758] [ 0.16846092 -0.00986875 0.98565893 -0.19761753] [ 0. 0. 0. 1. ]] SLAMing on 86.953201008 meters Centerline goodness [0,1] 0.9087942336615682 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98532107 0.03062628 -0.16794173 2.85973759] [-0.02848476 0.99947947 0.01514636 -0.47795426] [ 0.16831819 -0.01014025 0.98568056 -0.19738677] [ 0. 0. 0. 1. ]] SLAMing on 86.983201008 meters Centerline goodness [0,1] 0.9091244187365317 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98530363 0.03041334 -0.1680827 2.86057105] [-0.02826648 0.99948559 0.01515107 -0.47880542] [ 0.16845703 -0.0101773 0.98565646 -0.19759595] [ 0. 0. 0. 1. ]] SLAMing on 87.013201008 meters Centerline goodness [0,1] 0.9080577338333902 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.9852543 0.02982243 -0.16847725 2.86276834] [-0.02770115 0.99950478 0.01492775 -0.47964674] [ 0.168839 -0.01004062 0.9855925 -0.19846079] [ 0. 0. 0. 1. ]] SLAMing on 87.043201008 meters Centerline goodness [0,1] 0.908691434115163 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98520147 0.02880628 -0.16896232 2.86614833] [-0.02678329 0.99953983 0.0142404 -0.48007347] [ 0.16929478 -0.0095043 0.98551963 -0.20039115] [ 0. 0. 0. 1. ]] SLAMing on 87.073201008 meters Centerline goodness [0,1] 0.9070542967079949 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98513012 0.02756573 -0.16958412 2.87010299] [-0.02566553 0.99958094 0.01338742 -0.47993814] [ 0.16988208 -0.00883588 0.98542478 -0.20247988] [ 0. 0. 0. 1. ]] SLAMing on 87.103201008 meters Centerline goodness [0,1] 0.905785076676585 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.48, Z:-0.21 [[ 0.98513977 0.02371303 -0.17010975 2.87671689] [-0.02216885 0.99969404 0.01097149 -0.48083024] [ 0.17031787 -0.00703732 0.98536404 -0.20612494] [ 0. 0. 0. 1. ]] SLAMing on 87.13320100799999 meters Centerline goodness [0,1] 0.9061573447710066 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.48, Z:-0.21 [[ 0.98526104 0.0190946 -0.16998844 2.87684785] [-0.01820327 0.99981118 0.00680057 -0.48098493] [ 0.1700862 -0.00360599 0.98542259 -0.20696494] [ 0. 0. 0. 1. ]] SLAMing on 87.16320100799999 meters Centerline goodness [0,1] 0.907207882000461 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.48, Z:-0.21 [[ 9.85348688e-01 1.45881621e-02 -1.69926892e-01 2.87668292e+00] [-1.42799464e-02 9.99893428e-01 3.03589917e-03 -4.81595455e-01] [ 1.69953070e-01 -5.64872348e-04 9.85451995e-01 -2.06925140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19320100799999 meters Centerline goodness [0,1] 0.9064076543925775 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.48, Z:-0.21 [[ 9.85463652e-01 1.01568362e-02 -1.69582515e-01 2.87579016e+00] [-1.04547741e-02 9.99944974e-01 -8.64019001e-04 -4.81385058e-01] [ 1.69564408e-01 2.62440620e-03 9.85515613e-01 -2.06986914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22320100799999 meters Centerline goodness [0,1] 0.9096988021863007 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.48, Z:-0.21 [[ 0.9855653 0.00550275 -0.16920624 2.87519559] [-0.00633888 0.99997022 -0.00440171 -0.48205582] [ 0.16917698 0.00541075 0.98557084 -0.20646241] [ 0. 0. 0. 1. ]] SLAMing on 87.25320100799999 meters Centerline goodness [0,1] 0.909574622743 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98558107 0.00597906 -0.16909821 2.87433252] [-0.00663755 0.99997243 -0.00332912 -0.48369029] [ 0.16907365 0.00440352 0.98559358 -0.20500232] [ 0. 0. 0. 1. ]] SLAMing on 87.28320100799999 meters Centerline goodness [0,1] 0.9121183011672925 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98559674 0.00621086 -0.16899852 2.87410417] [-0.00683509 0.9999718 -0.00311219 -0.48359203] [ 0.16897443 0.00422249 0.98561139 -0.20491251] [ 0. 0. 0. 1. ]] SLAMing on 87.313201008 meters Centerline goodness [0,1] 0.9091333119552226 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98563972 0.0066067 -0.16873259 2.87359542] [-0.00726213 0.99996829 -0.00326756 -0.4820783 ] [ 0.16870565 0.00444599 0.98565645 -0.20547782] [ 0. 0. 0. 1. ]] SLAMing on 87.343201008 meters Centerline goodness [0,1] 0.9162420382165605 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 9.85673432e-01 1.26675349e-02 -1.68188643e-01 2.87112585e+00] [-1.25561292e-02 9.99919679e-01 1.72588640e-03 -4.81916199e-01] [ 1.68196997e-01 4.10637970e-04 9.85753317e-01 -2.04211269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.373201008 meters Centerline goodness [0,1] 0.9119735659835947 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 9.85717164e-01 1.39354137e-02 -1.67831694e-01 2.86897243e+00] [-1.37709284e-02 9.99902878e-01 2.14393183e-03 -4.80569744e-01] [ 1.67845270e-01 1.97887837e-04 9.85813332e-01 -2.03684970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.403201008 meters Centerline goodness [0,1] 0.9072159009073888 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98565916 0.01961869 -0.16760408 2.86770335] [-0.01877112 0.99980176 0.0066399 -0.48012221] [ 0.16770112 -0.00339856 0.98583203 -0.20300328] [ 0. 0. 0. 1. ]] SLAMing on 87.433201008 meters Centerline goodness [0,1] 0.907107285759521 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98568479 0.02035858 -0.16736492 2.86685158] [-0.01955136 0.99978792 0.00646961 -0.47866809] [ 0.16746113 -0.00310478 0.98587379 -0.20361095] [ 0. 0. 0. 1. ]] SLAMing on 87.463201008 meters Centerline goodness [0,1] 0.902917085788188 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.9857218 0.02102331 -0.16706455 2.86576269] [-0.02021686 0.99977432 0.0065266 -0.47769814] [ 0.16716405 -0.00305589 0.98592436 -0.20372409] [ 0. 0. 0. 1. ]] SLAMing on 87.49320100799999 meters Centerline goodness [0,1] 0.9017445877475818 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98580418 0.02238805 -0.16639979 2.86270799] [-0.02144964 0.99974229 0.00743468 -0.47800334] [ 0.16652335 -0.00375993 0.98603034 -0.20248493] [ 0. 0. 0. 1. ]] SLAMing on 87.52320100799999 meters Centerline goodness [0,1] 0.9000774815622579 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98582142 0.0226677 -0.16625976 2.86212144] [-0.02168679 0.99973506 0.00771321 -0.4776812 ] [ 0.16639055 -0.00399821 0.98605182 -0.20204571] [ 0. 0. 0. 1. ]] SLAMing on 87.55320100799999 meters Centerline goodness [0,1] 0.898245312231206 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98585745 0.02311219 -0.16598465 2.86114647] [-0.02207238 0.99972351 0.00810662 -0.47745532] [ 0.16612612 -0.00432829 0.98609501 -0.20159704] [ 0. 0. 0. 1. ]] SLAMing on 87.58320100799999 meters Centerline goodness [0,1] 0.8987565594341775 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98588582 0.02328042 -0.16579257 2.86077583] [-0.02222297 0.99971916 0.0082306 -0.47686584] [ 0.16593762 -0.00443003 0.9861263 -0.20155115] [ 0. 0. 0. 1. ]] SLAMing on 87.61320100799999 meters Centerline goodness [0,1] 0.8965290672761034 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98590652 0.02341337 -0.1656507 2.86038337] [-0.02232815 0.99971532 0.00841069 -0.47622487] [ 0.16580047 -0.00459348 0.98614862 -0.20126385] [ 0. 0. 0. 1. ]] SLAMing on 87.64320100799999 meters Centerline goodness [0,1] 0.8953190033639318 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98595632 0.02379523 -0.1652995 2.85952968] [-0.02266494 0.99970508 0.00872096 -0.47619837] [ 0.16545827 -0.00485199 0.98620486 -0.20109265] [ 0. 0. 0. 1. ]] SLAMing on 87.67320100799999 meters Centerline goodness [0,1] 0.892772697490243 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98596312 0.02388092 -0.16524659 2.85954227] [-0.02273307 0.99970254 0.00883432 -0.47642131] [ 0.16540841 -0.00495375 0.98621271 -0.2011407 ] [ 0. 0. 0. 1. ]] SLAMing on 87.703201008 meters Centerline goodness [0,1] 0.8927758169190482 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98594538 0.02375505 -0.16537051 2.86028378] [-0.02259927 0.99970528 0.00886739 -0.47682215] [ 0.16553242 -0.00500551 0.98619165 -0.20136535] [ 0. 0. 0. 1. ]] SLAMing on 87.733201008 meters Centerline goodness [0,1] 0.8929183323814963 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98588312 0.02304545 -0.16584143 2.86238151] [-0.02192496 0.99972277 0.00858416 -0.47749373] [ 0.16599327 -0.00482691 0.98611507 -0.20192454] [ 0. 0. 0. 1. ]] SLAMing on 87.763201008 meters Centerline goodness [0,1] 0.8945052433065691 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.48, Z:-0.20 [[ 0.98582302 0.02241071 -0.16628507 2.86438413] [-0.0212668 0.99973636 0.00865679 -0.48025683] [ 0.16643524 -0.00499771 0.98603972 -0.20213202] [ 0. 0. 0. 1. ]] SLAMing on 87.793201008 meters Centerline goodness [0,1] 0.8905715263518138 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98577121 0.02189523 -0.16666052 2.86647917] [-0.02082034 0.99974965 0.00819423 -0.48027465] [ 0.16679821 -0.0046077 0.98598029 -0.20328473] [ 0. 0. 0. 1. ]] SLAMing on 87.823201008 meters Centerline goodness [0,1] 0.8905009424801508 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98573088 0.02138341 -0.16696522 2.86878145] [-0.02042127 0.9997635 0.00747749 -0.4795292 ] [ 0.16708563 -0.00396116 0.98593443 -0.20512501] [ 0. 0. 0. 1. ]] SLAMing on 87.853201008 meters Centerline goodness [0,1] 0.8908162391943169 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.9856758 0.02079199 -0.16736463 2.87154256] [-0.0199588 0.99977863 0.006659 -0.47875958] [ 0.16746604 -0.00322322 0.98587258 -0.20724913] [ 0. 0. 0. 1. ]] SLAMing on 87.88320100799999 meters Centerline goodness [0,1] 0.890600440113172 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98565594 0.02072724 -0.16748956 2.87223893] [-0.01985905 0.99977928 0.00685698 -0.47934864] [ 0.16759471 -0.00343244 0.98585 -0.20731804] [ 0. 0. 0. 1. ]] SLAMing on 87.91320100799999 meters Centerline goodness [0,1] 0.8888539762340036 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98564479 0.02077211 -0.16754957 2.87240804] [-0.01985044 0.99977722 0.00717397 -0.47969539] [ 0.16766126 -0.00374505 0.98583755 -0.20690491] [ 0. 0. 0. 1. ]] SLAMing on 87.94320100799999 meters Centerline goodness [0,1] 0.8905573864450494 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98563022 0.02080259 -0.1676315 2.8726277 ] [-0.01983425 0.99977553 0.00744898 -0.48015172] [ 0.16774883 -0.0040171 0.98582158 -0.2065628 ] [ 0. 0. 0. 1. ]] SLAMing on 87.97320100799999 meters Centerline goodness [0,1] 0.889886483858977 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98559245 0.0209256 -0.16783812 2.8729919 ] [-0.01994658 0.99977279 0.00751706 -0.47934754] [ 0.16795729 -0.00406096 0.98578591 -0.20626532] [ 0. 0. 0. 1. ]] SLAMing on 88.00320100799999 meters Centerline goodness [0,1] 0.8911337499643295 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.21 [[ 0.98560322 0.02146508 -0.16770673 2.87176967] [-0.0204429 0.99976044 0.00781933 -0.47851758] [ 0.1678344 -0.00427834 0.98580592 -0.20542813] [ 0. 0. 0. 1. ]] SLAMing on 88.03320100799999 meters Centerline goodness [0,1] 0.8901011251958411 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98561117 0.02208943 -0.16757885 2.87040228] [-0.02100771 0.99974548 0.00822525 -0.47795859] [ 0.16771789 -0.00458645 0.98582436 -0.20439096] [ 0. 0. 0. 1. ]] SLAMing on 88.063201008 meters Centerline goodness [0,1] 0.8892977351816989 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98561565 0.02280198 -0.16745703 2.86878631] [-0.02165598 0.99972792 0.00866674 -0.47744658] [ 0.16760909 -0.00491563 0.98584128 -0.20318417] [ 0. 0. 0. 1. ]] SLAMing on 88.093201008 meters Centerline goodness [0,1] 0.8820186406001363 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.48, Z:-0.20 [[ 0.98543622 0.02756064 -0.16779712 2.86892883] [-0.02574555 0.99958421 0.01298345 -0.47739074] [ 0.16808518 -0.00847434 0.98573605 -0.20171332] [ 0. 0. 0. 1. ]] SLAMing on 88.123201008 meters Centerline goodness [0,1] 0.8832019508875404 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.20 [[ 0.98545209 0.02797673 -0.16763496 2.86829191] [-0.02624182 0.99957677 0.01255606 -0.47496899] [ 0.16791529 -0.00797435 0.98576917 -0.20219654] [ 0. 0. 0. 1. ]] SLAMing on 88.153201008 meters Centerline goodness [0,1] 0.881882920264663 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.20 [[ 0.98522469 0.03215878 -0.16822044 2.86994746] [-0.02976849 0.99941709 0.01671253 -0.47490379] [ 0.16865984 -0.01145793 0.98560772 -0.20125585] [ 0. 0. 0. 1. ]] SLAMing on 88.183201008 meters Centerline goodness [0,1] 0.8790444258172674 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.20 [[ 0.98500892 0.03553143 -0.16880443 2.87281657] [-0.03269771 0.9992743 0.01953802 -0.47153985] [ 0.16937614 -0.01372561 0.9854559 -0.20201594] [ 0. 0. 0. 1. ]] SLAMing on 88.213201008 meters Centerline goodness [0,1] 0.8761205737337516 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.20 [[ 0.98500186 0.03506233 -0.16894367 2.87420885] [-0.03240865 0.99930458 0.01844022 -0.46860115] [ 0.16947274 -0.01268841 0.98545319 -0.20359832] [ 0. 0. 0. 1. ]] SLAMing on 88.24320100799999 meters Centerline goodness [0,1] 0.8741610738255033 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.47, Z:-0.20 [[ 0.98495808 0.03464523 -0.16928464 2.87568532] [-0.03213485 0.99932949 0.01754744 -0.466687 ] [ 0.16977907 -0.01184356 0.98541098 -0.20469498] [ 0. 0. 0. 1. ]] SLAMing on 88.27320100799999 meters Centerline goodness [0,1] 0.8789391488649674 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.46, Z:-0.21 [[ 0.98490566 0.03452682 -0.16961349 2.87685692] [-0.03218316 0.99934498 0.0165484 -0.46459555] [ 0.17007376 -0.01083992 0.98537171 -0.20599852] [ 0. 0. 0. 1. ]] SLAMing on 88.30320100799999 meters Centerline goodness [0,1] 0.8809988294966836 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.46, Z:-0.21 [[ 0.98489429 0.03470288 -0.16964358 2.87692398] [-0.03241072 0.99934231 0.01626303 -0.46346711] [ 0.17009638 -0.01051909 0.98537129 -0.20639315] [ 0. 0. 0. 1. ]] SLAMing on 88.33320100799999 meters Centerline goodness [0,1] 0.8805928644920886 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.46, Z:-0.21 [[ 0.98488208 0.03483761 -0.16968687 2.87694262] [-0.03257935 0.99933987 0.01607544 -0.46254613] [ 0.17013488 -0.01030412 0.98536691 -0.20652119] [ 0. 0. 0. 1. ]] SLAMing on 88.36320100799999 meters Centerline goodness [0,1] 0.8774687065368567 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.46, Z:-0.21 [[ 0.98490768 0.03555631 -0.16938891 2.87542507] [-0.03324589 0.9993117 0.01645743 -0.46237817] [ 0.16985748 -0.01057756 0.98541187 -0.20594169] [ 0. 0. 0. 1. ]] SLAMing on 88.39320100799999 meters Centerline goodness [0,1] 0.8755411255411255 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.46, Z:-0.21 [[ 0.98494081 0.03588592 -0.16912661 2.87472763] [-0.03357891 0.99930015 0.01648216 -0.46179505] [ 0.16959972 -0.01055487 0.98545651 -0.20604386] [ 0. 0. 0. 1. ]] SLAMing on 88.42320100799999 meters Centerline goodness [0,1] 0.8690815584996366 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.46, Z:-0.21 [[ 0.98498787 0.03650513 -0.16871948 2.87375742] [-0.03416732 0.99927593 0.01673959 -0.46253817] [ 0.1692084 -0.0107236 0.98552195 -0.20636399] [ 0. 0. 0. 1. ]] SLAMing on 88.453201008 meters Centerline goodness [0,1] 0.869255482609303 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.46, Z:-0.21 [[ 0.98493957 0.03647012 -0.16900882 2.87449818] [-0.03409643 0.9992752 0.01692673 -0.46370226] [ 0.16950364 -0.01090921 0.98546918 -0.20616896] [ 0. 0. 0. 1. ]] SLAMing on 88.483201008 meters Centerline goodness [0,1] 0.8675301323293906 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.21 [[ 0.98491106 0.03671991 -0.16912081 2.87431677] [-0.03426983 0.99926141 0.01738436 -0.465324 ] [ 0.16963425 -0.01132631 0.985442 -0.20554141] [ 0. 0. 0. 1. ]] SLAMing on 88.513201008 meters Centerline goodness [0,1] 0.8650693214094884 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.20 [[ 0.98487918 0.0370291 -0.16923903 2.87420591] [-0.03448265 0.99924387 0.01796191 -0.4674527 ] [ 0.16977617 -0.0118545 0.98541135 -0.20491387] [ 0. 0. 0. 1. ]] SLAMing on 88.543201008 meters Centerline goodness [0,1] 0.87048423200068 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.21 [[ 0.98507738 0.03306838 -0.16890538 2.87357824] [-0.03116909 0.99941769 0.01388443 -0.46822341] [ 0.16926616 -0.00841261 0.98553447 -0.20632804] [ 0. 0. 0. 1. ]] SLAMing on 88.573201008 meters Centerline goodness [0,1] 0.87048423200068 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.47, Z:-0.21 [[ 0.98507738 0.03306838 -0.16890538 2.87357824] [-0.03116909 0.99941769 0.01388443 -0.46822341] [ 0.16926616 -0.00841261 0.98553447 -0.20632804] [ 0. 0. 0. 1. ]] SLAMing on 88.603201008 meters Centerline goodness [0,1] 0.8740021513899111 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.47, Z:-0.21 [[ 0.98501111 0.03260202 -0.16938186 2.87575386] [-0.03070493 0.99943311 0.01380808 -0.46965015] [ 0.16973601 -0.00840026 0.98545377 -0.20704961] [ 0. 0. 0. 1. ]] SLAMing on 88.63320100799999 meters Centerline goodness [0,1] 0.877959565599569 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.47, Z:-0.21 [[ 0.98492743 0.03202166 -0.16997816 2.87824681] [-0.03013184 0.99945222 0.01368667 -0.47083717] [ 0.17032332 -0.00835863 0.98535278 -0.20772191] [ 0. 0. 0. 1. ]] SLAMing on 88.66320100799999 meters Centerline goodness [0,1] 0.8780814118986621 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.47, Z:-0.21 [[ 0.9848118 0.03074694 -0.17088111 2.88228607] [-0.02888419 0.99949325 0.01337693 -0.47277265] [ 0.17120581 -0.008238 0.98520084 -0.20871023] [ 0. 0. 0. 1. ]] SLAMing on 88.69320100799999 meters Centerline goodness [0,1] 0.8837467921300257 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98464907 0.02822384 -0.17224875 2.88875748] [-0.02644837 0.99957084 0.01259436 -0.47514533] [ 0.17253029 -0.00784533 0.98497297 -0.20992753] [ 0. 0. 0. 1. ]] SLAMing on 88.72320100799999 meters Centerline goodness [0,1] 0.8830027115741401 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98460751 0.02799203 -0.17252392 2.88998255] [-0.02624085 0.99957845 0.01242312 -0.47510773] [ 0.17279894 -0.00770473 0.98492698 -0.21040359] [ 0. 0. 0. 1. ]] SLAMing on 88.75320100799999 meters Centerline goodness [0,1] 0.881927023945268 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.47, Z:-0.21 [[ 0.98457703 0.02790758 -0.17271142 2.8905835 ] [-0.02617752 0.99958179 0.01228712 -0.47466563] [ 0.1729821 -0.00757646 0.98489583 -0.21053614] [ 0. 0. 0. 1. ]] SLAMing on 88.78320100799999 meters Centerline goodness [0,1] 0.8805931693910853 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98466914 0.022952 -0.17291585 2.89059607] [-0.0217554 0.99972448 0.00881246 -0.47570556] [ 0.17307047 -0.0049155 0.98489718 -0.20926404] [ 0. 0. 0. 1. ]] SLAMing on 88.813201008 meters Centerline goodness [0,1] 0.8709464500947024 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98458755 0.02246322 -0.17344385 2.89169008] [-0.0211521 0.99973204 0.00940421 -0.47759293] [ 0.17360862 -0.00559057 0.98479886 -0.20782348] [ 0. 0. 0. 1. ]] SLAMing on 88.843201008 meters Centerline goodness [0,1] 0.8738329838269512 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.9845496 0.02224656 -0.173687 2.89222511] [-0.02084412 0.99973377 0.00989463 -0.47883898] [ 0.17386088 -0.0061214 0.9847512 -0.20691008] [ 0. 0. 0. 1. ]] SLAMing on 88.873201008 meters Centerline goodness [0,1] 0.8727428816711976 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.9844233 0.02136092 -0.1745121 2.89456673] [-0.01991168 0.99975122 0.01005136 -0.47909986] [ 0.17468339 -0.00641996 0.98460373 -0.2059101 ] [ 0. 0. 0. 1. ]] SLAMing on 88.903201008 meters Centerline goodness [0,1] 0.87113150724222 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98440107 0.02143039 -0.17462897 2.89461843] [-0.01994491 0.99974846 0.01025718 -0.47951936] [ 0.17480486 -0.00661422 0.98458088 -0.20547044] [ 0. 0. 0. 1. ]] SLAMing on 88.933201008 meters Centerline goodness [0,1] 0.8732442617334704 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98442798 0.02207659 -0.17439658 2.89382553] [-0.0206029 0.99973513 0.01025634 -0.4783257 ] [ 0.17457681 -0.00650356 0.98462208 -0.20579362] [ 0. 0. 0. 1. ]] SLAMing on 88.963201008 meters Centerline goodness [0,1] 0.8727650609270015 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.48, Z:-0.21 [[ 0.98441879 0.02204247 -0.17445278 2.89477627] [-0.02068025 0.99973983 0.0096227 -0.47632749] [ 0.1746195 -0.00586504 0.98461852 -0.20713162] [ 0. 0. 0. 1. ]] SLAMing on 88.99320100799999 meters Centerline goodness [0,1] 0.8749893456828707 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98442186 0.02185278 -0.17445931 2.8961176 ] [-0.02061971 0.99974798 0.00887757 -0.47454618] [ 0.17460934 -0.00514198 0.98462436 -0.20893281] [ 0. 0. 0. 1. ]] SLAMing on 89.02320100799999 meters Centerline goodness [0,1] 0.8822776893336366 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98432221 0.02115785 -0.17510607 2.89932895] [-0.02007804 0.99976692 0.00793608 -0.47344579] [ 0.17523316 -0.00429587 0.98451759 -0.21087922] [ 0. 0. 0. 1. ]] SLAMing on 89.05320100799999 meters Centerline goodness [0,1] 0.8822776893336366 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98432221 0.02115785 -0.17510607 2.89932895] [-0.02007804 0.99976692 0.00793608 -0.47344579] [ 0.17523316 -0.00429587 0.98451759 -0.21087922] [ 0. 0. 0. 1. ]] SLAMing on 89.08320100799999 meters Centerline goodness [0,1] 0.8869614673681218 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98424232 0.0202762 -0.17565857 2.90259391] [-0.01936169 0.99978861 0.00691864 -0.47298679] [ 0.17576173 -0.00340857 0.98442684 -0.21307654] [ 0. 0. 0. 1. ]] SLAMing on 89.11320100799999 meters Centerline goodness [0,1] 0.8865485058652282 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98419312 0.02009418 -0.1759549 2.90345287] [-0.019166 0.999792 0.00697312 -0.47346261] [ 0.17605842 -0.00349055 0.98437353 -0.21292105] [ 0. 0. 0. 1. ]] SLAMing on 89.14320100799999 meters Centerline goodness [0,1] 0.8879521503845058 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.47, Z:-0.21 [[ 0.98410793 0.02008872 -0.17643135 2.90388058] [-0.01905681 0.99978996 0.0075414 -0.47453897] [ 0.17654579 -0.00405934 0.98428406 -0.21147452] [ 0. 0. 0. 1. ]] SLAMing on 89.17320100799999 meters Centerline goodness [0,1] 0.8816654283591473 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98412245 0.02077909 -0.17627036 2.9018314 ] [-0.01951696 0.99976999 0.00889108 -0.47651943] [ 0.17641457 -0.00530965 0.98430163 -0.20890575] [ 0. 0. 0. 1. ]] SLAMing on 89.203201008 meters Centerline goodness [0,1] 0.8824554387568556 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98408226 0.02066255 -0.17650824 2.90234057] [-0.01934271 0.99977063 0.009195 -0.47645655] [ 0.17665775 -0.00563449 0.98425621 -0.20820319] [ 0. 0. 0. 1. ]] SLAMing on 89.233201008 meters Centerline goodness [0,1] 0.87933940969742 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98406165 0.02056236 -0.17663484 2.90285685] [-0.01924118 0.99977264 0.00918947 -0.47632135] [ 0.17678364 -0.00564434 0.98423355 -0.20828061] [ 0. 0. 0. 1. ]] SLAMing on 89.263201008 meters Centerline goodness [0,1] 0.8806683936348886 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98400604 0.02012368 -0.17699476 2.90435317] [-0.01882616 0.9997822 0.00900733 -0.47574154] [ 0.17713747 -0.00553114 0.98417058 -0.20848529] [ 0. 0. 0. 1. ]] SLAMing on 89.293201008 meters Centerline goodness [0,1] 0.8725386527964334 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98400079 0.02015832 -0.17702004 2.90457593] [-0.01885991 0.9997815 0.00901454 -0.47549822] [ 0.17716308 -0.00553173 0.98416596 -0.20864361] [ 0. 0. 0. 1. ]] SLAMing on 89.323201008 meters Centerline goodness [0,1] 0.8738119775563953 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98399242 0.02055301 -0.17702115 2.90356934] [-0.01910792 0.99976876 0.00986441 -0.47604215] [ 0.17718296 -0.006324 0.98415761 -0.20688444] [ 0. 0. 0. 1. ]] SLAMing on 89.353201008 meters Centerline goodness [0,1] 0.8718706088153481 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98398212 0.02085585 -0.177043 2.90304208] [-0.01932579 0.99975954 0.01036245 -0.47689484] [ 0.17721654 -0.00677497 0.98414856 -0.20606703] [ 0. 0. 0. 1. ]] SLAMing on 89.38320100799999 meters Centerline goodness [0,1] 0.86805934173147 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98394546 0.02068264 -0.1772669 2.90374446] [-0.01911547 0.99976168 0.01054414 -0.477718 ] [ 0.17744273 -0.00698632 0.98410633 -0.20577183] [ 0. 0. 0. 1. ]] SLAMing on 89.41320100799999 meters Centerline goodness [0,1] 0.8625498579586215 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.48, Z:-0.21 [[ 0.98392736 0.02067746 -0.17736798 2.90397534] [-0.01906482 0.99976001 0.01079173 -0.47840516] [ 0.17754856 -0.00723679 0.98408543 -0.20543707] [ 0. 0. 0. 1. ]] SLAMing on 89.44320100799999 meters Centerline goodness [0,1] 0.8626405138793302 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98384947 0.02028869 -0.17784427 2.90543373] [-0.01865884 0.99976723 0.01083238 -0.4787087 ] [ 0.17802264 -0.00733906 0.98399902 -0.20513086] [ 0. 0. 0. 1. ]] SLAMing on 89.47320100799999 meters Centerline goodness [0,1] 0.8614146060954572 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98381894 0.02019756 -0.17802344 2.90618508] [-0.01858016 0.9997696 0.01074796 -0.47871914] [ 0.17819951 -0.00726634 0.98396755 -0.20540307] [ 0. 0. 0. 1. ]] SLAMing on 89.50320100799999 meters Centerline goodness [0,1] 0.8673354988932647 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.9837396 0.01924586 -0.1785665 2.90930252] [-0.01777412 0.99979362 0.0098383 -0.47769417] [ 0.17871899 -0.00650447 0.98387866 -0.207142 ] [ 0. 0. 0. 1. ]] SLAMing on 89.53320100799999 meters Centerline goodness [0,1] 0.8659829453791196 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98369047 0.0189715 -0.17886626 2.91065713] [-0.01752236 0.99979963 0.00967831 -0.47754935] [ 0.17901404 -0.00638631 0.98382579 -0.20760108] [ 0. 0. 0. 1. ]] SLAMing on 89.563201008 meters Centerline goodness [0,1] 0.8667375866133809 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98361075 0.01842541 -0.17936106 2.91267157] [-0.01700825 0.99981082 0.00943587 -0.47751725] [ 0.17950099 -0.0062306 0.98373806 -0.20797102] [ 0. 0. 0. 1. ]] SLAMing on 89.593201008 meters Centerline goodness [0,1] 0.8713828221920891 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98354453 0.01818701 -0.17974812 2.91389823] [-0.01672843 0.99981372 0.00962714 -0.47812637] [ 0.17988972 -0.00646181 0.98366556 -0.20775019] [ 0. 0. 0. 1. ]] SLAMing on 89.623201008 meters Centerline goodness [0,1] 0.8700429729184092 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.48, Z:-0.21 [[ 0.98350677 0.01805908 -0.17996751 2.91462319] [-0.01658571 0.99981551 0.00968838 -0.4784289 ] [ 0.18010927 -0.0065437 0.98362484 -0.20770964] [ 0. 0. 0. 1. ]] SLAMing on 89.653201008 meters Centerline goodness [0,1] 0.8783417056412033 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98344636 0.01797715 -0.18030553 2.91558715] [-0.01646318 0.99981556 0.00988977 -0.47926915] [ 0.18045006 -0.00675765 0.98356093 -0.20752706] [ 0. 0. 0. 1. ]] SLAMing on 89.683201008 meters Centerline goodness [0,1] 0.8734631295744496 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98338431 0.01769222 -0.18067176 2.91693546] [-0.01615942 0.9998199 0.00995235 -0.48013542] [ 0.1808153 -0.00686743 0.98349309 -0.20758115] [ 0. 0. 0. 1. ]] SLAMing on 89.713201008 meters Centerline goodness [0,1] 0.873967600776654 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98332617 0.01744588 -0.18101184 2.91786052] [-0.01583763 0.99982125 0.01032645 -0.48101743] [ 0.18115963 -0.00728747 0.9834267 -0.20685333] [ 0. 0. 0. 1. ]] SLAMing on 89.74320100799999 meters Centerline goodness [0,1] 0.8737889423913674 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98332791 0.01782893 -0.18096507 2.91714723] [-0.01612441 0.99981073 0.01088594 -0.48181068] [ 0.1811249 -0.00778649 0.98342928 -0.20602699] [ 0. 0. 0. 1. ]] SLAMing on 89.77320100799999 meters Centerline goodness [0,1] 0.8734897769516728 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98332536 0.01808561 -0.18095342 2.91659572] [-0.01631677 0.99980348 0.01125905 -0.48202752] [ 0.18112148 -0.00811873 0.98342722 -0.20531012] [ 0. 0. 0. 1. ]] SLAMing on 89.80320100799999 meters Centerline goodness [0,1] 0.8697189220515793 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98337306 0.01825038 -0.18067745 2.91618128] [-0.01654129 0.99980309 0.01096165 -0.4800355 ] [ 0.18084193 -0.00779075 0.98348132 -0.20591512] [ 0. 0. 0. 1. ]] SLAMing on 89.83320100799999 meters Centerline goodness [0,1] 0.8718007906050725 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.9833626 0.0183636 -0.18072292 2.91618822] [-0.01668708 0.99980251 0.0107929 -0.47872625] [ 0.18088542 -0.0075976 0.98347483 -0.2059839 ] [ 0. 0. 0. 1. ]] SLAMing on 89.86320100799999 meters Centerline goodness [0,1] 0.8707147593922094 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.9833688 0.01850949 -0.18067429 2.9160891 ] [-0.01690347 0.99980278 0.01042481 -0.47735456] [ 0.18083161 -0.00719741 0.98348774 -0.20649264] [ 0. 0. 0. 1. ]] SLAMing on 89.89320100799999 meters Centerline goodness [0,1] 0.8735625574977001 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98331858 0.01841581 -0.18095695 2.91647896] [-0.0167907 0.9998038 0.01050849 -0.47733614] [ 0.18111497 -0.0072948 0.98343487 -0.20590577] [ 0. 0. 0. 1. ]] SLAMing on 89.92320100799999 meters Centerline goodness [0,1] 0.8800415440540073 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.20 [[ 0.98326575 0.0183366 -0.18125185 2.91658439] [-0.01662182 0.99980161 0.01097534 -0.47866743] [ 0.18141714 -0.00777894 0.98337547 -0.20457488] [ 0. 0. 0. 1. ]] SLAMing on 89.953201008 meters Centerline goodness [0,1] 0.8794410027373577 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98322459 0.01793259 -0.18151536 2.9179591 ] [-0.0162851 0.99981159 0.01056279 -0.47800433] [ 0.18167058 -0.0074296 0.98333138 -0.20527514] [ 0. 0. 0. 1. ]] SLAMing on 89.983201008 meters Centerline goodness [0,1] 0.8799942470875881 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.48, Z:-0.21 [[ 0.98316339 0.01693356 -0.18194231 2.92087015] [-0.01547936 0.99983591 0.00940978 -0.47585082] [ 0.1820718 -0.006435 0.98326418 -0.20716155] [ 0. 0. 0. 1. ]] SLAMing on 90.013201008 meters Centerline goodness [0,1] 0.8810219396230738 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.21 [[ 0.9829097 0.01876665 -0.18312926 2.92799211] [-0.0168775 0.99978711 0.0118692 -0.47498698] [ 0.18331302 -0.00857559 0.98301719 -0.20934008] [ 0. 0. 0. 1. ]] SLAMing on 90.043201008 meters Centerline goodness [0,1] 0.8878936558649019 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.21 [[ 0.98280463 0.01800464 -0.18376859 2.93057174] [-0.01615941 0.9998029 0.01153376 -0.47492949] [ 0.18394003 -0.00836584 0.98290187 -0.20969531] [ 0. 0. 0. 1. ]] SLAMing on 90.073201008 meters Centerline goodness [0,1] 0.8866574728495087 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.21 [[ 0.98290185 0.01353579 -0.18363204 2.93014778] [-0.01245928 0.99989777 0.00701486 -0.47329451] [ 0.18370822 -0.004607 0.98297002 -0.21057525] [ 0. 0. 0. 1. ]] SLAMing on 90.103201008 meters Centerline goodness [0,1] 0.8906675847032159 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.47, Z:-0.21 [[ 0.98276924 0.01313451 -0.18436947 2.9317442 ] [-0.01195829 0.99990044 0.00749019 -0.47458426] [ 0.18444949 -0.00515638 0.98282847 -0.20924573] [ 0. 0. 0. 1. ]] SLAMing on 90.13320100799999 meters Centerline goodness [0,1] 0.8950397686189443 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.48, Z:-0.21 [[ 9.82853901e-01 9.30280507e-03 -1.84151207e-01 2.92959531e+00] [-8.67546050e-03 9.99953496e-01 4.21209435e-03 -4.75399820e-01] [ 1.84181828e-01 -2.54227684e-03 9.82888901e-01 -2.07908060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16320100799999 meters Centerline goodness [0,1] 0.8919530230535015 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.48, Z:-0.21 [[ 0.98275218 0.00910422 -0.1847032 2.9306188 ] [-0.00832761 0.99995292 0.00497999 -0.47746657] [ 0.18473984 -0.00335596 0.98278173 -0.20642127] [ 0. 0. 0. 1. ]] SLAMing on 90.19320100799999 meters Centerline goodness [0,1] 0.8904746679068686 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.48, Z:-0.21 [[ 0.98268427 0.0084508 -0.18509511 2.93278654] [-0.00765031 0.99995804 0.00503852 -0.47815802] [ 0.18512993 -0.00353524 0.98270769 -0.2066904 ] [ 0. 0. 0. 1. ]] SLAMing on 90.22320100799999 meters Centerline goodness [0,1] 0.8897869857017799 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.48, Z:-0.21 [[ 0.98267874 0.00807898 -0.18514108 2.93399719] [-0.00735346 0.99996236 0.00460506 -0.47692593] [ 0.18517132 -0.00316386 0.98270116 -0.20775227] [ 0. 0. 0. 1. ]] SLAMing on 90.25320100799999 meters Centerline goodness [0,1] 0.8844475475650201 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.21 [[ 0.98244293 0.01140944 -0.18621415 2.93762827] [-0.00988116 0.99990947 0.0091332 -0.47879541] [ 0.1863015 -0.00713284 0.98246673 -0.20617051] [ 0. 0. 0. 1. ]] SLAMing on 90.28320100799999 meters Centerline goodness [0,1] 0.8865041409075003 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.21 [[ 0.98243197 0.0116281 -0.18625847 2.93721415] [-0.01000429 0.99990334 0.00965564 -0.47955097] [ 0.18635274 -0.00762262 0.98245333 -0.2052316 ] [ 0. 0. 0. 1. ]] SLAMing on 90.313201008 meters Centerline goodness [0,1] 0.8921126595620096 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 0.98228461 0.01129611 -0.18705441 2.93837326] [-0.00947886 0.99989882 0.01060667 -0.48291717] [ 0.18715529 -0.00864571 0.98229229 -0.2029054 ] [ 0. 0. 0. 1. ]] SLAMing on 90.343201008 meters Centerline goodness [0,1] 0.8956531968707723 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 0.98217005 0.0108273 -0.18768264 2.94005515] [-0.00897001 0.99990206 0.01074241 -0.48426486] [ 0.18778057 -0.00886736 0.98217098 -0.20236753] [ 0. 0. 0. 1. ]] SLAMing on 90.373201008 meters Centerline goodness [0,1] 0.8971732174831949 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 0.98204531 0.01014257 -0.18837233 2.9422545 ] [-0.00826718 0.99990816 0.01073879 -0.48476375] [ 0.18846395 -0.00898867 0.98203897 -0.20196491] [ 0. 0. 0. 1. ]] SLAMing on 90.403201008 meters Centerline goodness [0,1] 0.8972953862471275 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.49, Z:-0.20 [[ 0.98199963 0.00986395 -0.18862508 2.94299899] [-0.00793871 0.99990843 0.01095948 -0.4851753 ] [ 0.18871591 -0.00926477 0.98198802 -0.20143271] [ 0. 0. 0. 1. ]] SLAMing on 90.433201008 meters Centerline goodness [0,1] 0.891319857312723 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 0.98210365 0.00488303 -0.1882779 2.94267572] [-0.00370188 0.9999712 0.00662461 -0.48399028] [ 0.18830483 -0.00580907 0.98209345 -0.20198096] [ 0. 0. 0. 1. ]] SLAMing on 90.463201008 meters Centerline goodness [0,1] 0.8847596926925139 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 9.81990470e-01 3.99717777e-03 -1.88888164e-01 2.94492593e+00] [-2.76665690e-03 9.99973203e-01 6.77776692e-03 -4.84942895e-01] [ 1.88910194e-01 -6.13311378e-03 9.81975215e-01 -2.01401216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49320100799999 meters Centerline goodness [0,1] 0.8847596926925139 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.48, Z:-0.20 [[ 9.81990470e-01 3.99717777e-03 -1.88888164e-01 2.94492593e+00] [-2.76665690e-03 9.99973203e-01 6.77776692e-03 -4.84942895e-01] [ 1.88910194e-01 -6.13311378e-03 9.81975215e-01 -2.01401216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52320100799999 meters Centerline goodness [0,1] 0.8850253882471717 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.49, Z:-0.20 [[ 9.81853585e-01 2.88320463e-03 -1.89618632e-01 2.94797700e+00] [-1.63154816e-03 9.99975842e-01 6.75668610e-03 -4.85371178e-01] [ 1.89633532e-01 -6.32470454e-03 9.81834569e-01 -2.01215841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55320100799999 meters Centerline goodness [0,1] 0.8806850335070737 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.49, Z:-0.20 [[ 9.81753778e-01 1.87254289e-03 -1.90147346e-01 2.95059054e+00] [-6.72104902e-04 9.99979438e-01 6.37749035e-03 -4.85324604e-01] [ 1.90155378e-01 -6.13332628e-03 9.81734849e-01 -2.01665796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58320100799999 meters Centerline goodness [0,1] 0.8829819007227764 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.49, Z:-0.20 [[ 9.81536663e-01 2.76933850e-04 -1.91273892e-01 2.95445266e+00] [ 8.47030072e-04 9.99982854e-01 5.79441429e-03 -4.85229891e-01] [ 1.91272217e-01 -5.84944481e-03 9.81519599e-01 -2.01422702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61320100799999 meters Centerline goodness [0,1] 0.8819504616212017 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.49, Z:-0.20 [[ 9.81424252e-01 3.15695865e-05 -1.91850036e-01 2.95529982e+00] [ 1.18662533e-03 9.99979859e-01 6.23482724e-03 -4.86149161e-01] [ 1.91846369e-01 -6.34666477e-03 9.81404448e-01 -1.99937313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64320100799999 meters Centerline goodness [0,1] 0.8829202747088684 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.49, Z:-0.20 [[ 9.81331447e-01 -2.00911061e-04 -1.92324080e-01 2.95583850e+00] [ 1.53443194e-03 9.99975806e-01 6.78479842e-03 -4.86959556e-01] [ 1.92318064e-01 -6.95324426e-03 9.81308012e-01 -1.98238909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67320100799999 meters Centerline goodness [0,1] 0.8837320004760205 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.49, Z:-0.20 [[ 9.81161209e-01 -1.29687855e-03 -1.93186438e-01 2.95781846e+00] [ 2.68707560e-03 9.99972347e-01 6.93429455e-03 -4.86353088e-01] [ 1.93172102e-01 -7.32276739e-03 9.81137562e-01 -1.96359050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.703201008 meters Centerline goodness [0,1] 0.8801663942950527 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.48, Z:-0.20 [[ 9.81092133e-01 -2.17487174e-03 -1.93529059e-01 2.95983576e+00] [ 3.47245924e-03 9.99973708e-01 6.36590645e-03 -4.84729048e-01] [ 1.93510126e-01 -6.91756251e-03 9.81073890e-01 -1.96998200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.733201008 meters Centerline goodness [0,1] 0.8709907553283196 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.48, Z:-0.20 [[ 0.98102298 -0.00314776 -0.19386596 2.9620777 ] [ 0.00431186 0.99997512 0.00558297 -0.48248413] [ 0.19384356 -0.00631294 0.98101214 -0.19800222] [ 0. 0. 0. 1. ]] SLAMing on 90.763201008 meters Centerline goodness [0,1] 0.8609685933746553 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.48, Z:-0.20 [[ 0.98094839 -0.00406776 -0.19422593 2.96444313] [ 0.00510881 0.99997514 0.00485943 -0.48041099] [ 0.19420133 -0.00575911 0.98094479 -0.19904607] [ 0. 0. 0. 1. ]] SLAMing on 90.793201008 meters Centerline goodness [0,1] 0.8658861096327835 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.20 [[ 9.80705688e-01 -1.22061750e-03 -1.95486223e-01 2.96843754e+00] [ 2.92976488e-03 9.99959971e-01 8.45414285e-03 -4.79827708e-01] [ 1.95468078e-01 -8.86375465e-03 9.80670008e-01 -1.97854403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.823201008 meters Centerline goodness [0,1] 0.8707169253510717 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.20 [[ 9.80654081e-01 -1.20853521e-03 -1.95745020e-01 2.96855179e+00] [ 2.84068366e-03 9.99963502e-01 8.05760942e-03 -4.78062167e-01] [ 1.95728138e-01 -8.45777724e-03 9.80621722e-01 -1.97670747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.853201008 meters Centerline goodness [0,1] 0.871900826446281 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.48, Z:-0.20 [[ 9.80637994e-01 -7.42131946e-04 -1.95827919e-01 2.96764097e+00] [ 2.34529730e-03 9.99965609e-01 7.95484738e-03 -4.76165536e-01] [ 1.95815281e-01 -8.26010026e-03 9.80606010e-01 -1.97048350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88320100799999 meters Centerline goodness [0,1] 0.8782585643170638 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.20 [[ 9.80656007e-01 -1.06030975e-04 -1.95739074e-01 2.96624185e+00] [ 1.66859879e-03 9.99968047e-01 7.81802942e-03 -4.73669448e-01] [ 1.95731990e-01 -7.99340749e-03 9.80624848e-01 -1.96583127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91320100799999 meters Centerline goodness [0,1] 0.8809321909997369 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.47, Z:-0.19 [[ 0.98067661 0.00534714 -0.19556278 2.96376838] [-0.00304669 0.99992261 0.01206211 -0.47041664] [ 0.19561215 -0.01123321 0.980617 -0.19475368] [ 0. 0. 0. 1. ]] SLAMing on 90.94320100799999 meters Centerline goodness [0,1] 0.8813574082675337 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.19 [[ 0.98054381 0.00941466 -0.19607447 2.96538311] [-0.00641351 0.99985245 0.0159355 -0.46927158] [ 0.19619557 -0.01436793 0.98045952 -0.1941737 ] [ 0. 0. 0. 1. ]] SLAMing on 90.97320100799999 meters Centerline goodness [0,1] 0.8765435669047688 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.47, Z:-0.19 [[ 0.9803853 0.01320721 -0.1966475 2.96777843] [-0.00956552 0.99976493 0.0194572 -0.46747519] [ 0.19685825 -0.01719451 0.98028117 -0.19425506] [ 0. 0. 0. 1. ]] SLAMing on 91.00320100799999 meters Centerline goodness [0,1] 0.8721841191494246 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.46, Z:-0.19 [[ 0.98024754 0.01722465 -0.197023 2.96937908] [-0.01308227 0.99966557 0.02230719 -0.46276288] [ 0.19734134 -0.01928906 0.98014505 -0.19495115] [ 0. 0. 0. 1. ]] SLAMing on 91.03320100799999 meters Centerline goodness [0,1] 0.8715811782226422 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.46, Z:-0.20 [[ 0.98026986 0.01736667 -0.19689947 2.96867147] [-0.01333159 0.99967346 0.02180018 -0.46061604] [ 0.19721377 -0.01874508 0.98018128 -0.19511147] [ 0. 0. 0. 1. ]] SLAMing on 91.063201008 meters Centerline goodness [0,1] 0.868635933873879 Centerline is valid? [False, False] Translation: X:2.97, Y:-0.46, Z:-0.19 [[ 0.98031546 0.01799288 -0.19661603 2.96667425] [-0.01397303 0.99966441 0.0218134 -0.45884905] [ 0.19694253 -0.01863669 0.98023789 -0.19433846] [ 0. 0. 0. 1. ]] SLAMing on 91.093201008 meters Centerline goodness [0,1] 0.866316387389946 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.45, Z:-0.20 [[ 0.98128115 0.02004481 -0.1915346 2.98151669] [-0.01751141 0.99973548 0.01491059 -0.45235487] [ 0.19178281 -0.01127744 0.9813726 -0.19513385] [ 0. 0. 0. 1. ]] SLAMing on 91.123201008 meters Centerline goodness [0,1] 0.8619092278398273 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.45, Z:-0.20 [[ 0.98130551 0.02008861 -0.1914052 2.98114598] [-0.01762583 0.99973862 0.01456089 -0.44966694] [ 0.19164768 -0.01091501 0.98140309 -0.19526535] [ 0. 0. 0. 1. ]] SLAMing on 91.153201008 meters Centerline goodness [0,1] 0.8571023773766683 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.45, Z:-0.20 [[ 0.98132989 0.01993109 -0.1912966 2.98109919] [-0.01753919 0.99974549 0.01418887 -0.44782212] [ 0.19153072 -0.01056877 0.98142971 -0.19549125] [ 0. 0. 0. 1. ]] SLAMing on 91.183201008 meters Centerline goodness [0,1] 0.8580559027383252 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.45, Z:-0.19 [[ 0.98133725 0.02001113 -0.1912505 2.98018639] [-0.0175958 0.99974264 0.01431929 -0.44706205] [ 0.19148783 -0.01068685 0.98143681 -0.19442011] [ 0. 0. 0. 1. ]] SLAMing on 91.213201008 meters Centerline goodness [0,1] 0.8566888920414243 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.45, Z:-0.19 [[ 0.98132822 0.01991274 -0.19130712 2.98040208] [-0.01750777 0.99974513 0.0142535 -0.44650712] [ 0.19154218 -0.010638 0.98142673 -0.19430484] [ 0. 0. 0. 1. ]] SLAMing on 91.24320100799999 meters Centerline goodness [0,1] 0.8508219954648526 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.44, Z:-0.19 [[ 0.98128789 0.01925005 -0.19158159 2.98186099] [-0.01695541 0.99976362 0.01360967 -0.44439604] [ 0.19179829 -0.01010666 0.98138233 -0.19482341] [ 0. 0. 0. 1. ]] SLAMing on 91.27320100799999 meters Centerline goodness [0,1] 0.8511126860382707 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.44, Z:-0.20 [[ 0.98127185 0.01917667 -0.19167109 2.98234143] [-0.01689127 0.99976551 0.01355052 -0.44421536] [ 0.191886 -0.01005918 0.98136567 -0.19500079] [ 0. 0. 0. 1. ]] SLAMing on 91.30320100799999 meters Centerline goodness [0,1] 0.8517877412031782 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.44, Z:-0.20 [[ 0.98122957 0.01905746 -0.19189931 2.98312184] [-0.016786 0.99976856 0.01345567 -0.44422476] [ 0.19211132 -0.00998188 0.98132237 -0.1951747 ] [ 0. 0. 0. 1. ]] SLAMing on 91.33320100799999 meters Centerline goodness [0,1] 0.8530114314963317 Centerline is valid? [False, False] Translation: X:2.98, Y:-0.44, Z:-0.20 [[ 0.98123275 0.01864666 -0.19192341 2.98494489] [-0.0164806 0.99978127 0.0128764 -0.44340343] [ 0.19212154 -0.00947173 0.98132543 -0.19703583] [ 0. 0. 0. 1. ]] SLAMing on 91.36320100799999 meters Centerline goodness [0,1] 0.8461320165730177 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.44, Z:-0.20 [[ 0.98122326 0.01819556 -0.19201517 2.986525 ] [-0.01607826 0.9997916 0.01257922 -0.44255888] [ 0.19220404 -0.00925576 0.98131134 -0.19805189] [ 0. 0. 0. 1. ]] SLAMing on 91.39320100799999 meters Centerline goodness [0,1] 0.8486726166789835 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.44, Z:-0.20 [[ 0.98118121 0.01754606 -0.19229031 2.98829214] [-0.0154285 0.99980278 0.01250423 -0.44307548] [ 0.19247179 -0.00930216 0.98125842 -0.19841123] [ 0. 0. 0. 1. ]] SLAMing on 91.42320100799999 meters Centerline goodness [0,1] 0.8486726166789835 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.44, Z:-0.20 [[ 0.98118121 0.01754606 -0.19229031 2.98829214] [-0.0154285 0.99980278 0.01250423 -0.44307548] [ 0.19247179 -0.00930216 0.98125842 -0.19841123] [ 0. 0. 0. 1. ]] SLAMing on 91.453201008 meters Centerline goodness [0,1] 0.85208351183846 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.44, Z:-0.20 [[ 0.98112812 0.01765422 -0.19255116 2.98836517] [-0.01544238 0.99979648 0.01298186 -0.44438565] [ 0.19274116 -0.00976342 0.98120106 -0.19743137] [ 0. 0. 0. 1. ]] SLAMing on 91.483201008 meters Centerline goodness [0,1] 0.8464001829930805 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.9811328 0.01793946 -0.19250093 2.98762225] [-0.01562819 0.99978648 0.01351836 -0.44558519] [ 0.19270234 -0.01025487 0.98120367 -0.19645935] [ 0. 0. 0. 1. ]] SLAMing on 91.513201008 meters Centerline goodness [0,1] 0.8526762811377757 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98108569 0.01782668 -0.19275133 2.98789061] [-0.01548266 0.99978682 0.0136604 -0.44593596] [ 0.19295376 -0.01041772 0.98115255 -0.19571767] [ 0. 0. 0. 1. ]] SLAMing on 91.543201008 meters Centerline goodness [0,1] 0.8498269104225674 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98112685 0.01848254 -0.19247986 2.98613997] [-0.01604078 0.99976998 0.01423656 -0.44620839] [ 0.19269871 -0.01088035 0.98119765 -0.194621 ] [ 0. 0. 0. 1. ]] SLAMing on 91.573201008 meters Centerline goodness [0,1] 0.8494962216624685 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98112039 0.018635 -0.19249811 2.98583572] [-0.01614587 0.99976463 0.01449142 -0.44642468] [ 0.19272284 -0.01110978 0.98119034 -0.1940896 ] [ 0. 0. 0. 1. ]] SLAMing on 91.603201008 meters Centerline goodness [0,1] 0.8522916308151207 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98115318 0.01896888 -0.19229827 2.98515391] [-0.01642599 0.9997554 0.01480944 -0.44701886] [ 0.19253215 -0.01137164 0.98122477 -0.1938637 ] [ 0. 0. 0. 1. ]] SLAMing on 91.63320100799999 meters Centerline goodness [0,1] 0.8468003327309755 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98116511 0.01874205 -0.19225964 2.98622902] [-0.01618045 0.99975828 0.01488523 -0.44712851] [ 0.19249214 -0.01149402 0.9812312 -0.19455582] [ 0. 0. 0. 1. ]] SLAMing on 91.66320100799999 meters Centerline goodness [0,1] 0.8408706374924723 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98116066 0.018418 -0.19231363 2.98758061] [-0.01590573 0.99976691 0.01459924 -0.44669906] [ 0.19253769 -0.01126531 0.98122491 -0.19567119] [ 0. 0. 0. 1. ]] SLAMing on 91.69320100799999 meters Centerline goodness [0,1] 0.8470962928956731 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98111688 0.01778997 -0.19259593 2.98984091] [-0.01536766 0.999783 0.01406385 -0.44592043] [ 0.19280433 -0.01083854 0.98117736 -0.19701374] [ 0. 0. 0. 1. ]] SLAMing on 91.72320100799999 meters Centerline goodness [0,1] 0.843829434781367 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98109212 0.01745671 -0.19275248 2.991238 ] [-0.01508082 0.99979123 0.01378657 -0.44570454] [ 0.19295291 -0.01061903 0.98115056 -0.19781142] [ 0. 0. 0. 1. ]] SLAMing on 91.75320100799999 meters Centerline goodness [0,1] 0.8448502891166199 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98104814 0.01768 -0.19295585 2.99128751] [-0.01523781 0.999784 0.01413359 -0.44700149] [ 0.19316405 -0.01092551 0.98110564 -0.19713632] [ 0. 0. 0. 1. ]] SLAMing on 91.78320100799999 meters Centerline goodness [0,1] 0.8448831587429493 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.20 [[ 0.98106289 0.01805148 -0.19284643 2.99045866] [-0.01551603 0.99977229 0.01464979 -0.44844089] [ 0.19306697 -0.01138015 0.98111958 -0.19636738] [ 0. 0. 0. 1. ]] SLAMing on 91.813201008 meters Centerline goodness [0,1] 0.849082120043736 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98103909 0.01826711 -0.19294721 2.98985942] [-0.01560409 0.99976099 0.01531256 -0.45003645] [ 0.19318081 -0.01201145 0.98108965 -0.1949405 ] [ 0. 0. 0. 1. ]] SLAMing on 91.843201008 meters Centerline goodness [0,1] 0.8491695690970323 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.981008 0.01785923 -0.19314335 2.99043973] [-0.0150281 0.99975723 0.01611347 -0.45231528] [ 0.19338424 -0.01290487 0.98103823 -0.19345761] [ 0. 0. 0. 1. ]] SLAMing on 91.873201008 meters Centerline goodness [0,1] 0.8451377097303364 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98097382 0.01737435 -0.19336107 2.99181571] [-0.01453927 0.99976513 0.01607164 -0.45230102] [ 0.19359489 -0.01295453 0.98099602 -0.19369189] [ 0. 0. 0. 1. ]] SLAMing on 91.903201008 meters Centerline goodness [0,1] 0.8458277235096967 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98096718 0.01685611 -0.19344059 2.99324919] [-0.01404903 0.99977529 0.01587406 -0.4516544 ] [ 0.1936647 -0.01285428 0.98098356 -0.19437123] [ 0. 0. 0. 1. ]] SLAMing on 91.933201008 meters Centerline goodness [0,1] 0.8424515832423424 Centerline is valid? [False, False] Translation: X:2.99, Y:-0.45, Z:-0.19 [[ 0.98092816 0.01640748 -0.19367688 2.99455033] [-0.01358253 0.99978125 0.01590489 -0.45157785] [ 0.19389548 -0.01297093 0.98093644 -0.19441469] [ 0. 0. 0. 1. ]] SLAMing on 91.963201008 meters Centerline goodness [0,1] 0.8464652845575145 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98087042 0.01600919 -0.1940024 2.99588852] [-0.01314991 0.99978524 0.01601729 -0.45264408] [ 0.19421716 -0.01315977 0.98087028 -0.1943132 ] [ 0. 0. 0. 1. ]] SLAMing on 91.99320100799999 meters Centerline goodness [0,1] 0.8471275279767556 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98094973 0.01150633 -0.19392067 2.99534937] [-0.00935765 0.9998843 0.01199263 -0.45206566] [ 0.19403622 -0.00994953 0.98094391 -0.19428622] [ 0. 0. 0. 1. ]] SLAMing on 92.02320100799999 meters Centerline goodness [0,1] 0.8476693759154484 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98089878 0.01123782 -0.19419397 2.996102 ] [-0.00907086 0.99988632 0.01204436 -0.4520833 ] [ 0.19430725 -0.01005279 0.98088921 -0.19388651] [ 0. 0. 0. 1. ]] SLAMing on 92.05320100799999 meters Centerline goodness [0,1] 0.8586875679386693 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98086662 0.01117898 -0.19435972 2.99644115] [-0.00902323 0.9998876 0.01197336 -0.45129984] [ 0.19447173 -0.00999052 0.98085725 -0.19364997] [ 0. 0. 0. 1. ]] SLAMing on 92.08320100799999 meters Centerline goodness [0,1] 0.8608089977448545 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98085113 0.01100783 -0.19444763 2.99725843] [-0.00891415 0.99989253 0.01163908 -0.45013242] [ 0.19455485 -0.00968287 0.98084385 -0.19425928] [ 0. 0. 0. 1. ]] SLAMing on 92.11320100799999 meters Centerline goodness [0,1] 0.8527946242988526 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98085143 0.01084579 -0.19445526 2.9978238 ] [-0.00882289 0.99989761 0.01126601 -0.44816117] [ 0.19455753 -0.00933462 0.98084669 -0.19483103] [ 0. 0. 0. 1. ]] SLAMing on 92.14320100799999 meters Centerline goodness [0,1] 0.8566066706474452 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.20 [[ 0.98086536 0.01056199 -0.19440061 2.99857715] [-0.00866483 0.9999062 0.01060681 -0.44574633] [ 0.19449441 -0.00871941 0.98086487 -0.19593094] [ 0. 0. 0. 1. ]] SLAMing on 92.17320100799999 meters Centerline goodness [0,1] 0.8556709785162331 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.20 [[ 0.98087153 0.01073925 -0.19435973 2.99835307] [-0.00882909 0.99990386 0.01069155 -0.44414014] [ 0.19445586 -0.00877101 0.98087205 -0.19565156] [ 0. 0. 0. 1. ]] SLAMing on 92.203201008 meters Centerline goodness [0,1] 0.8588162239972903 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.19 [[ 0.98082872 0.01080288 -0.19457214 2.99852043] [-0.00882198 0.99990009 0.01104449 -0.44470281] [ 0.19467201 -0.00911624 0.98082603 -0.194874 ] [ 0. 0. 0. 1. ]] SLAMing on 92.233201008 meters Centerline goodness [0,1] 0.8553222752832801 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98081202 0.01118271 -0.19463486 2.997821 ] [-0.00907901 0.99989037 0.0116972 -0.44587104] [ 0.19474433 -0.00970566 0.98080602 -0.19362962] [ 0. 0. 0. 1. ]] SLAMing on 92.263201008 meters Centerline goodness [0,1] 0.8594821988198424 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98081986 0.01159567 -0.19457117 2.99694637] [-0.00937719 0.99988015 0.01231913 -0.44694186] [ 0.1946907 -0.01025831 0.98081104 -0.19255566] [ 0. 0. 0. 1. ]] SLAMing on 92.293201008 meters Centerline goodness [0,1] 0.8616603026446047 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98082877 0.01199951 -0.19450177 2.99613546] [-0.00970012 0.99987141 0.01277012 -0.44721171] [ 0.19462999 -0.01063861 0.98081904 -0.19175505] [ 0. 0. 0. 1. ]] SLAMing on 92.323201008 meters Centerline goodness [0,1] 0.8639560624316978 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98065462 0.01646081 -0.19505271 2.99736838] [-0.01325977 0.99975531 0.01770565 -0.4483631 ] [ 0.19529643 -0.01477677 0.98063293 -0.18981037] [ 0. 0. 0. 1. ]] SLAMing on 92.353201008 meters Centerline goodness [0,1] 0.8561094599899064 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98066011 0.01679608 -0.19499652 2.99717472] [-0.01361069 0.99975133 0.01766413 -0.44699174] [ 0.19524472 -0.01466847 0.98064486 -0.18998776] [ 0. 0. 0. 1. ]] SLAMing on 92.38320100799999 meters Centerline goodness [0,1] 0.8561094599899064 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98066011 0.01679608 -0.19499652 2.99717472] [-0.01361069 0.99975133 0.01766413 -0.44699174] [ 0.19524472 -0.01466847 0.98064486 -0.18998776] [ 0. 0. 0. 1. ]] SLAMing on 92.41320100799999 meters Centerline goodness [0,1] 0.8619619899385131 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98050663 0.02140631 -0.19531647 2.99877052] [-0.01752335 0.99961339 0.02158688 -0.44805312] [ 0.19570305 -0.01774348 0.98050267 -0.19045477] [ 0. 0. 0. 1. ]] SLAMing on 92.44320100799999 meters Centerline goodness [0,1] 0.8620065697901007 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98044883 0.02127542 -0.19562068 3.00000443] [-0.01750951 0.99962697 0.0209605 -0.44666452] [ 0.19599365 -0.01712548 0.98045561 -0.19137152] [ 0. 0. 0. 1. ]] SLAMing on 92.47320100799999 meters Centerline goodness [0,1] 0.8658543370611473 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.45, Z:-0.19 [[ 0.98045921 0.02152922 -0.19554088 3.000236 ] [-0.01785923 0.99963008 0.02051238 -0.44532062] [ 0.19591016 -0.01661934 0.98048101 -0.19244061] [ 0. 0. 0. 1. ]] SLAMing on 92.50320100799999 meters Centerline goodness [0,1] 0.8671968745639738 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.19 [[ 0.98047202 0.02186731 -0.19543907 3.00021423] [-0.01825369 0.99962786 0.02027197 -0.4439899 ] [ 0.19580964 -0.01630862 0.98050631 -0.19313682] [ 0. 0. 0. 1. ]] SLAMing on 92.53320100799999 meters Centerline goodness [0,1] 0.8659346768589298 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.19 [[ 0.98042789 0.02183974 -0.19566342 3.00129179] [-0.01831328 0.99963594 0.01981431 -0.44270126] [ 0.19602493 -0.01584327 0.98047092 -0.19395158] [ 0. 0. 0. 1. ]] SLAMing on 92.563201008 meters Centerline goodness [0,1] 0.8757625560600574 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.19 [[ 0.98040984 0.02253221 -0.19567533 3.00103838] [-0.0190351 0.99962404 0.01973442 -0.44243922] [ 0.19604643 -0.01562312 0.98047015 -0.1945548 ] [ 0. 0. 0. 1. ]] SLAMing on 92.593201008 meters Centerline goodness [0,1] 0.881340301260375 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.20 [[ 0.98041003 0.02275018 -0.19564916 3.00140039] [-0.01925544 0.99961959 0.01974606 -0.44275044] [ 0.19602396 -0.01559193 0.98047514 -0.19514702] [ 0. 0. 0. 1. ]] SLAMing on 92.623201008 meters Centerline goodness [0,1] 0.8885206639189038 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.20 [[ 0.98034287 0.02238789 -0.19602714 3.00309288] [-0.0189358 0.99963117 0.01946696 -0.44244778] [ 0.19639067 -0.01537237 0.98040522 -0.19567028] [ 0. 0. 0. 1. ]] SLAMing on 92.653201008 meters Centerline goodness [0,1] 0.884168269632851 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.20 [[ 0.9803302 0.02224947 -0.19610624 3.00378963] [-0.01882743 0.99963651 0.01929711 -0.44212032] [ 0.1964643 -0.01522536 0.98039276 -0.19605735] [ 0. 0. 0. 1. ]] SLAMing on 92.683201008 meters Centerline goodness [0,1] 0.8833268189178625 Centerline is valid? [False, False] Translation: X:3.00, Y:-0.44, Z:-0.20 [[ 0.98033757 0.02241732 -0.19605028 3.00362324] [-0.01891544 0.99962666 0.01971654 -0.44246584] [ 0.19641908 -0.01562049 0.98039561 -0.1955736 ] [ 0. 0. 0. 1. ]] SLAMing on 92.713201008 meters Centerline goodness [0,1] 0.888152189117359 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.44, Z:-0.20 [[ 0.98299478 0.01846879 -0.18270239 3.0078154 ] [-0.01597315 0.99975806 0.01512185 -0.44192351] [ 0.18293747 -0.01194637 0.98305197 -0.19949571] [ 0. 0. 0. 1. ]] SLAMing on 92.74320100799999 meters Centerline goodness [0,1] 0.8821112074026446 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.44, Z:-0.20 [[ 0.9829195 0.01830376 -0.18312352 3.008416 ] [-0.01565713 0.99975118 0.01588823 -0.44365175] [ 0.18336877 -0.01274966 0.98296151 -0.19787545] [ 0. 0. 0. 1. ]] SLAMing on 92.77320100799999 meters Centerline goodness [0,1] 0.8781569199685711 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.44, Z:-0.20 [[ 0.98286732 0.01819825 -0.18341388 3.00888652] [-0.01545994 0.99974682 0.01634865 -0.44483253] [ 0.18366496 -0.01323299 0.98289983 -0.19689878] [ 0. 0. 0. 1. ]] SLAMing on 92.80320100799999 meters Centerline goodness [0,1] 0.884393875544318 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.45, Z:-0.20 [[ 0.98279025 0.01793722 -0.18385205 3.00983297] [-0.01512872 0.99974663 0.01666734 -0.44556987] [ 0.18410443 -0.01359905 0.98281261 -0.19597091] [ 0. 0. 0. 1. ]] SLAMing on 92.83320100799999 meters Centerline goodness [0,1] 0.8920381272778245 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.45, Z:-0.20 [[ 0.98271063 0.01800339 -0.18427073 3.01059071] [-0.01509427 0.99973851 0.01717789 -0.44723469] [ 0.18453181 -0.01409946 0.9827254 -0.19509561] [ 0. 0. 0. 1. ]] SLAMing on 92.86320100799999 meters Centerline goodness [0,1] 0.8951268807545475 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.45, Z:-0.20 [[ 0.98265419 0.01786827 -0.18458457 3.01184869] [-0.01496836 0.99974187 0.01709208 -0.4476636 ] [ 0.18484233 -0.01403268 0.982668 -0.19550011] [ 0. 0. 0. 1. ]] SLAMing on 92.89320100799999 meters Centerline goodness [0,1] 0.8972263427467884 Centerline is valid? [False, False] Translation: X:3.01, Y:-0.45, Z:-0.20 [[ 0.98258041 0.01728404 -0.1850324 3.01431464] [-0.01445878 0.99975754 0.01660759 -0.44769635] [ 0.18527459 -0.01364295 0.98259208 -0.19663653] [ 0. 0. 0. 1. ]] SLAMing on 92.92320100799999 meters Centerline goodness [0,1] 0.9007134029884283 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.45, Z:-0.20 [[ 0.98254374 0.01705991 -0.18524782 3.0158484 ] [-0.01427006 0.99976395 0.0163831 -0.44819325] [ 0.18548359 -0.01345362 0.98255526 -0.19758314] [ 0. 0. 0. 1. ]] SLAMing on 92.953201008 meters Centerline goodness [0,1] 0.9050920727599371 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.45, Z:-0.20 [[ 0.9823679 0.01593218 -0.18627796 3.02090122] [-0.01326105 0.99979073 0.01557683 -0.44885238] [ 0.18648715 -0.01283193 0.9823736 -0.19972303] [ 0. 0. 0. 1. ]] SLAMing on 92.983201008 meters Centerline goodness [0,1] 0.9060759493670886 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.45, Z:-0.20 [[ 0.98230699 0.01550033 -0.18663526 3.02309386] [-0.01287494 0.9998005 0.01527093 -0.44901628] [ 0.18683473 -0.01259783 0.98231058 -0.20083523] [ 0. 0. 0. 1. ]] SLAMing on 93.013201008 meters Centerline goodness [0,1] 0.9098268178484797 Centerline is valid? [False, False] Translation: X:3.02, Y:-0.45, Z:-0.20 [[ 0.9822561 0.01514298 -0.18693217 3.02492162] [-0.01254531 0.99980771 0.01507156 -0.44948822] [ 0.18712446 -0.01245901 0.9822572 -0.20171052] [ 0. 0. 0. 1. ]] SLAMing on 93.043201008 meters Centerline goodness [0,1] 0.907864661229788 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.45, Z:-0.20 [[ 0.98214634 0.01448089 -0.18756033 3.0275653 ] [-0.01191441 0.99981943 0.01480366 -0.45008623] [ 0.18774083 -0.01230469 0.98214152 -0.2022863 ] [ 0. 0. 0. 1. ]] SLAMing on 93.073201008 meters Centerline goodness [0,1] 0.9085065413150591 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.45, Z:-0.20 [[ 0.98207785 0.01435212 -0.18792847 3.02901144] [-0.01175302 0.99981936 0.01493731 -0.45171088] [ 0.1881089 -0.01246087 0.98206913 -0.20256983] [ 0. 0. 0. 1. ]] SLAMing on 93.103201008 meters Centerline goodness [0,1] 0.9115423959990907 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:-0.20 [[ 0.98193184 0.01405988 -0.18871189 3.03128299] [-0.01125162 0.99980957 0.01594429 -0.45601833] [ 0.18890013 -0.01353289 0.98190305 -0.20137972] [ 0. 0. 0. 1. ]] SLAMing on 93.13320100799999 meters Centerline goodness [0,1] 0.9128777101234848 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:-0.20 [[ 0.98181687 0.01380389 -0.189328 3.03279755] [-0.01087769 0.99980492 0.01648621 -0.45830442] [ 0.18951864 -0.01412698 0.98177549 -0.20044618] [ 0. 0. 0. 1. ]] SLAMing on 93.16320100799999 meters Centerline goodness [0,1] 0.9142164551547127 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:-0.20 [[ 0.98174645 0.01385931 -0.18968877 3.03334571] [-0.01079142 0.99979389 0.01719669 -0.46061148] [ 0.18988801 -0.01483578 0.98169366 -0.19938023] [ 0. 0. 0. 1. ]] SLAMing on 93.19320100799999 meters Centerline goodness [0,1] 0.9147158621082946 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:-0.20 [[ 0.9817064 0.01412339 -0.18987649 3.03327092] [-0.01080609 0.99977056 0.01849489 -0.46305903] [ 0.19009414 -0.01610473 0.98163377 -0.19743785] [ 0. 0. 0. 1. ]] SLAMing on 93.22320100799999 meters Centerline goodness [0,1] 0.9139061520041052 Centerline is valid? [False, False] Translation: X:3.03, Y:-0.46, Z:-0.20 [[ 0.98166135 0.01376383 -0.19013563 3.0345508 ] [-0.01045011 0.99977573 0.01841987 -0.4628914 ] [ 0.19034652 -0.01609513 0.98158502 -0.19759742] [ 0. 0. 0. 1. ]] SLAMing on 93.25320100799999 meters Centerline goodness [0,1] 0.9133141078719699 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.46, Z:-0.20 [[ 0.9816368 0.01345509 -0.19028441 3.03549348] [-0.01015758 0.99978105 0.01829414 -0.46314262] [ 0.19048889 -0.01602537 0.98155854 -0.19786458] [ 0. 0. 0. 1. ]] SLAMing on 93.28320100799999 meters Centerline goodness [0,1] 0.915282819332895 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.46, Z:-0.20 [[ 0.98152073 0.01304836 -0.19091047 3.03722206] [-0.009686 0.9997813 0.01853488 -0.46426743] [ 0.19111056 -0.01634321 0.98143245 -0.19720726] [ 0. 0. 0. 1. ]] SLAMing on 93.313201008 meters Centerline goodness [0,1] 0.9160935350756534 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.20 [[ 0.98142351 0.01248519 -0.19144715 3.03913516] [-0.0090758 0.99978441 0.01867509 -0.46621481] [ 0.19163904 -0.01659063 0.98132524 -0.19692144] [ 0. 0. 0. 1. ]] SLAMing on 93.343201008 meters Centerline goodness [0,1] 0.9156905319696017 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.20 [[ 0.98133833 0.01171111 -0.1919321 3.04157032] [-0.00837943 0.99979996 0.01816117 -0.46580442] [ 0.19210639 -0.01621397 0.98124016 -0.19771958] [ 0. 0. 0. 1. ]] SLAMing on 93.373201008 meters Centerline goodness [0,1] 0.9135091789099865 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.20 [[ 0.98126467 0.01113146 -0.19234275 3.04331998] [-0.00784048 0.99980971 0.01786268 -0.46572246] [ 0.19250499 -0.01601996 0.98116522 -0.19805264] [ 0. 0. 0. 1. ]] SLAMing on 93.403201008 meters Centerline goodness [0,1] 0.9165639599873886 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 0.98117193 0.01050133 -0.19285063 3.04503073] [-0.00720888 0.99981618 0.01776635 -0.46633731] [ 0.19300175 -0.0160416 0.98106727 -0.19780653] [ 0. 0. 0. 1. ]] SLAMing on 93.433201008 meters Centerline goodness [0,1] 0.9163087035488799 Centerline is valid? [False, False] Translation: X:3.04, Y:-0.47, Z:-0.20 [[ 0.98123153 0.00605485 -0.19273824 3.04489921] [-0.00348973 0.99990081 0.01364551 -0.46614081] [ 0.19280174 -0.0127168 0.98115533 -0.19847121] [ 0. 0. 0. 1. ]] SLAMing on 93.463201008 meters Centerline goodness [0,1] 0.9206779270190811 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 0.98115497 0.005698 -0.19313846 3.04618613] [-0.00309678 0.99990043 0.0137674 -0.46680078] [ 0.19319768 -0.01290984 0.98107492 -0.19817378] [ 0. 0. 0. 1. ]] SLAMing on 93.49320100799999 meters Centerline goodness [0,1] 0.9184485044089677 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.81059216e-01 5.18667541e-03 -1.93638612e-01 3.04805832e+00] [-2.55559571e-03 9.99901027e-01 1.38349026e-02 -4.67384328e-01] [ 1.93691205e-01 -1.30779967e-02 9.80975373e-01 -1.98039271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52320100799999 meters Centerline goodness [0,1] 0.919615351394927 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80993245e-01 4.94434755e-03 -1.93978881e-01 3.04902830e+00] [-2.24925394e-03 9.99897898e-01 1.41115352e-02 -4.68226863e-01] [ 1.94028848e-01 -1.34070129e-02 9.80904204e-01 -1.97495847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55320100799999 meters Centerline goodness [0,1] 0.9192252095981498 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80902518e-01 4.35242110e-03 -1.94451295e-01 3.05084620e+00] [-1.62741174e-03 9.99898256e-01 1.41713945e-02 -4.69378982e-01] [ 1.94493190e-01 -1.35843042e-02 9.80809801e-01 -1.97302469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58320100799999 meters Centerline goodness [0,1] 0.9186719111522443 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80867597e-01 4.28251785e-03 -1.94628923e-01 3.05151339e+00] [-1.58024117e-03 9.99900222e-01 1.40373956e-02 -4.68883788e-01] [ 1.94669619e-01 -1.34612659e-02 9.80776495e-01 -1.97491521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61320100799999 meters Centerline goodness [0,1] 0.9207880865282139 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80791069e-01 3.98394148e-03 -1.95020533e-01 3.05284121e+00] [-1.35786739e-03 9.99906628e-01 1.35974671e-02 -4.67372642e-01] [ 1.95056495e-01 -1.30714623e-02 9.80704900e-01 -1.97782432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64320100799999 meters Centerline goodness [0,1] 0.9185274940857423 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80781456e-01 4.34908886e-03 -1.95061069e-01 3.05247950e+00] [-1.73413673e-03 9.99906357e-01 1.35745819e-02 -4.66785721e-01] [ 1.95101840e-01 -1.29754356e-02 9.80697155e-01 -1.97666832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67320100799999 meters Centerline goodness [0,1] 0.9180224202356999 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80648714e-01 5.25958107e-03 -1.95704974e-01 3.05247806e+00] [-2.61560830e-03 9.99901823e-01 1.37659853e-02 -4.66555636e-01] [ 1.95758163e-01 -1.29877082e-02 9.80566194e-01 -1.96938508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.703201008 meters Centerline goodness [0,1] 0.9176595257188681 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.47, Z:-0.20 [[ 9.80645678e-01 5.41743180e-03 -1.95715880e-01 3.05297955e+00] [-2.85921973e-03 9.99906781e-01 1.33512176e-02 -4.65092195e-01] [ 1.95769965e-01 -1.25332192e-02 9.80569752e-01 -1.97967182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.733201008 meters Centerline goodness [0,1] 0.916287976221098 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98067328 0.00565521 -0.19557082 3.05334038] [-0.00317994 0.99991085 0.01296828 -0.46239718] [ 0.19562672 -0.01209574 0.98060383 -0.19916523] [ 0. 0. 0. 1. ]] SLAMing on 93.763201008 meters Centerline goodness [0,1] 0.9154289957728778 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98073289 0.00584631 -0.19526601 3.05325841] [-0.00346811 0.99991562 0.01251897 -0.45964541] [ 0.19532272 -0.01160056 0.98067041 -0.2003303 ] [ 0. 0. 0. 1. ]] SLAMing on 93.793201008 meters Centerline goodness [0,1] 0.9148012791228872 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98076064 0.00651921 -0.1951053 3.05230155] [-0.00408216 0.99990858 0.01289043 -0.45906434] [ 0.19517149 -0.01184598 0.98069759 -0.19994516] [ 0. 0. 0. 1. ]] SLAMing on 93.823201008 meters Centerline goodness [0,1] 0.9150466729468185 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98066098 0.0063574 -0.19561091 3.05317933] [-0.00384244 0.99990505 0.01323377 -0.45982015] [ 0.19567647 -0.01222622 0.98059229 -0.19885563] [ 0. 0. 0. 1. ]] SLAMing on 93.853201008 meters Centerline goodness [0,1] 0.9145609421449805 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98056246 0.00639563 -0.19610292 3.0534642 ] [-0.00373642 0.99989603 0.01392724 -0.46099901] [ 0.1961716 -0.0129238 0.98048441 -0.19703519] [ 0. 0. 0. 1. ]] SLAMing on 93.88320100799999 meters Centerline goodness [0,1] 0.9147264676474789 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.20 [[ 0.98049738 0.00649217 -0.1964249 3.05347954] [-0.00370973 0.99988755 0.01453006 -0.4622303 ] [ 0.19649714 -0.013518 0.98041121 -0.1955648 ] [ 0. 0. 0. 1. ]] SLAMing on 93.91320100799999 meters Centerline goodness [0,1] 0.913242662848962 Centerline is valid? [False, False] Translation: X:3.05, Y:-0.46, Z:-0.19 [[ 0.98044299 0.00648499 -0.19669644 3.05350615] [-0.00360664 0.99988117 0.01498812 -0.46296808] [ 0.19677026 -0.01398558 0.98034987 -0.19426102] [ 0. 0. 0. 1. ]] SLAMing on 93.94320100799999 meters Centerline goodness [0,1] 0.9149664716792695 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.19 [[ 9.80326562e-01 5.41854378e-03 -1.97308063e-01 3.05600600e+00] [-2.56005093e-03 9.99888088e-01 1.47396483e-02 -4.62773193e-01] [ 1.97365850e-01 -1.39445500e-02 9.80230723e-01 -1.93957488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97320100799999 meters Centerline goodness [0,1] 0.9180013179382861 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.19 [[ 9.80276186e-01 5.26325740e-03 -1.97562391e-01 3.05661651e+00] [-2.35217289e-03 9.99885225e-01 1.49667871e-02 -4.63378301e-01] [ 1.97618489e-01 -1.42068841e-02 9.80176054e-01 -1.93450249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00320100799999 meters Centerline goodness [0,1] 0.9134883453568247 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.46, Z:-0.19 [[ 9.80182274e-01 4.57148585e-03 -1.98044974e-01 3.05814497e+00] [-1.62107142e-03 9.99885319e-01 1.50572673e-02 -4.64269182e-01] [ 1.98091096e-01 -1.44378215e-02 9.80077276e-01 -1.92768570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03320100799999 meters Centerline goodness [0,1] 0.914950012964937 Centerline is valid? [False, False] Translation: X:3.06, Y:-0.47, Z:-0.19 [[ 9.80164837e-01 5.45627608e-04 -1.98183235e-01 3.06212888e+00] [ 2.07178986e-03 9.99913357e-01 1.29994644e-02 -4.66111085e-01] [ 1.98173157e-01 -1.31522119e-02 9.80078782e-01 -1.93658418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.063201008 meters Centerline goodness [0,1] 0.9181399366541895 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.47, Z:-0.19 [[ 9.80008175e-01 -1.02912388e-03 -1.98954564e-01 3.06632893e+00] [ 3.51758154e-03 9.99919943e-01 1.21546202e-02 -4.66300611e-01] [ 1.98926128e-01 -1.26114661e-02 9.79933338e-01 -1.94958847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.093201008 meters Centerline goodness [0,1] 0.9162551618585578 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.47, Z:-0.20 [[ 9.79882611e-01 -2.20067999e-03 -1.99562587e-01 3.06969412e+00] [ 4.59808558e-03 9.99922717e-01 1.15506329e-02 -4.66374670e-01] [ 1.99521745e-01 -1.22358702e-02 9.79817002e-01 -1.96056432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.123201008 meters Centerline goodness [0,1] 0.9159532623785285 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.47, Z:-0.20 [[ 0.97969761 -0.00436903 -0.20043328 3.07486585] [ 0.00653408 0.99992722 0.01014156 -0.46569397] [ 0.20037438 -0.01124531 0.97965486 -0.19796781] [ 0. 0. 0. 1. ]] SLAMing on 94.153201008 meters Centerline goodness [0,1] 0.9139725868949165 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.47, Z:-0.20 [[ 0.97958114 -0.00486574 -0.20099034 3.0765799 ] [ 0.00697948 0.99992753 0.00980934 -0.46553753] [ 0.20092804 -0.01101186 0.97954411 -0.19799816] [ 0. 0. 0. 1. ]] SLAMing on 94.183201008 meters Centerline goodness [0,1] 0.9130924529936747 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.47, Z:-0.20 [[ 0.97950263 -0.00510571 -0.20136664 3.07740557] [ 0.00721913 0.99992629 0.00976238 -0.46517308] [ 0.20130195 -0.01101596 0.97946729 -0.19751199] [ 0. 0. 0. 1. ]] SLAMing on 94.213201008 meters Centerline goodness [0,1] 0.9150962454186027 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.20 [[ 0.97945412 -0.00512736 -0.20160193 3.07752254] [ 0.00725351 0.99992558 0.00980892 -0.46480627] [ 0.20153663 -0.0110697 0.97941842 -0.19684989] [ 0. 0. 0. 1. ]] SLAMing on 94.24320100799999 meters Centerline goodness [0,1] 0.9122943498429712 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.20 [[ 0.9793613 -0.00542169 -0.20204467 3.0783556 ] [ 0.00754229 0.99992424 0.0097273 -0.46377883] [ 0.20197662 -0.01105042 0.979328 -0.19615214] [ 0. 0. 0. 1. ]] SLAMing on 94.27320100799999 meters Centerline goodness [0,1] 0.9102941176470588 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.20 [[ 0.97933708 -0.00580165 -0.20215151 3.07851563] [ 0.00788124 0.99992397 0.00948387 -0.46149436] [ 0.20208112 -0.01088111 0.97930834 -0.19566807] [ 0. 0. 0. 1. ]] SLAMing on 94.30320100799999 meters Centerline goodness [0,1] 0.9102941176470588 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.20 [[ 0.97933708 -0.00580165 -0.20215151 3.07851563] [ 0.00788124 0.99992397 0.00948387 -0.46149436] [ 0.20208112 -0.01088111 0.97930834 -0.19566807] [ 0. 0. 0. 1. ]] SLAMing on 94.33320100799999 meters Centerline goodness [0,1] 0.9120478119702324 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.20 [[ 0.97928747 -0.00616699 -0.20238087 3.07926214] [ 0.00823578 0.99992207 0.00938179 -0.46005296] [ 0.20230724 -0.01085424 0.97926195 -0.19531662] [ 0. 0. 0. 1. ]] SLAMing on 94.36320100799999 meters Centerline goodness [0,1] 0.9122741504610347 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.19 [[ 0.97930823 -0.00614817 -0.20228096 3.07871978] [ 0.0082308 0.99992141 0.00945619 -0.45837714] [ 0.20220692 -0.01092546 0.97928188 -0.19475603] [ 0. 0. 0. 1. ]] SLAMing on 94.39320100799999 meters Centerline goodness [0,1] 0.9095337708112445 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.46, Z:-0.19 [[ 0.97930663 -0.00603862 -0.20229202 3.07731334] [ 0.00817274 0.9999194 0.00971607 -0.45554358] [ 0.20221704 -0.01116829 0.97927705 -0.19280815] [ 0. 0. 0. 1. ]] SLAMing on 94.42320100799999 meters Centerline goodness [0,1] 0.9137487126673532 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.19 [[ 0.97926666 -0.00593932 -0.20248834 3.07678432] [ 0.00812484 0.99991735 0.00996384 -0.45471603] [ 0.20241243 -0.01140245 0.97923398 -0.19146024] [ 0. 0. 0. 1. ]] SLAMing on 94.453201008 meters Centerline goodness [0,1] 0.9131352307078081 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.45, Z:-0.19 [[ 0.97922398 -0.00578354 -0.20269918 3.07625402] [ 0.00803442 0.99991485 0.01028345 -0.453947 ] [ 0.20262244 -0.01169837 0.97918706 -0.19000706] [ 0. 0. 0. 1. ]] SLAMing on 94.483201008 meters Centerline goodness [0,1] 0.9121677445087034 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.19 [[ 0.97924974 -0.00525126 -0.20258919 3.07461047] [ 0.0075816 0.99991371 0.01072849 -0.45303431] [ 0.20251537 -0.01204182 0.97920504 -0.18858695] [ 0. 0. 0. 1. ]] SLAMing on 94.513201008 meters Centerline goodness [0,1] 0.9150140837055795 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.19 [[ 0.97932262 -0.0044365 -0.2022561 3.07208902] [ 0.00675154 0.99991934 0.01075762 -0.44964892] [ 0.20219206 -0.01190072 0.97927358 -0.18756866] [ 0. 0. 0. 1. ]] SLAMing on 94.543201008 meters Centerline goodness [0,1] 0.9130978075656027 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.19 [[ 0.97929922 -0.00443547 -0.20236937 3.07238803] [ 0.00669605 0.99992259 0.01048726 -0.4477835 ] [ 0.20230719 -0.01162524 0.97925311 -0.18774059] [ 0. 0. 0. 1. ]] SLAMing on 94.573201008 meters Centerline goodness [0,1] 0.9141425578893733 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.45, Z:-0.19 [[ 0.97927806 -0.00466946 -0.2024665 3.07338225] [ 0.0067966 0.99992876 0.00981218 -0.44546393] [ 0.20240626 -0.01098494 0.97924003 -0.18882952] [ 0. 0. 0. 1. ]] SLAMing on 94.603201008 meters Centerline goodness [0,1] 0.9140325129826146 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.44, Z:-0.19 [[ 0.97925248 -0.00488308 -0.20258514 3.07458288] [ 0.00687671 0.9999346 0.00913829 -0.44305824] [ 0.20252727 -0.01034181 0.97922201 -0.19008341] [ 0. 0. 0. 1. ]] SLAMing on 94.63320100799999 meters Centerline goodness [0,1] 0.908162691269127 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.79116944e-01 -8.85173157e-04 -2.03295909e-01 3.07685341e+00] [ 3.62187817e-03 9.99907762e-01 1.30900361e-02 -4.43274008e-01] [ 2.03265570e-01 -1.35529891e-02 9.79029838e-01 -1.89616033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66320100799999 meters Centerline goodness [0,1] 0.9108813253690973 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.79098858e-01 -7.48295195e-04 -2.03383547e-01 3.07688679e+00] [ 3.46572062e-03 9.99909422e-01 1.30052589e-02 -4.42526367e-01] [ 2.03355393e-01 -1.34383047e-02 9.79012766e-01 -1.89582850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69320100799999 meters Centerline goodness [0,1] 0.9123019335228392 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.79098631e-01 -4.26217310e-04 -2.03385570e-01 3.07668466e+00] [ 3.09784268e-03 9.99913053e-01 1.28175921e-02 -4.41271694e-01] [ 2.03362423e-01 -1.31797434e-02 9.79014821e-01 -1.89873193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72320100799999 meters Centerline goodness [0,1] 0.9091317912251609 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.79107142e-01 -4.28357945e-06 -2.03345038e-01 3.07614527e+00] [ 2.61725892e-03 9.99917430e-01 1.25810479e-02 -4.39241803e-01] [ 2.03328194e-01 -1.28504005e-02 9.79026308e-01 -1.90033212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75320100799999 meters Centerline goodness [0,1] 0.9105304386750224 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78996464e-01 5.09427244e-03 -2.03813572e-01 3.07600760e+00] [-1.69040909e-03 9.99856238e-01 1.68714749e-02 -4.39073450e-01] [ 2.03870219e-01 -1.61725859e-02 9.78864332e-01 -1.88611916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78320100799999 meters Centerline goodness [0,1] 0.909352076534739 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78939115e-01 4.98361928e-03 -2.04091577e-01 3.07671493e+00] [-1.69355998e-03 9.99865842e-01 1.62919932e-02 -4.36909573e-01] [ 2.04145390e-01 -1.56032280e-02 9.78816223e-01 -1.88954965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.813201008 meters Centerline goodness [0,1] 0.9101161046608521 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78974219e-01 5.50229584e-03 -2.03909793e-01 3.07575050e+00] [-2.23752838e-03 9.99865652e-01 1.62379353e-02 -4.35269832e-01] [ 2.03971744e-01 -1.54402661e-02 9.78855008e-01 -1.88973022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.843201008 meters Centerline goodness [0,1] 0.9106929427134003 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78994510e-01 5.67925854e-03 -2.03807498e-01 3.07551836e+00] [-2.49047278e-03 9.99870499e-01 1.58991397e-02 -4.33508848e-01] [ 2.03871400e-01 -1.50575935e-02 9.78881873e-01 -1.89453734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.873201008 meters Centerline goodness [0,1] 0.9119648859627191 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78971496e-01 5.61963200e-03 -2.03919667e-01 3.07594319e+00] [-2.47295163e-03 9.99873964e-01 1.56825215e-02 -4.31966246e-01] [ 2.03982096e-01 -1.48484581e-02 9.78862007e-01 -1.89579947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.903201008 meters Centerline goodness [0,1] 0.9126448278736351 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.43, Z:-0.19 [[ 0.97907167 0.00625211 -0.20341968 3.0742798 ] [-0.003076 0.99986844 0.01592601 -0.43118503] [ 0.20349249 -0.01496699 0.9789621 -0.18943018] [ 0. 0. 0. 1. ]] SLAMing on 94.933201008 meters Centerline goodness [0,1] 0.9092855752384661 Centerline is valid? [False, False] Translation: X:3.07, Y:-0.43, Z:-0.19 [[ 0.97904783 0.00640483 -0.20352966 3.07418909] [-0.00316454 0.99986308 0.01624193 -0.43151189] [ 0.20360582 -0.01525755 0.97893405 -0.18884222] [ 0. 0. 0. 1. ]] SLAMing on 94.963201008 meters Centerline goodness [0,1] 0.9114075309156593 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78974373e-01 6.05291963e-03 -2.03893452e-01 3.07532161e+00] [-2.80879752e-03 9.99864883e-01 1.61965034e-02 -4.31739958e-01] [ 2.03963938e-01 -1.52832663e-02 9.78859098e-01 -1.88595332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99320100799999 meters Centerline goodness [0,1] 0.9106924190136926 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78940859e-01 6.12247524e-03 -2.04052222e-01 3.07533932e+00] [-2.79793878e-03 9.99858676e-01 1.65770966e-02 -4.32422380e-01] [ 2.04124877e-01 -1.56570716e-02 9.78819642e-01 -1.87823287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02320100799999 meters Centerline goodness [0,1] 0.9118850747515242 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78924607e-01 6.21233643e-03 -2.04127461e-01 3.07504424e+00] [-2.72281590e-03 9.99845401e-01 1.73712273e-02 -4.33815415e-01] [ 2.04203819e-01 -1.64493204e-02 9.78790182e-01 -1.86434465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05320100799999 meters Centerline goodness [0,1] 0.909754128031632 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.43, Z:-0.19 [[ 9.78852388e-01 5.76420792e-03 -2.04486615e-01 3.07642038e+00] [-2.25741375e-03 9.99846436e-01 1.73783889e-02 -4.34528918e-01] [ 2.04555385e-01 -1.65492666e-02 9.78715084e-01 -1.86382736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08320100799999 meters Centerline goodness [0,1] 0.9081421954350131 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78771391e-01 5.13853939e-03 -2.04890602e-01 3.07823045e+00] [-1.62323236e-03 9.99848656e-01 1.73213816e-02 -4.35509428e-01] [ 2.04948599e-01 -1.66210877e-02 9.78631601e-01 -1.86481184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11320100799999 meters Centerline goodness [0,1] 0.9096341803965373 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78677977e-01 4.50041799e-03 -2.05351318e-01 3.07998409e+00] [-9.35752765e-04 9.99847253e-01 1.74526756e-02 -4.36785227e-01] [ 2.05398495e-01 -1.68883912e-02 9.78532698e-01 -1.86161425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14320100799999 meters Centerline goodness [0,1] 0.908899730820996 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78638245e-01 -1.03344098e-03 -2.05587249e-01 3.08213152e+00] [ 3.77808561e-03 9.99908902e-01 1.29581589e-02 -4.37176553e-01] [ 2.05555129e-01 -1.34580761e-02 9.78552998e-01 -1.87434403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17320100799999 meters Centerline goodness [0,1] 0.9088117640430446 Centerline is valid? [False, False] Translation: X:3.08, Y:-0.44, Z:-0.19 [[ 9.78476214e-01 -2.01867413e-03 -2.06349759e-01 3.08492626e+00] [ 4.77982827e-03 9.99905583e-01 1.28832946e-02 -4.38909530e-01] [ 2.06304268e-01 -1.35923137e-02 9.78393478e-01 -1.87287963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.203201008 meters Centerline goodness [0,1] 0.9082151533984971 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 9.78354657e-01 -2.90726295e-03 -2.06914749e-01 3.08717214e+00] [ 5.69164366e-03 9.99901074e-01 1.28626439e-02 -4.40539161e-01] [ 2.06856885e-01 -1.37619125e-02 9.78274419e-01 -1.87068492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.233201008 meters Centerline goodness [0,1] 0.9128854563007553 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97828238 -0.00831177 -0.20710988 3.08920149] [ 0.01024033 0.9999136 0.00824144 -0.44047845] [ 0.20702349 -0.01018333 0.97828297 -0.1885021 ] [ 0. 0. 0. 1. ]] SLAMing on 95.263201008 meters Centerline goodness [0,1] 0.9138171568487885 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97820322 -0.00841869 -0.20747912 3.0902047 ] [ 0.0104164 0.9999093 0.00853788 -0.44186809] [ 0.20738843 -0.01051297 0.97820219 -0.18812651] [ 0. 0. 0. 1. ]] SLAMing on 95.293201008 meters Centerline goodness [0,1] 0.9153290072859745 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97811779 -0.00845207 -0.20788015 3.09094207] [ 0.010548 0.99990408 0.00897594 -0.44303477] [ 0.20778435 -0.01097225 0.97811312 -0.18729378] [ 0. 0. 0. 1. ]] SLAMing on 95.323201008 meters Centerline goodness [0,1] 0.9153473804100227 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97809795 -0.00821129 -0.2079831 3.09093749] [ 0.01038677 0.99990216 0.00936992 -0.44375089] [ 0.20788581 -0.01132497 0.97808754 -0.18680537] [ 0. 0. 0. 1. ]] SLAMing on 95.353201008 meters Centerline goodness [0,1] 0.9158314350797266 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97811824 -0.00739044 -0.20791848 3.09006813] [ 0.00963792 0.99990555 0.0097985 -0.44248509] [ 0.20782643 -0.01158799 0.97809708 -0.18651947] [ 0. 0. 0. 1. ]] SLAMing on 95.38320100799999 meters Centerline goodness [0,1] 0.9148295454545454 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97800158 -0.00323707 -0.20857237 3.09216126] [ 0.00633655 0.99987918 0.01419398 -0.44411079] [ 0.20850123 -0.01520336 0.97790393 -0.18572298] [ 0. 0. 0. 1. ]] SLAMing on 95.41320100799999 meters Centerline goodness [0,1] 0.9144378966455122 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 0.97797973 -0.00312514 -0.20867648 3.09249258] [ 0.00619543 0.99988194 0.01406118 -0.44301514] [ 0.2086079 -0.01504439 0.97788364 -0.18597252] [ 0. 0. 0. 1. ]] SLAMing on 95.44320100799999 meters Centerline goodness [0,1] 0.9149068674630584 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.19 [[ 9.77999411e-01 -2.75685640e-03 -2.08589432e-01 3.09203430e+00] [ 5.88007034e-03 9.99879680e-01 1.43544215e-02 -4.42609794e-01] [ 2.08524761e-01 -1.52651363e-02 9.77897949e-01 -1.85679492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47320100799999 meters Centerline goodness [0,1] 0.9136525074584458 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.78026787e-01 -1.22436761e-03 -2.08475671e-01 3.08868651e+00] [ 4.66980843e-03 9.99860519e-01 1.60354486e-02 -4.43425671e-01] [ 2.08426959e-01 -1.66566397e-02 9.77896088e-01 -1.82402020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50320100799999 meters Centerline goodness [0,1] 0.9157359251996476 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.78006868e-01 -7.25822756e-04 -2.08571426e-01 3.08764542e+00] [ 4.33640026e-03 9.99848553e-01 1.68542569e-02 -4.44460952e-01] [ 2.08527606e-01 -1.73880282e-02 9.77861899e-01 -1.80710997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53320100799999 meters Centerline goodness [0,1] 0.9166808414129387 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.45, Z:-0.18 [[ 9.77951675e-01 -5.95495422e-04 -2.08830476e-01 3.08745194e+00] [ 4.29331037e-03 9.99841914e-01 1.72544202e-02 -4.45043006e-01] [ 2.08787188e-01 -1.77705632e-02 9.77799630e-01 -1.79510584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.563201008 meters Centerline goodness [0,1] 0.9170327957141642 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.45, Z:-0.18 [[ 9.77968764e-01 -3.56752876e-04 -2.08750973e-01 3.08699964e+00] [ 4.11214607e-03 9.99837423e-01 1.75561123e-02 -4.45276647e-01] [ 2.08710772e-01 -1.80277440e-02 9.77811236e-01 -1.79086968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.593201008 meters Centerline goodness [0,1] 0.9157311314085343 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77916082e-01 -8.12714132e-04 -2.08996356e-01 3.08856252e+00] [ 4.50073952e-03 9.99842431e-01 1.71713974e-02 -4.44458128e-01] [ 2.08949469e-01 -1.77328238e-02 9.77765650e-01 -1.79843653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.623201008 meters Centerline goodness [0,1] 0.9146427862952362 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77869177e-01 -1.26569849e-03 -2.09213459e-01 3.09011400e+00] [ 4.88526998e-03 9.99847187e-01 1.67850093e-02 -4.44121729e-01] [ 2.09160244e-01 -1.74356074e-02 9.77725929e-01 -1.80644236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.653201008 meters Centerline goodness [0,1] 0.9145036011862732 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77788434e-01 -1.83616705e-03 -2.09586278e-01 3.09199980e+00] [ 5.38820424e-03 9.99851351e-01 1.63781223e-02 -4.43645877e-01] [ 2.09525050e-01 -1.71436322e-02 9.77652980e-01 -1.81239745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.683201008 meters Centerline goodness [0,1] 0.9150623835600971 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77769160e-01 -2.00554402e-03 -2.09674623e-01 3.09290546e+00] [ 5.48818209e-03 9.99856462e-01 1.60292123e-02 -4.42998218e-01] [ 2.09612379e-01 -1.68236020e-02 9.77639820e-01 -1.82039818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.713201008 meters Centerline goodness [0,1] 0.914722764158679 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77779837e-01 -2.14507616e-03 -2.09623444e-01 3.09335366e+00] [ 5.54388472e-03 9.99862512e-01 1.56276292e-02 -4.41967165e-01] [ 2.09561101e-01 -1.64425090e-02 9.77657296e-01 -1.82809351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74320100799999 meters Centerline goodness [0,1] 0.917173937549318 Centerline is valid? [False, False] Translation: X:3.09, Y:-0.44, Z:-0.18 [[ 9.77658251e-01 -2.27866017e-03 -2.10188372e-01 3.09429480e+00] [ 5.66277866e-03 9.99863833e-01 1.54999649e-02 -4.41698733e-01] [ 2.10124432e-01 -1.63439188e-02 9.77538030e-01 -1.82222026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77320100799999 meters Centerline goodness [0,1] 0.9196212163914097 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77585179e-01 -2.57257075e-03 -2.10524582e-01 3.09535146e+00] [ 5.92652269e-03 9.99865353e-01 1.53020439e-02 -4.42002497e-01] [ 2.10456869e-01 -1.62067300e-02 9.77468796e-01 -1.82288914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80320100799999 meters Centerline goodness [0,1] 0.9172573494112 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77507601e-01 -2.94777170e-03 -2.10879589e-01 3.09656182e+00] [ 6.29061681e-03 9.99864946e-01 1.51828452e-02 -4.41826900e-01] [ 2.10806353e-01 -1.61679093e-02 9.77394127e-01 -1.82210670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83320100799999 meters Centerline goodness [0,1] 0.9163409352942831 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97732773 -0.00417969 -0.21169089 3.10049922] [ 0.00742441 0.9998668 0.01453509 -0.44113572] [ 0.21160194 -0.01577722 0.97722858 -0.18318725] [ 0. 0. 0. 1. ]] SLAMing on 95.86320100799999 meters Centerline goodness [0,1] 0.9179353670269964 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97725822 -0.00435216 -0.21200807 3.10137816] [ 0.00762636 0.99986391 0.01462846 -0.44156212] [ 0.21191556 -0.01591264 0.97715842 -0.18289529] [ 0. 0. 0. 1. ]] SLAMing on 95.89320100799999 meters Centerline goodness [0,1] 0.9169164640009049 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97722507 -0.00412699 -0.21216536 3.10114019] [ 0.00752615 0.9998559 0.01521619 -0.44276734] [ 0.21207199 -0.01646643 0.97711531 -0.1818353 ] [ 0. 0. 0. 1. ]] SLAMing on 95.92320100799999 meters Centerline goodness [0,1] 0.9181404034973544 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97715961 -0.00406618 -0.21246781 3.10139025] [ 0.00757411 0.99984807 0.01569908 -0.44335446] [ 0.2123717 -0.01694976 0.97704195 -0.18072029] [ 0. 0. 0. 1. ]] SLAMing on 95.953201008 meters Centerline goodness [0,1] 0.9161732626986601 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97722947 -0.00325081 -0.21216029 3.09967506] [ 0.00687518 0.99984273 0.01634766 -0.44352217] [ 0.21207378 -0.01743406 0.97709814 -0.1799251 ] [ 0. 0. 0. 1. ]] SLAMing on 95.983201008 meters Centerline goodness [0,1] 0.9161720648917528 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97718315 -0.00325767 -0.21237345 3.10015395] [ 0.00689377 0.99984202 0.01638303 -0.44304263] [ 0.21228653 -0.01747328 0.97705123 -0.17969012] [ 0. 0. 0. 1. ]] SLAMing on 96.013201008 meters Centerline goodness [0,1] 0.9145886344359627 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77203589e-01 -2.82090819e-03 -2.12285629e-01 3.09951148e+00] [ 6.48484930e-03 9.99841758e-01 1.65652108e-02 -4.42866394e-01] [ 2.12205308e-01 -1.75642238e-02 9.77067247e-01 -1.79518539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.043201008 meters Centerline goodness [0,1] 0.9160145174095498 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77252347e-01 -2.38579990e-03 -2.12066402e-01 3.09872195e+00] [ 6.07036152e-03 9.99841697e-01 1.67251992e-02 -4.42661467e-01] [ 2.11992928e-01 -1.76320599e-02 9.77112127e-01 -1.79502743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.073201008 meters Centerline goodness [0,1] 0.915829110161094 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77236530e-01 -2.39925709e-03 -2.12139125e-01 3.09913249e+00] [ 6.02661311e-03 9.99846461e-01 1.64540029e-02 -4.41872371e-01] [ 2.12067076e-01 -1.73579331e-02 9.77100945e-01 -1.79923378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.103201008 meters Centerline goodness [0,1] 0.9174319727891156 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77253115e-01 -1.74026040e-03 -2.12069142e-01 3.09794710e+00] [ 5.42707175e-03 9.99844072e-01 1.68041125e-02 -4.41056900e-01] [ 2.12006831e-01 -1.75727858e-02 9.77110178e-01 -1.79171000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13320100799999 meters Centerline goodness [0,1] 0.9156089388647528 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77215209e-01 -1.80130349e-03 -2.12243235e-01 3.09829379e+00] [ 5.54121676e-03 9.99839669e-01 1.70273819e-02 -4.41726464e-01] [ 2.12178534e-01 -1.78155023e-02 9.77068512e-01 -1.78685828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16320100799999 meters Centerline goodness [0,1] 0.917882225823879 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77118603e-01 -2.23693420e-03 -2.12683405e-01 3.09977328e+00] [ 5.94154877e-03 9.99841537e-01 1.67808960e-02 -4.42017678e-01] [ 2.12612165e-01 -1.76605945e-02 9.76977057e-01 -1.78760900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19320100799999 meters Centerline goodness [0,1] 0.917882225823879 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 9.77118603e-01 -2.23693420e-03 -2.12683405e-01 3.09977328e+00] [ 5.94154877e-03 9.99841537e-01 1.67808960e-02 -4.42017678e-01] [ 2.12612165e-01 -1.76605945e-02 9.76977057e-01 -1.78760900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22320100799999 meters Centerline goodness [0,1] 0.916245097481953 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97699282 -0.00323306 -0.2132477 3.10287288] [ 0.0067337 0.99985421 0.01569157 -0.44047708] [ 0.21316588 -0.0167665 0.97687215 -0.18039286] [ 0. 0. 0. 1. ]] SLAMing on 96.25320100799999 meters Centerline goodness [0,1] 0.9141109530583215 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97695811 -0.00347273 -0.21340287 3.10386235] [ 0.0069116 0.99985798 0.01537049 -0.43958982] [ 0.21331919 -0.01649128 0.97684337 -0.18095505] [ 0. 0. 0. 1. ]] SLAMing on 96.28320100799999 meters Centerline goodness [0,1] 0.9155525277470266 Centerline is valid? [False, False] Translation: X:3.10, Y:-0.44, Z:-0.18 [[ 0.97690646 -0.00373184 -0.21363485 3.10484778] [ 0.00714674 0.99985871 0.01521466 -0.4393658 ] [ 0.21354789 -0.01639009 0.9767951 -0.18111376] [ 0. 0. 0. 1. ]] SLAMing on 96.313201008 meters Centerline goodness [0,1] 0.9159033187797848 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97687903 -0.00379334 -0.21375915 3.10522041] [ 0.00725112 0.99985521 0.0153943 -0.44000733] [ 0.2136698 -0.01658836 0.97676509 -0.18082094] [ 0. 0. 0. 1. ]] SLAMing on 96.343201008 meters Centerline goodness [0,1] 0.915656810470189 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97674373 -0.0042551 -0.21436784 3.10673275] [ 0.00785643 0.99984192 0.01595058 -0.4416228 ] [ 0.21426608 -0.01726379 0.97662276 -0.17941715] [ 0. 0. 0. 1. ]] SLAMing on 96.373201008 meters Centerline goodness [0,1] 0.9168430688254476 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97670395 -0.00456593 -0.21454265 3.10747526] [ 0.00819696 0.99983778 0.01603793 -0.44170379] [ 0.21443462 -0.0174229 0.97658294 -0.17912822] [ 0. 0. 0. 1. ]] SLAMing on 96.403201008 meters Centerline goodness [0,1] 0.9162014372011795 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97663204 -0.00487226 -0.21486302 3.10841165] [ 0.00855364 0.99983207 0.01620717 -0.44224417] [ 0.21474797 -0.0176663 0.97650971 -0.17863895] [ 0. 0. 0. 1. ]] SLAMing on 96.433201008 meters Centerline goodness [0,1] 0.9158907955424413 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97651988 -0.00529717 -0.21536217 3.10971316] [ 0.00906884 0.99982226 0.0165288 -0.44381764] [ 0.21523633 -0.01809378 0.97639435 -0.17775063] [ 0. 0. 0. 1. ]] SLAMing on 96.463201008 meters Centerline goodness [0,1] 0.915116144689703 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.44, Z:-0.18 [[ 0.97651301 -0.00994161 -0.21522895 3.1097073 ] [ 0.01296153 0.9998363 0.01262436 -0.44492324] [ 0.21506821 -0.01511755 0.97648201 -0.17802046] [ 0. 0. 0. 1. ]] SLAMing on 96.49320100799999 meters Centerline goodness [0,1] 0.9137716942447082 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.45, Z:-0.18 [[ 0.97642534 -0.01046882 -0.21560138 3.11159119] [ 0.01349938 0.99982963 0.01258852 -0.44568855] [ 0.21543287 -0.01520224 0.97640031 -0.17821404] [ 0. 0. 0. 1. ]] SLAMing on 96.52320100799999 meters Centerline goodness [0,1] 0.9136701036882997 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.45, Z:-0.18 [[ 0.97637019 -0.01073459 -0.21583797 3.11288975] [ 0.01376868 0.99982634 0.01255851 -0.44612124] [ 0.21566568 -0.01523356 0.97634843 -0.17851102] [ 0. 0. 0. 1. ]] SLAMing on 96.55320100799999 meters Centerline goodness [0,1] 0.9106925528832223 Centerline is valid? [False, False] Translation: X:3.11, Y:-0.45, Z:-0.18 [[ 0.97632121 -0.01090921 -0.21605064 3.11417557] [ 0.01393069 0.99982524 0.01246711 -0.44629532] [ 0.21587688 -0.01518163 0.97630256 -0.1790952 ] [ 0. 0. 0. 1. ]] SLAMing on 96.58320100799999 meters Centerline goodness [0,1] 0.9082131223825035 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.18 [[ 0.9762723 -0.0111793 -0.21625777 3.11637406] [ 0.01418973 0.99982277 0.01237283 -0.44694118] [ 0.21608112 -0.01514789 0.9762579 -0.18038766] [ 0. 0. 0. 1. ]] SLAMing on 96.61320100799999 meters Centerline goodness [0,1] 0.9080174927113702 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.18 [[ 0.97619458 -0.01142244 -0.21659563 3.11766636] [ 0.01447809 0.99981672 0.01252605 -0.44789635] [ 0.21641286 -0.01536375 0.97618104 -0.18023978] [ 0. 0. 0. 1. ]] SLAMing on 96.64320100799999 meters Centerline goodness [0,1] 0.9081728236051754 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.18 [[ 0.97615903 -0.01110913 -0.21677209 3.117716 ] [ 0.01429782 0.99981135 0.01314706 -0.44986429] [ 0.21658514 -0.01593299 0.97613371 -0.17949726] [ 0. 0. 0. 1. ]] SLAMing on 96.67320100799999 meters Centerline goodness [0,1] 0.9114009775631589 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.18 [[ 0.97616157 -0.01019024 -0.2168058 3.11622051] [ 0.01380277 0.99978989 0.01515475 -0.45434497] [ 0.21660581 -0.01778601 0.97609712 -0.17656022] [ 0. 0. 0. 1. ]] SLAMing on 96.703201008 meters Centerline goodness [0,1] 0.9084097814223769 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.18 [[ 0.97615158 -0.01003557 -0.21685795 3.11612912] [ 0.01377312 0.9997814 0.01573046 -0.45566051] [ 0.21665268 -0.01834212 0.97607642 -0.17575904] [ 0. 0. 0. 1. ]] SLAMing on 96.733201008 meters Centerline goodness [0,1] 0.9114456760120917 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.18 [[ 0.97612682 -0.01015409 -0.21696389 3.1167205 ] [ 0.01392462 0.99977731 0.01585685 -0.45631526] [ 0.21675456 -0.01849943 0.97605083 -0.17569922] [ 0. 0. 0. 1. ]] SLAMing on 96.763201008 meters Centerline goodness [0,1] 0.9096758888592356 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.18 [[ 0.97609146 -0.01027604 -0.21711715 3.11730989] [ 0.01415196 0.99976692 0.01630441 -0.45717101] [ 0.216899 -0.01898723 0.97600938 -0.17505245] [ 0. 0. 0. 1. ]] SLAMing on 96.793201008 meters Centerline goodness [0,1] 0.9105223991665427 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.17 [[ 0.97603794 -0.01067017 -0.21733864 3.11832997] [ 0.01455075 0.99976188 0.01626245 -0.45726608] [ 0.21711336 -0.0190352 0.97596078 -0.17497504] [ 0. 0. 0. 1. ]] SLAMing on 96.823201008 meters Centerline goodness [0,1] 0.9089582899163416 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.17 [[ 0.97599729 -0.01095797 -0.21750683 3.11911493] [ 0.01485154 0.99975726 0.01627424 -0.4566777 ] [ 0.2172757 -0.01911393 0.97592312 -0.17479451] [ 0. 0. 0. 1. ]] SLAMing on 96.853201008 meters Centerline goodness [0,1] 0.9068261829464765 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.17 [[ 0.97595009 -0.01121953 -0.21770517 3.11997815] [ 0.01507993 0.999757 0.01607885 -0.45625464] [ 0.21747187 -0.01897513 0.97588213 -0.17491905] [ 0. 0. 0. 1. ]] SLAMing on 96.88320100799999 meters Centerline goodness [0,1] 0.9021603285127656 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.46, Z:-0.18 [[ 0.97587966 -0.01172594 -0.21799401 3.12138578] [ 0.01554508 0.99975412 0.01581269 -0.45532754] [ 0.21775499 -0.01882001 0.975822 -0.1750507 ] [ 0. 0. 0. 1. ]] SLAMing on 96.91320100799999 meters Centerline goodness [0,1] 0.9019432788739101 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.18 [[ 0.97586802 -0.01194685 -0.21803413 3.12196994] [ 0.01574062 0.99975329 0.01567125 -0.45428145] [ 0.21779312 -0.01872507 0.97581532 -0.17521651] [ 0. 0. 0. 1. ]] SLAMing on 96.94320100799999 meters Centerline goodness [0,1] 0.9016388557806913 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97584729 -0.01219602 -0.21811312 3.12211948] [ 0.01595521 0.99975284 0.01548207 -0.45231403] [ 0.21787039 -0.01858818 0.97580068 -0.17483709] [ 0. 0. 0. 1. ]] SLAMing on 96.97320100799999 meters Centerline goodness [0,1] 0.9011512032602552 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97580992 -0.01223542 -0.21827804 3.12229885] [ 0.01598634 0.9997532 0.01542634 -0.45173015] [ 0.21803542 -0.01854264 0.97576469 -0.17448327] [ 0. 0. 0. 1. ]] SLAMing on 97.00320100799999 meters Centerline goodness [0,1] 0.9020594012261175 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97581154 -0.01216935 -0.21827448 3.12191768] [ 0.0159442 0.9997521 0.01554101 -0.45122512] [ 0.21803125 -0.01864531 0.97576366 -0.17390396] [ 0. 0. 0. 1. ]] SLAMing on 97.03320100799999 meters Centerline goodness [0,1] 0.9005153417841488 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97576487 -0.01229108 -0.21847619 3.12213592] [ 0.01608066 0.99974937 0.01557581 -0.45009873] [ 0.21822999 -0.01871157 0.97571797 -0.17323693] [ 0. 0. 0. 1. ]] SLAMing on 97.063201008 meters Centerline goodness [0,1] 0.894992161386695 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97575414 -0.01277062 -0.21849661 3.1228693 ] [ 0.01646636 0.99975037 0.01510178 -0.44683952] [ 0.2182492 -0.01833347 0.97572085 -0.17359026] [ 0. 0. 0. 1. ]] SLAMing on 97.093201008 meters Centerline goodness [0,1] 0.8920939855179548 Centerline is valid? [False, False] Translation: X:3.12, Y:-0.45, Z:-0.17 [[ 0.97571343 -0.01322182 -0.21865152 3.1239346 ] [ 0.01687477 0.99974736 0.01484767 -0.4458701 ] [ 0.21839997 -0.01817677 0.97569004 -0.17387207] [ 0. 0. 0. 1. ]] SLAMing on 97.123201008 meters Centerline goodness [0,1] 0.886991654133121 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.45, Z:-0.17 [[ 0.9756547 -0.01361164 -0.21888954 3.12504103] [ 0.01726658 0.99974148 0.01479329 -0.4456501 ] [ 0.21863159 -0.01821262 0.9756375 -0.17383407] [ 0. 0. 0. 1. ]] SLAMing on 97.153201008 meters Centerline goodness [0,1] 0.8840780476302759 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.45, Z:-0.17 [[ 0.97556246 -0.01422146 -0.21926156 3.12664215] [ 0.01784453 0.99973487 0.01455233 -0.44515331] [ 0.21899647 -0.01810932 0.97555758 -0.17384901] [ 0. 0. 0. 1. ]] SLAMing on 97.183201008 meters Centerline goodness [0,1] 0.8800342506200544 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.44, Z:-0.17 [[ 0.97544526 -0.01468188 -0.21975211 3.12783901] [ 0.01835774 0.99972349 0.01469448 -0.44493194] [ 0.21947561 -0.01836781 0.97544507 -0.17287697] [ 0. 0. 0. 1. ]] SLAMing on 97.213201008 meters Centerline goodness [0,1] 0.8784437496312902 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.44, Z:-0.17 [[ 0.97537019 -0.01509336 -0.22005722 3.12897545] [ 0.01875405 0.99971817 0.01455548 -0.44459037] [ 0.21977551 -0.01832395 0.97537837 -0.17273786] [ 0. 0. 0. 1. ]] SLAMing on 97.24320100799999 meters Centerline goodness [0,1] 0.8783310267659963 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.44, Z:-0.17 [[ 0.97523894 -0.01570854 -0.2205952 3.13081439] [ 0.01932924 0.99971141 0.01426422 -0.44410428] [ 0.22030747 -0.01817496 0.97526114 -0.1726506 ] [ 0. 0. 0. 1. ]] SLAMing on 97.27320100799999 meters Centerline goodness [0,1] 0.875628512274475 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.44, Z:-0.17 [[ 0.97512804 -0.01613504 -0.22105424 3.13199036] [ 0.01980654 0.99970009 0.01440237 -0.44444489] [ 0.22075556 -0.01842248 0.97515517 -0.17187125] [ 0. 0. 0. 1. ]] SLAMing on 97.30320100799999 meters Centerline goodness [0,1] 0.8760792430514488 Centerline is valid? [False, False] Translation: X:3.13, Y:-0.44, Z:-0.17 [[ 0.97504174 -0.0165385 -0.2214048 3.13326718] [ 0.02023871 0.99969069 0.01445408 -0.44453105] [ 0.22109727 -0.01857428 0.97507487 -0.17158871] [ 0. 0. 0. 1. ]] SLAMing on 97.33320100799999 meters Centerline goodness [0,1] 0.8738200958626166 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97493002 -0.01712813 -0.22185148 3.13515612] [ 0.02083221 0.99967976 0.01436683 -0.44410722] [ 0.22153436 -0.01862831 0.97497462 -0.17153789] [ 0. 0. 0. 1. ]] SLAMing on 97.36320100799999 meters Centerline goodness [0,1] 0.8706668236125007 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97485791 -0.01776947 -0.22211777 3.13685131] [ 0.02139858 0.9996738 0.01394262 -0.44311026] [ 0.22179756 -0.01834508 0.97492015 -0.17212219] [ 0. 0. 0. 1. ]] SLAMing on 97.39320100799999 meters Centerline goodness [0,1] 0.8678802113916617 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97479297 -0.01827314 -0.22236177 3.13838117] [ 0.02185345 0.99966798 0.01365125 -0.44202078] [ 0.22203849 -0.01816651 0.97486865 -0.1725522 ] [ 0. 0. 0. 1. ]] SLAMing on 97.42320100799999 meters Centerline goodness [0,1] 0.8692158247968915 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.9747787 -0.01806099 -0.22244164 3.13810752] [ 0.02168547 0.99966873 0.0138622 -0.44192888] [ 0.22211759 -0.01833633 0.97484745 -0.17196722] [ 0. 0. 0. 1. ]] SLAMing on 97.453201008 meters Centerline goodness [0,1] 0.8702561391140876 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97480128 -0.01771081 -0.22237086 3.13747625] [ 0.02135936 0.99967365 0.01401308 -0.44156491] [ 0.22205011 -0.01840967 0.97486144 -0.17166232] [ 0. 0. 0. 1. ]] SLAMing on 97.483201008 meters Centerline goodness [0,1] 0.8739367630668153 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97481301 -0.01747713 -0.22233792 3.13705083] [ 0.02111587 0.99967902 0.01399899 -0.44068241] [ 0.22202189 -0.01834126 0.97486916 -0.1714664 ] [ 0. 0. 0. 1. ]] SLAMing on 97.513201008 meters Centerline goodness [0,1] 0.8798144257703081 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97466061 -0.01311296 -0.22330416 3.13927898] [ 0.01764251 0.99967685 0.01830122 -0.441694 ] [ 0.22299201 -0.02177713 0.974577 -0.17019266] [ 0. 0. 0. 1. ]] SLAMing on 97.543201008 meters Centerline goodness [0,1] 0.8803976026896653 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.9746975 -0.01283909 -0.223159 3.13909465] [ 0.01728826 0.9996886 0.01799492 -0.44014976] [ 0.22285847 -0.02139764 0.97461595 -0.17092862] [ 0. 0. 0. 1. ]] SLAMing on 97.573201008 meters Centerline goodness [0,1] 0.8810377495991838 Centerline is valid? [False, False] Translation: X:3.14, Y:-0.44, Z:-0.17 [[ 0.97456284 -0.0086227 -0.22394845 3.14141712] [ 0.0139119 0.99966005 0.02205087 -0.44055281] [ 0.22368219 -0.02460551 0.9743515 -0.17037555] [ 0. 0. 0. 1. ]] SLAMing on 97.603201008 meters Centerline goodness [0,1] 0.887849001359406 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.15 [[ 9.74786224e-01 2.10191236e-03 -2.23130901e-01 3.20764788e+00] [ 6.03391516e-03 9.99341686e-01 3.57740948e-02 -4.44678164e-01] [ 2.23059205e-01 -3.62184478e-02 9.74131826e-01 -1.51255950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63320100799999 meters Centerline goodness [0,1] 0.8807770368222674 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.44, Z:-0.16 [[ 9.75637863e-01 6.87450516e-04 -2.19386160e-01 3.17564051e+00] [ 6.51077751e-03 9.99463903e-01 3.20860853e-02 -4.41332283e-01] [ 2.19290605e-01 -3.27327742e-02 9.75110351e-01 -1.63372074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66320100799999 meters Centerline goodness [0,1] 0.8832440260680666 Centerline is valid? [False, False] Translation: X:3.18, Y:-0.44, Z:-0.16 [[ 9.75627798e-01 8.15536114e-04 -2.19430478e-01 3.17553657e+00] [ 6.33412692e-03 9.99471718e-01 3.18773201e-02 -4.40482480e-01] [ 2.19340554e-01 -3.24903001e-02 9.75107226e-01 -1.63455155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69320100799999 meters Centerline goodness [0,1] 0.8866939670088823 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.17 [[ 9.76832526e-01 1.01377893e-03 -2.14002775e-01 3.19084454e+00] [ 4.20822657e-03 9.99704430e-01 2.39446048e-02 -4.37985006e-01] [ 2.13963797e-01 -2.42904410e-02 9.76539537e-01 -1.65122143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72320100799999 meters Centerline goodness [0,1] 0.8812743260775552 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.17 [[ 9.76848881e-01 1.14768209e-03 -2.13927433e-01 3.19070522e+00] [ 4.04575423e-03 9.99707666e-01 2.38372283e-02 -4.37379752e-01] [ 2.13892253e-01 -2.41508676e-02 9.76558672e-01 -1.65241803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75320100799999 meters Centerline goodness [0,1] 0.8810697098066338 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.17 [[ 9.76802359e-01 8.82381240e-04 -2.14141014e-01 3.19159106e+00] [ 4.27351480e-03 9.99712041e-01 2.36129754e-02 -4.36785824e-01] [ 2.14100186e-01 -2.39803448e-02 9.76517308e-01 -1.65383596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78320100799999 meters Centerline goodness [0,1] 0.8796875 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.17 [[ 9.76790455e-01 1.00880455e-03 -2.14194744e-01 3.19145050e+00] [ 4.18121908e-03 9.99708568e-01 2.37759590e-02 -4.36853580e-01] [ 2.14156306e-01 -2.41197249e-02 9.76501570e-01 -1.65016714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.813201008 meters Centerline goodness [0,1] 0.8815250620061141 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.16 [[ 9.76714624e-01 7.22527470e-04 -2.14541421e-01 3.19249921e+00] [ 4.46866904e-03 9.99708874e-01 2.37107198e-02 -4.36662822e-01] [ 2.14496094e-01 -2.41173214e-02 9.76427048e-01 -1.64735921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.843201008 meters Centerline goodness [0,1] 0.8761777752007653 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.16 [[ 9.76639719e-01 5.63715699e-04 -2.14882622e-01 3.19344776e+00] [ 4.68505343e-03 9.99702991e-01 2.39161151e-02 -4.37229586e-01] [ 2.14832282e-01 -2.43641645e-02 9.76347007e-01 -1.64277793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.873201008 meters Centerline goodness [0,1] 0.8740440324449594 Centerline is valid? [False, False] Translation: X:3.19, Y:-0.44, Z:-0.16 [[ 9.76602446e-01 2.17421928e-04 -2.15052585e-01 3.19462831e+00] [ 5.02989976e-03 9.99702832e-01 2.38526299e-02 -4.37296015e-01] [ 2.14993865e-01 -2.43762297e-02 9.76311138e-01 -1.64561173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.903201008 meters Centerline goodness [0,1] 0.872436232641915 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 9.76522858e-01 -3.49694938e-04 -2.15413524e-01 3.19633313e+00] [ 5.62150440e-03 9.99699485e-01 2.38607938e-02 -4.37721163e-01] [ 2.15340445e-01 -2.45115587e-02 9.76231364e-01 -1.64558894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.933201008 meters Centerline goodness [0,1] 0.8709152699915763 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 9.76400386e-01 -1.09032729e-03 -2.15965502e-01 3.19849773e+00] [ 6.39983077e-03 9.99694176e-01 2.38871641e-02 -4.38875350e-01] [ 2.15873410e-01 -2.47055789e-02 9.76108757e-01 -1.64321874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.963201008 meters Centerline goodness [0,1] 0.8721848323281765 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 0.97645625 -0.00558955 -0.2156431 3.19794586] [ 0.0100853 0.99975402 0.01975338 -0.43809939] [ 0.21547964 -0.02146313 0.97627243 -0.16493433] [ 0. 0. 0. 1. ]] SLAMing on 97.99320100799999 meters Centerline goodness [0,1] 0.8702575019684465 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 0.9763751 -0.0059383 -0.21600092 3.19884219] [ 0.01053691 0.99974156 0.02014439 -0.44002427] [ 0.21582547 -0.02194446 0.97618533 -0.16401095] [ 0. 0. 0. 1. ]] SLAMing on 98.02320100799999 meters Centerline goodness [0,1] 0.8629500919896037 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 0.97624136 -0.0071279 -0.21656869 3.20109451] [ 0.01180496 0.99972403 0.02031021 -0.44218218] [ 0.21636415 -0.02238426 0.97605609 -0.16294124] [ 0. 0. 0. 1. ]] SLAMing on 98.05320100799999 meters Centerline goodness [0,1] 0.8587613736425007 Centerline is valid? [False, False] Translation: X:3.20, Y:-0.44, Z:-0.16 [[ 0.97618199 -0.00739956 -0.21682705 3.20193056] [ 0.01214331 0.999715 0.02055384 -0.44291132] [ 0.21661316 -0.02269729 0.97599363 -0.16238278] [ 0. 0. 0. 1. ]] SLAMing on 98.08320100799999 meters Centerline goodness [0,1] 0.8569090005554094 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97602547 -0.00865273 -0.21748427 3.20554371] [ 0.0133051 0.99971271 0.01993647 -0.44254017] [ 0.21724928 -0.02235215 0.9758602 -0.16328026] [ 0. 0. 0. 1. ]] SLAMing on 98.11320100799999 meters Centerline goodness [0,1] 0.8569090005554094 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97602547 -0.00865273 -0.21748427 3.20554371] [ 0.0133051 0.99971271 0.01993647 -0.44254017] [ 0.21724928 -0.02235215 0.9758602 -0.16328026] [ 0. 0. 0. 1. ]] SLAMing on 98.14320100799999 meters Centerline goodness [0,1] 0.8550571988648 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97597716 -0.00900347 -0.21768675 3.20693111] [ 0.01363262 0.99971155 0.01977269 -0.44189011] [ 0.21744594 -0.02226533 0.97581838 -0.16375524] [ 0. 0. 0. 1. ]] SLAMing on 98.17320100799999 meters Centerline goodness [0,1] 0.8499019636533903 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.9759171 -0.00949459 -0.217935 3.20849587] [ 0.01406711 0.99971208 0.01943919 -0.44100371] [ 0.21768769 -0.02203675 0.97576967 -0.16431613] [ 0. 0. 0. 1. ]] SLAMing on 98.203201008 meters Centerline goodness [0,1] 0.8485779494382022 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97583806 -0.01009373 -0.21826178 3.21021227] [ 0.01461127 0.99971093 0.0190937 -0.44033079] [ 0.21800596 -0.02182144 0.97570345 -0.16466726] [ 0. 0. 0. 1. ]] SLAMing on 98.233201008 meters Centerline goodness [0,1] 0.8495437608191767 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97577314 -0.00955999 -0.2185758 3.20894193] [ 0.01440919 0.99968391 0.02060216 -0.44281539] [ 0.21830975 -0.02325254 0.97560247 -0.16129847] [ 0. 0. 0. 1. ]] SLAMing on 98.263201008 meters Centerline goodness [0,1] 0.8483647466384827 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97572543 -0.00952338 -0.21879031 3.2090327 ] [ 0.01443296 0.99967838 0.02085235 -0.4432291 ] [ 0.21852135 -0.02350396 0.97554907 -0.16045664] [ 0. 0. 0. 1. ]] SLAMing on 98.293201008 meters Centerline goodness [0,1] 0.8494078330206379 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97568384 -0.00969837 -0.21896802 3.20969996] [ 0.014568 0.99968093 0.02063536 -0.44275303] [ 0.21869802 -0.02332352 0.97551381 -0.16052778] [ 0. 0. 0. 1. ]] SLAMing on 98.323201008 meters Centerline goodness [0,1] 0.8500659147502563 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97569829 -0.00952801 -0.2189111 3.20965192] [ 0.01435744 0.99968715 0.02048094 -0.44167896] [ 0.21864747 -0.02312622 0.97552984 -0.16085031] [ 0. 0. 0. 1. ]] SLAMing on 98.353201008 meters Centerline goodness [0,1] 0.8516313546956167 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97570435 -0.00452217 -0.21904466 3.21033151] [ 0.01002086 0.99966177 0.02399853 -0.43968966] [ 0.21886205 -0.02561049 0.97541966 -0.16185791] [ 0. 0. 0. 1. ]] SLAMing on 98.38320100799999 meters Centerline goodness [0,1] 0.8519509995053394 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.44, Z:-0.16 [[ 0.97577134 -0.00365764 -0.21876225 3.20987023] [ 0.00903065 0.99968149 0.02356613 -0.4368357 ] [ 0.21860637 -0.02497071 0.97549358 -0.16342944] [ 0. 0. 0. 1. ]] SLAMing on 98.41320100799999 meters Centerline goodness [0,1] 0.8620729656052433 Centerline is valid? [False, False] Translation: X:3.21, Y:-0.43, Z:-0.16 [[ 9.75787458e-01 2.40837615e-03 -2.18707652e-01 3.20850876e+00] [ 3.64154978e-03 9.99621885e-01 2.72548494e-02 -4.34373315e-01] [ 2.18690595e-01 -2.73913750e-02 9.75409727e-01 -1.63954262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44320100799999 meters Centerline goodness [0,1] 0.8587379901324331 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.43, Z:-0.17 [[ 9.76857282e-01 5.18631425e-03 -2.13829262e-01 3.22358692e+00] [-8.56618726e-04 9.99792834e-01 2.03360641e-02 -4.31402440e-01] [ 2.13890433e-01 -1.96822621e-02 9.76659353e-01 -1.66445263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47320100799999 meters Centerline goodness [0,1] 0.8584714921148403 Centerline is valid? [False, False] Translation: X:3.22, Y:-0.43, Z:-0.17 [[ 9.76956542e-01 6.71424549e-03 -2.13332683e-01 3.22070429e+00] [-2.37800733e-03 9.99785458e-01 2.05762901e-02 -4.30041769e-01] [ 2.13425068e-01 -1.95948346e-02 9.76762910e-01 -1.66289625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50320100799999 meters Centerline goodness [0,1] 0.849572304945134 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97804764 0.00903781 -0.20818532 3.23513128] [-0.00636776 0.9998887 0.01349195 -0.4270772 ] [ 0.20828409 -0.0118701 0.97799634 -0.16821873] [ 0. 0. 0. 1. ]] SLAMing on 98.53320100799999 meters Centerline goodness [0,1] 0.8415784629544408 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97794228 0.01399743 -0.20840579 3.23527479] [-0.01044264 0.99978078 0.01814759 -0.42847314] [ 0.20861412 -0.01557099 0.97787407 -0.16703076] [ 0. 0. 0. 1. ]] SLAMing on 98.563201008 meters Centerline goodness [0,1] 0.8238737446197991 Centerline is valid? [False, False] Translation: X:3.23, Y:-0.43, Z:-0.17 [[ 0.97788594 0.01925487 -0.20825065 3.2348928 ] [-0.01486878 0.99963386 0.02260662 -0.42886469] [ 0.20860969 -0.01901026 0.9778142 -0.1667284 ] [ 0. 0. 0. 1. ]] SLAMing on 98.593201008 meters Centerline goodness [0,1] 0.818147925091055 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.9779011 0.01917527 -0.2081868 3.23545587] [-0.01484296 0.99963997 0.02235213 -0.42811732] [ 0.20854045 -0.01876807 0.97783365 -0.16744209] [ 0. 0. 0. 1. ]] SLAMing on 98.623201008 meters Centerline goodness [0,1] 0.8212615817102206 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97787907 0.01919006 -0.2082889 3.2357835 ] [-0.01482391 0.99963687 0.02250284 -0.42870846] [ 0.2086451 -0.0189174 0.97780845 -0.16730934] [ 0. 0. 0. 1. ]] SLAMing on 98.653201008 meters Centerline goodness [0,1] 0.8185012384079258 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97781577 0.01899947 -0.20860333 3.23650348] [-0.01454134 0.99963236 0.02288426 -0.43020528] [ 0.20896142 -0.01934322 0.97773256 -0.1665335 ] [ 0. 0. 0. 1. ]] SLAMing on 98.683201008 meters Centerline goodness [0,1] 0.8324455766558592 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97788055 0.0137621 -0.2087109 3.23769602] [-0.01006738 0.99977343 0.01875463 -0.43100826] [ 0.20892172 -0.01623861 0.97779754 -0.16712237] [ 0. 0. 0. 1. ]] SLAMing on 98.713201008 meters Centerline goodness [0,1] 0.8411943759965212 Centerline is valid? [False, False] Translation: X:3.24, Y:-0.43, Z:-0.17 [[ 0.97774085 0.01220462 -0.20946092 3.24141319] [-0.00851949 0.99979281 0.01848669 -0.4328073 ] [ 0.20964315 -0.01629069 0.97764225 -0.16730306] [ 0. 0. 0. 1. ]] SLAMing on 98.74320100799999 meters Centerline goodness [0,1] 0.8450183427473359 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.43, Z:-0.17 [[ 9.77685222e-01 5.74693730e-03 -2.09996618e-01 3.24520068e+00] [-2.90563849e-03 9.99900053e-01 1.38362376e-02 -4.33512338e-01] [ 2.10055146e-01 -1.29173108e-02 9.77604204e-01 -1.68471384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77320100799999 meters Centerline goodness [0,1] 0.8423119436849148 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.44, Z:-0.17 [[ 9.77561128e-01 4.75933607e-03 -2.10598172e-01 3.24781427e+00] [-1.85860962e-03 9.99900694e-01 1.39695369e-02 -4.35329667e-01] [ 2.10643744e-01 -1.32646564e-02 9.77472896e-01 -1.68161079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80320100799999 meters Centerline goodness [0,1] 0.8436680459234221 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.44, Z:-0.17 [[ 9.77409357e-01 3.96011346e-03 -2.11317929e-01 3.25022844e+00] [-9.63680568e-04 9.99897559e-01 1.42808393e-02 -4.37560322e-01] [ 2.11352835e-01 -1.37545829e-02 9.77313046e-01 -1.67478388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83320100799999 meters Centerline goodness [0,1] 0.8395606321755134 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.44, Z:-0.17 [[ 9.77247538e-01 3.28744612e-03 -2.12076502e-01 3.25272224e+00] [-1.97358332e-04 9.99893539e-01 1.45901510e-02 -4.39595762e-01] [ 2.12101888e-01 -1.42163341e-02 9.77144147e-01 -1.66903478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86320100799999 meters Centerline goodness [0,1] 0.8408566336517953 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.44, Z:-0.17 [[ 9.77132600e-01 2.59389391e-03 -2.12615036e-01 3.25524445e+00] [ 5.01214354e-04 9.99894713e-01 1.45021432e-02 -4.40609338e-01] [ 2.12630267e-01 -1.42770826e-02 9.77028420e-01 -1.67251586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89320100799999 meters Centerline goodness [0,1] 0.8364730278337569 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.44, Z:-0.17 [[ 9.76967089e-01 4.25999038e-03 -2.13347507e-01 3.26144444e+00] [-5.97963367e-04 9.99851439e-01 1.72262007e-02 -4.42042182e-01] [ 2.13389196e-01 -1.67018572e-02 9.76824498e-01 -1.68783027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92320100799999 meters Centerline goodness [0,1] 0.8336700336700337 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.44, Z:-0.17 [[ 9.76927662e-01 3.88531722e-03 -2.13535120e-01 3.26316818e+00] [-3.16288237e-04 9.99859732e-01 1.67456365e-02 -4.41497056e-01] [ 2.13570230e-01 -1.62917369e-02 9.76791859e-01 -1.70007113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.953201008 meters Centerline goodness [0,1] 0.8393991743038679 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.44, Z:-0.17 [[ 9.76919471e-01 3.95534333e-03 -2.13571305e-01 3.26371749e+00] [-3.92245712e-04 9.99860080e-01 1.67232083e-02 -4.41532305e-01] [ 2.13607568e-01 -1.62534554e-02 9.76784332e-01 -1.70502299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.983201008 meters Centerline goodness [0,1] 0.8398428336851982 Centerline is valid? [False, False] Translation: X:3.26, Y:-0.44, Z:-0.17 [[ 9.76940303e-01 4.47263456e-03 -2.13465783e-01 3.26304140e+00] [-8.42488069e-04 9.99853537e-01 1.70936948e-02 -4.41871507e-01] [ 2.13510972e-01 -1.65196770e-02 9.76800986e-01 -1.70167752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.013201008 meters Centerline goodness [0,1] 0.8379488383008683 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 0.97816012 0.00698991 -0.20773523 3.27513712] [-0.00479137 0.99992708 0.01108465 -0.44207788] [ 0.20779756 -0.00984722 0.97812229 -0.16960149] [ 0. 0. 0. 1. ]] SLAMing on 99.043201008 meters Centerline goodness [0,1] 0.8444980297594542 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.44, Z:-0.17 [[ 0.97818829 0.00769323 -0.20757765 3.27364946] [-0.00529497 0.99991269 0.01210669 -0.44363925] [ 0.20765267 -0.0107435 0.97814362 -0.16797483] [ 0. 0. 0. 1. ]] SLAMing on 99.073201008 meters Centerline goodness [0,1] 0.8417859456912293 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.44, Z:-0.17 [[ 0.97821302 0.00818852 -0.20744213 3.27253306] [-0.00565962 0.9999023 0.01278142 -0.4441816 ] [ 0.20752652 -0.01132891 0.97816379 -0.16686642] [ 0. 0. 0. 1. ]] SLAMing on 99.103201008 meters Centerline goodness [0,1] 0.8439872858908706 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.44, Z:-0.17 [[ 0.97822638 0.00839313 -0.20737092 3.27224898] [-0.00581195 0.99989791 0.01305328 -0.44384361] [ 0.20745931 -0.01156384 0.9781753 -0.16648184] [ 0. 0. 0. 1. ]] SLAMing on 99.13320100799999 meters Centerline goodness [0,1] 0.8369089895224958 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.44, Z:-0.17 [[ 0.97823248 0.0084658 -0.20733919 3.27230122] [-0.00585751 0.99989584 0.01319051 -0.44328112] [ 0.20742926 -0.01168889 0.97818018 -0.16640069] [ 0. 0. 0. 1. ]] SLAMing on 99.16320100799999 meters Centerline goodness [0,1] 0.8361349476901375 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.44, Z:-0.17 [[ 0.97822256 0.0080398 -0.20740295 3.27385174] [-0.00552791 0.99990423 0.01268785 -0.44148141] [ 0.20748509 -0.01126504 0.97817332 -0.16763353] [ 0. 0. 0. 1. ]] SLAMing on 99.19320100799999 meters Centerline goodness [0,1] 0.835934056246143 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 0.97820876 0.00775363 -0.20747892 3.27512518] [-0.00530454 0.99990957 0.01235776 -0.44074717] [ 0.20755598 -0.01098789 0.97816143 -0.16857243] [ 0. 0. 0. 1. ]] SLAMing on 99.22320100799999 meters Centerline goodness [0,1] 0.8372243078366963 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 0.97818049 0.0075548 -0.2076195 3.27606433] [-0.00514322 0.99991293 0.01215273 -0.44014909] [ 0.20769323 -0.01081973 0.97813417 -0.16897956] [ 0. 0. 0. 1. ]] SLAMing on 99.25320100799999 meters Centerline goodness [0,1] 0.8375834583370099 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 0.9781605 0.0077126 -0.20770783 3.2761498 ] [-0.00524852 0.9999092 0.01241168 -0.44032896] [ 0.2077847 -0.01105046 0.97811216 -0.16860907] [ 0. 0. 0. 1. ]] SLAMing on 99.28320100799999 meters Centerline goodness [0,1] 0.8381666765105428 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 0.97802049 0.00680034 -0.20839787 3.27780605] [-0.00414286 0.99990448 0.01318577 -0.44253529] [ 0.20846763 -0.01203259 0.97795525 -0.16621985] [ 0. 0. 0. 1. ]] SLAMing on 99.313201008 meters Centerline goodness [0,1] 0.8393259092524582 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 9.78142028e-01 2.35253235e-03 -2.07924599e-01 3.27591081e+00] [-4.40581667e-04 9.99957202e-01 9.24123569e-03 -4.40672516e-01] [ 2.07937440e-01 -8.94763326e-03 9.78101202e-01 -1.65684409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.343201008 meters Centerline goodness [0,1] 0.8335110795117905 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.16 [[ 9.78030021e-01 6.41472584e-04 -2.08463108e-01 3.27843377e+00] [ 1.31739591e-03 9.99956278e-01 9.25774016e-03 -4.40732247e-01] [ 2.08459932e-01 -9.32897625e-03 9.77986414e-01 -1.64290774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.373201008 meters Centerline goodness [0,1] 0.8340360291299349 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.44, Z:-0.17 [[ 9.77928585e-01 -4.91391553e-04 -2.08938844e-01 3.28143305e+00] [ 2.30940103e-03 9.99961570e-01 8.45729106e-03 -4.38477638e-01] [ 2.08926658e-01 -8.75315027e-03 9.77892138e-01 -1.65414113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.403201008 meters Centerline goodness [0,1] 0.8315541832083517 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.43, Z:-0.17 [[ 9.77855911e-01 -1.71859191e-03 -2.09272222e-01 3.28454840e+00] [ 3.31228602e-03 9.99968122e-01 7.26518467e-03 -4.34880285e-01] [ 2.09253065e-01 -7.79747323e-03 9.77830432e-01 -1.67224663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.433201008 meters Centerline goodness [0,1] 0.8270441172165461 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.43, Z:-0.17 [[ 9.77835283e-01 -2.47668744e-03 -2.09360995e-01 3.28631733e+00] [ 3.85602200e-03 9.99973467e-01 6.18039019e-03 -4.31103008e-01] [ 2.09340133e-01 -6.85070419e-03 9.77818887e-01 -1.68772003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.463201008 meters Centerline goodness [0,1] 0.8287170525702636 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.43, Z:-0.17 [[ 9.77843862e-01 -2.56485712e-03 -2.09319858e-01 3.28653837e+00] [ 3.85102251e-03 9.99976127e-01 5.73716632e-03 -4.28513678e-01] [ 2.09300145e-01 -6.41614836e-03 9.77830395e-01 -1.69229966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49320100799999 meters Centerline goodness [0,1] 0.8341270763154838 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.43, Z:-0.17 [[ 9.77815866e-01 -1.98510165e-03 -2.09456898e-01 3.28533745e+00] [ 3.24466047e-03 9.99978661e-01 5.67000280e-03 -4.27146199e-01] [ 2.09441173e-01 -6.22383522e-03 9.77801442e-01 -1.68184818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52320100799999 meters Centerline goodness [0,1] 0.8386517114453815 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.43, Z:-0.17 [[ 9.77802445e-01 -1.74048317e-03 -2.09521715e-01 3.28488633e+00] [ 2.99539462e-03 9.99979426e-01 5.67223697e-03 -4.26230357e-01] [ 2.09507532e-01 -6.17392740e-03 9.77787542e-01 -1.67660970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55320100799999 meters Centerline goodness [0,1] 0.840145900880037 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.42, Z:-0.17 [[ 9.77822305e-01 -1.36646755e-03 -2.09431786e-01 3.28403993e+00] [ 2.60926581e-03 9.99980589e-01 5.65796290e-03 -4.24450124e-01] [ 2.09419990e-01 -6.07894552e-03 9.77806890e-01 -1.67293892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58320100799999 meters Centerline goodness [0,1] 0.8389504507090774 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 9.77648616e-01 2.34217629e-03 -2.10232487e-01 3.28690036e+00] [-3.36326902e-04 9.99954089e-01 9.57634696e-03 -4.24050850e-01] [ 2.10245264e-01 -9.29159550e-03 9.77604519e-01 -1.66596192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61320100799999 meters Centerline goodness [0,1] 0.8330454309898083 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 9.77700979e-01 2.48025884e-03 -2.09987247e-01 3.28663702e+00] [-5.50638390e-04 9.99957092e-01 9.24719357e-03 -4.21306475e-01] [ 2.10001173e-01 -8.92536317e-03 9.77660394e-01 -1.67267734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64320100799999 meters Centerline goodness [0,1] 0.833462610244477 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 0.97757634 0.00650861 -0.21048072 3.28825366] [-0.00376281 0.99990256 0.01344326 -0.42169312] [ 0.21054771 -0.01234982 0.97750557 -0.16626709] [ 0. 0. 0. 1. ]] SLAMing on 99.67320100799999 meters Centerline goodness [0,1] 0.8297053586812935 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 0.97753103 0.00617729 -0.21070103 3.28928567] [-0.00344225 0.99990503 0.01334498 -0.42096399] [ 0.21076345 -0.01231985 0.97745946 -0.16624788] [ 0. 0. 0. 1. ]] SLAMing on 99.703201008 meters Centerline goodness [0,1] 0.8285640406826409 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 9.77487438e-01 5.87891815e-03 -2.10911704e-01 3.29005060e+00] [-3.13292832e-03 9.99905958e-01 1.33514032e-02 -4.20484456e-01] [ 2.10970361e-01 -1.23900577e-02 9.77413931e-01 -1.65987812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.733201008 meters Centerline goodness [0,1] 0.8239408358653901 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.17 [[ 9.77430278e-01 5.50363402e-03 -2.11186558e-01 3.29123753e+00] [-2.78003075e-03 9.99909125e-01 1.31914061e-02 -4.19968671e-01] [ 2.11239967e-01 -1.23065746e-02 9.77356754e-01 -1.66091803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.763201008 meters Centerline goodness [0,1] 0.8304637281910009 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.16 [[ 9.77354860e-01 5.44556261e-03 -2.11536815e-01 3.29124645e+00] [-2.59905021e-03 9.99902333e-01 1.37320608e-02 -4.21281689e-01] [ 2.11590934e-01 -1.28713015e-02 9.77273558e-01 -1.64496445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.793201008 meters Centerline goodness [0,1] 0.8268124280782508 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.16 [[ 9.77292216e-01 5.42029652e-03 -2.11826687e-01 3.29147456e+00] [-2.48275727e-03 9.99897068e-01 1.41311715e-02 -4.22611167e-01] [ 2.11881478e-01 -1.32843696e-02 9.77205078e-01 -1.63499181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.823201008 meters Centerline goodness [0,1] 0.8327119421819433 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.16 [[ 9.77141476e-01 4.73153012e-03 -2.12537403e-01 3.29340298e+00] [-1.77711204e-03 9.99899158e-01 1.40895817e-02 -4.22837388e-01] [ 2.12582635e-01 -1.33898118e-02 9.77051348e-01 -1.62762824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.853201008 meters Centerline goodness [0,1] 0.8266097861253472 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.42, Z:-0.16 [[ 9.77086672e-01 4.16172613e-03 -2.12801115e-01 3.29484065e+00] [-1.21133336e-03 9.99901359e-01 1.39930560e-02 -4.22119172e-01] [ 2.12838359e-01 -1.34146555e-02 9.76995333e-01 -1.62815518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88320100799999 meters Centerline goodness [0,1] 0.8261840673500945 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.77047908e-01 3.67904285e-03 -2.12987912e-01 3.29623896e+00] [-7.75137090e-04 9.99905630e-01 1.37160347e-02 -4.21166053e-01] [ 2.13018274e-01 -1.32361282e-02 9.76958556e-01 -1.63363253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91320100799999 meters Centerline goodness [0,1] 0.8244062947067239 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.77004725e-01 3.33092814e-03 -2.13191631e-01 3.29738605e+00] [-4.46531777e-04 9.99907738e-01 1.35763170e-02 -4.20681318e-01] [ 2.13217183e-01 -1.31689291e-02 9.76916072e-01 -1.63660920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94320100799999 meters Centerline goodness [0,1] 0.8270551866269751 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76945986e-01 2.93337782e-03 -2.13466473e-01 3.29873692e+00] [-8.37873349e-05 9.99910788e-01 1.33569473e-02 -4.20542023e-01] [ 2.13486610e-01 -1.30311303e-02 9.76859077e-01 -1.64007592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97320100799999 meters Centerline goodness [0,1] 0.8301156085946241 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76819731e-01 2.44717080e-03 -2.14049585e-01 3.30061977e+00] [ 3.51668895e-04 9.99914958e-01 1.30366046e-02 -4.20365070e-01] [ 2.14063285e-01 -1.28096872e-02 9.76735800e-01 -1.64185332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00320100799999 meters Centerline goodness [0,1] 0.8301156085946241 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76819731e-01 2.44717080e-03 -2.14049585e-01 3.30061977e+00] [ 3.51668895e-04 9.99914958e-01 1.30366046e-02 -4.20365070e-01] [ 2.14063285e-01 -1.28096872e-02 9.76735800e-01 -1.64185332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03320100799999 meters Centerline goodness [0,1] 0.8286419327996327 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76770848e-01 2.43730108e-03 -2.14272653e-01 3.30118468e+00] [ 3.51645846e-04 9.99915736e-01 1.29767988e-02 -4.20090031e-01] [ 2.14286226e-01 -1.27507069e-02 9.76687684e-01 -1.64128941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.063201008 meters Centerline goodness [0,1] 0.8305036218398374 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76753373e-01 2.53615208e-03 -2.14351150e-01 3.30114997e+00] [ 2.28841294e-04 9.99917106e-01 1.28735645e-02 -4.19287033e-01] [ 2.14366031e-01 -1.26233500e-02 9.76671826e-01 -1.64051734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.093201008 meters Centerline goodness [0,1] 0.8330844771147993 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 9.76732763e-01 2.74852422e-03 -2.14442427e-01 3.30101382e+00] [ 3.39643756e-05 9.99915876e-01 1.29706941e-02 -4.18789567e-01] [ 2.14460038e-01 -1.26761853e-02 9.76650504e-01 -1.63715297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.123201008 meters Centerline goodness [0,1] 0.8379151529021369 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 0.97655092 0.00696003 -0.21517403 3.30286146] [-0.00334832 0.99984741 0.01714503 -0.41956327] [ 0.21526052 -0.01602253 0.97642521 -0.16258119] [ 0. 0. 0. 1. ]] SLAMing on 100.153201008 meters Centerline goodness [0,1] 0.831142914160276 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.42, Z:-0.16 [[ 0.97654833 0.00682367 -0.21519014 3.30354643] [-0.00331799 0.9998559 0.01664814 -0.41761689] [ 0.21527273 -0.01554371 0.97643026 -0.16340822] [ 0. 0. 0. 1. ]] SLAMing on 100.183201008 meters Centerline goodness [0,1] 0.842529976700574 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 0.97634593 0.01077396 -0.21594569 3.30585817] [-0.00647683 0.99976688 0.02059698 -0.41748784] [ 0.21611726 -0.01871114 0.97618811 -0.16266423] [ 0. 0. 0. 1. ]] SLAMing on 100.213201008 meters Centerline goodness [0,1] 0.8401273523224743 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 0.9762631 0.01022765 -0.21634636 3.30741711] [-0.00600982 0.99977901 0.02014465 -0.41673992] [ 0.21650458 -0.01836627 0.97610883 -0.16292491] [ 0. 0. 0. 1. ]] SLAMing on 100.24320100799999 meters Centerline goodness [0,1] 0.8408166747234623 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 0.97614493 0.00973374 -0.21690168 3.30889943] [-0.00550633 0.9997831 0.02008584 -0.41689783] [ 0.21705014 -0.01841236 0.97598679 -0.16241544] [ 0. 0. 0. 1. ]] SLAMing on 100.27320100799999 meters Centerline goodness [0,1] 0.8426455116722114 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 0.97598356 0.0090957 -0.21765422 3.31076083] [-0.00480391 0.99978362 0.02023941 -0.4177674 ] [ 0.21779121 -0.01870774 0.97581607 -0.16139437] [ 0. 0. 0. 1. ]] SLAMing on 100.30320100799999 meters Centerline goodness [0,1] 0.8423051660621983 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 0.97588936 0.00874952 -0.21809036 3.31177405] [-0.00435761 0.99977808 0.0206109 -0.41939177] [ 0.2182223 -0.0191636 0.97571091 -0.16048657] [ 0. 0. 0. 1. ]] SLAMing on 100.33320100799999 meters Centerline goodness [0,1] 0.8426637604680509 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.42, Z:-0.16 [[ 9.75820138e-01 3.16102960e-03 -2.18552203e-01 3.31394891e+00] [ 3.84915635e-04 9.99869017e-01 1.61802258e-02 -4.19124270e-01] [ 2.18574722e-01 -1.58731143e-02 9.75691106e-01 -1.61089165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36320100799999 meters Centerline goodness [0,1] 0.8408112915256183 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75688010e-01 2.47338804e-03 -2.19150152e-01 3.31628492e+00] [ 1.09907990e-03 9.99868523e-01 1.61780491e-02 -4.20410839e-01] [ 2.19161354e-01 -1.60255921e-02 9.75557011e-01 -1.61093160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39320100799999 meters Centerline goodness [0,1] 0.8445030984622447 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75600843e-01 2.21344282e-03 -2.19540647e-01 3.31755565e+00] [ 1.43686639e-03 9.99863394e-01 1.64659646e-02 -4.21770381e-01] [ 2.19547103e-01 -1.63796595e-02 9.75464390e-01 -1.60733468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42320100799999 meters Centerline goodness [0,1] 0.8460499856363114 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75510818e-01 1.96352853e-03 -2.19942693e-01 3.31891468e+00] [ 1.71110344e-03 9.99862146e-01 1.65154737e-02 -4.22321442e-01] [ 2.19944801e-01 -1.64873680e-02 9.75372980e-01 -1.60707753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.453201008 meters Centerline goodness [0,1] 0.8391542002301496 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75428741e-01 1.55239620e-03 -2.20309695e-01 3.32058163e+00] [ 2.08329513e-03 9.99865475e-01 1.62693399e-02 -4.22089179e-01] [ 2.20305315e-01 -1.63285518e-02 9.75294287e-01 -1.61107236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.483201008 meters Centerline goodness [0,1] 0.8396123317611872 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75396312e-01 1.60659852e-03 -2.20452836e-01 3.32118182e+00] [ 2.01792432e-03 9.99866491e-01 1.62150782e-02 -4.21853313e-01] [ 2.20449455e-01 -1.62609846e-02 9.75262846e-01 -1.61280304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.513201008 meters Centerline goodness [0,1] 0.8451660981971395 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75308283e-01 1.45918238e-03 -2.20842985e-01 3.32228884e+00] [ 2.14458702e-03 9.99868447e-01 1.60775942e-02 -4.21550338e-01] [ 2.20837393e-01 -1.61542278e-02 9.75176849e-01 -1.61247710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.543201008 meters Centerline goodness [0,1] 0.8410533268242254 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75329693e-01 1.81207165e-03 -2.20745795e-01 3.32208879e+00] [ 1.78028224e-03 9.99869225e-01 1.60736779e-02 -4.21482718e-01] [ 2.20746054e-01 -1.60701251e-02 9.75198919e-01 -1.61594789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.573201008 meters Centerline goodness [0,1] 0.8502274482877006 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75271874e-01 1.81765160e-03 -2.21001059e-01 3.32300914e+00] [ 1.70779891e-03 9.99874344e-01 1.57600668e-02 -4.20649197e-01] [ 2.21001935e-01 -1.57477753e-02 9.75146221e-01 -1.62067022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60320100799998 meters Centerline goodness [0,1] 0.8574075129681354 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75096211e-01 6.66619474e-03 -2.21682073e-01 3.32424333e+00] [-2.28560207e-03 9.99797140e-01 2.00113633e-02 -4.20954874e-01] [ 2.21770502e-01 -1.90063276e-02 9.74913639e-01 -1.61153675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63320100799999 meters Centerline goodness [0,1] 0.8519024057328101 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75176871e-01 7.12908320e-03 -2.21312554e-01 3.32342093e+00] [-2.80686346e-03 9.99799262e-01 1.98382953e-02 -4.19532224e-01] [ 2.21409557e-01 -1.87246526e-02 9.75001126e-01 -1.61803330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66320100799999 meters Centerline goodness [0,1] 0.8610803284744125 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75189636e-01 7.36425862e-03 -2.21248596e-01 3.32337011e+00] [-3.09354017e-03 9.99802269e-01 1.96431265e-02 -4.18273531e-01] [ 2.21349506e-01 -1.84713319e-02 9.75019593e-01 -1.62246689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69320100799999 meters Centerline goodness [0,1] 0.8579960751969512 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 0.97526579 0.00797195 -0.22089156 3.32247482] [-0.00373578 0.99980114 0.01958871 -0.41806985] [ 0.2210038 -0.018279 0.97510164 -0.16292001] [ 0. 0. 0. 1. ]] SLAMing on 100.72320100799999 meters Centerline goodness [0,1] 0.8590953003352844 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 0.97523001 0.00795806 -0.22104999 3.32300255] [-0.00369351 0.99979914 0.0196989 -0.41860894] [ 0.22116236 -0.0183945 0.97506351 -0.16283102] [ 0. 0. 0. 1. ]] SLAMing on 100.75320100799999 meters Centerline goodness [0,1] 0.8662552022875909 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.42, Z:-0.16 [[ 9.75157105e-01 7.51780427e-03 -2.21386773e-01 3.32451512e+00] [-3.27772367e-03 9.99804220e-01 1.95135276e-02 -4.18847273e-01] [ 2.21490129e-01 -1.83031104e-02 9.74990830e-01 -1.63058015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78320100799999 meters Centerline goodness [0,1] 0.8601523852845852 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.42, Z:-0.16 [[ 9.75112606e-01 7.32802662e-03 -2.21589046e-01 3.32538179e+00] [-3.08304366e-03 9.99805165e-01 1.94968308e-02 -4.19432522e-01] [ 2.21688746e-01 -1.83284368e-02 9.74945213e-01 -1.63191464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.813201008 meters Centerline goodness [0,1] 0.8613565968571509 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.42, Z:-0.16 [[ 9.74932236e-01 6.40882357e-03 -2.22409670e-01 3.32791051e+00] [-2.04257186e-03 9.99800763e-01 1.98560501e-02 -4.22648232e-01] [ 2.22492611e-01 -1.89040156e-02 9.74751084e-01 -1.62051229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.843201008 meters Centerline goodness [0,1] 0.8654735399897242 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.43, Z:-0.16 [[ 9.74759508e-01 5.78674026e-03 -2.23182472e-01 3.33013079e+00] [-1.31549127e-03 9.99795548e-01 2.01775233e-02 -4.25233761e-01] [ 2.23253604e-01 -1.93746380e-02 9.74567828e-01 -1.61208169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.873201008 meters Centerline goodness [0,1] 0.8730590729387497 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.43, Z:-0.16 [[ 9.74580357e-01 4.97268166e-03 -2.23983035e-01 3.33284675e+00] [-4.26021081e-04 9.99792971e-01 2.03428818e-02 -4.27948494e-01] [ 2.24037822e-01 -1.97303515e-02 9.74380710e-01 -1.60752286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.903201008 meters Centerline goodness [0,1] 0.8757631609261606 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.43, Z:-0.16 [[ 9.74402183e-01 3.89937707e-03 -2.24778068e-01 3.33593851e+00] [ 6.99544105e-04 9.99792132e-01 2.03765601e-02 -4.30073473e-01] [ 2.24810800e-01 -2.00122068e-02 9.74196908e-01 -1.60463763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.933201008 meters Centerline goodness [0,1] 0.8726570159755465 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.43, Z:-0.16 [[ 9.74269465e-01 3.04754315e-03 -2.25365750e-01 3.33844033e+00] [ 1.62616783e-03 9.99787508e-01 2.05498006e-02 -4.32233266e-01] [ 2.25380488e-01 -2.03875258e-02 9.74057485e-01 -1.60170933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.963201008 meters Centerline goodness [0,1] 0.8718126626192542 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.43, Z:-0.16 [[ 9.74126245e-01 2.39283864e-03 -2.25991887e-01 3.34065157e+00] [ 2.36895953e-03 9.99780910e-01 2.07971184e-02 -4.33896598e-01] [ 2.25992139e-01 -2.07943845e-02 9.73907155e-01 -1.59658719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99320100799999 meters Centerline goodness [0,1] 0.8819855931218775 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.16 [[ 9.74056923e-01 2.70439859e-03 -2.26286978e-01 3.34057023e+00] [ 2.38288395e-03 9.99750590e-01 2.22053816e-02 -4.37171068e-01] [ 2.26290592e-01 -2.21685213e-02 9.73807540e-01 -1.57548782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02320100799999 meters Centerline goodness [0,1] 0.8872554727526781 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.16 [[ 9.73999001e-01 2.72111069e-03 -2.26535961e-01 3.34110063e+00] [ 2.45099705e-03 9.99742782e-01 2.25468815e-02 -4.38370182e-01] [ 2.26539044e-01 -2.25158790e-02 9.73741802e-01 -1.57012943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05320100799999 meters Centerline goodness [0,1] 0.879395371910473 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.44, Z:-0.16 [[ 9.73957599e-01 2.94706428e-03 -2.26711073e-01 3.34118157e+00] [ 2.32445263e-03 9.99733185e-01 2.29816576e-02 -4.39591912e-01] [ 2.26718311e-01 -2.29101392e-02 9.73690882e-01 -1.56363083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08320100799999 meters Centerline goodness [0,1] 0.8863642992562345 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75162382e-01 3.49422571e-03 -2.21463583e-01 3.35716984e+00] [-1.03722740e-04 9.99882647e-01 1.53193093e-02 -4.39420543e-01] [ 2.21491123e-01 -1.49158434e-02 9.75048307e-01 -1.58388982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11320100799999 meters Centerline goodness [0,1] 0.8813484857360436 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75212292e-01 3.95686925e-03 -2.21235910e-01 3.35656692e+00] [-5.56420682e-04 9.99880789e-01 1.54304482e-02 -4.39638486e-01] [ 2.21270592e-01 -1.49248626e-02 9.75098238e-01 -1.58726893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14320100799999 meters Centerline goodness [0,1] 0.8827854924708501 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75280951e-01 4.54244024e-03 -2.20921781e-01 3.35578118e+00] [-1.12434905e-03 9.99877755e-01 1.55952424e-02 -4.39611850e-01] [ 2.20965615e-01 -1.49613497e-02 9.75166834e-01 -1.59122219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17320100799999 meters Centerline goodness [0,1] 0.8824823298237382 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75247583e-01 4.81553797e-03 -2.21063256e-01 3.35546342e+00] [-1.23855741e-03 9.99866109e-01 1.63165655e-02 -4.41279698e-01] [ 2.21112231e-01 -1.56388915e-02 9.75122970e-01 -1.57873057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.203201008 meters Centerline goodness [0,1] 0.885754708639137 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75215283e-01 4.98935447e-03 -2.21201850e-01 3.35510686e+00] [-1.22362863e-03 9.99852047e-01 1.71576999e-02 -4.43446237e-01] [ 2.21254728e-01 -1.64617822e-02 9.75077102e-01 -1.56273423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.233201008 meters Centerline goodness [0,1] 0.8866489832007074 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75135173e-01 4.23445825e-03 -2.21570450e-01 3.35742736e+00] [-5.80726858e-04 9.99862826e-01 1.65527046e-02 -4.42745760e-01] [ 2.21610148e-01 -1.60124525e-02 9.75003868e-01 -1.57298541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.263201008 meters Centerline goodness [0,1] 0.8874904203265932 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75084529e-01 3.78456620e-03 -2.21801349e-01 3.35893411e+00] [-1.71982955e-04 9.99867058e-01 1.63045228e-02 -4.42502679e-01] [ 2.21833568e-01 -1.58601419e-02 9.74955550e-01 -1.57837707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.293201008 meters Centerline goodness [0,1] 0.8838584414438266 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.75035412e-01 3.12249654e-03 -2.22027464e-01 3.36097661e+00] [ 4.88157977e-04 9.99868564e-01 1.62054612e-02 -4.42676444e-01] [ 2.22048883e-01 -1.59092830e-02 9.74905733e-01 -1.58286422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.323201008 meters Centerline goodness [0,1] 0.8865388009648761 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.74984389e-01 3.18255758e-03 -2.22250563e-01 3.36076905e+00] [ 5.73592166e-04 9.99858135e-01 1.68339259e-02 -4.43553790e-01] [ 2.22272608e-01 -1.65402961e-02 9.74844247e-01 -1.56814062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35320100799998 meters Centerline goodness [0,1] 0.8822075055187638 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.15 [[ 9.74834444e-01 2.68181999e-03 -2.22913919e-01 3.36193202e+00] [ 1.24586624e-03 9.99846485e-01 1.74772469e-02 -4.44765255e-01] [ 2.22926570e-01 -1.73151432e-02 9.74681451e-01 -1.54717074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38320100799999 meters Centerline goodness [0,1] 0.8847552037525652 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.45, Z:-0.15 [[ 9.74808277e-01 2.44457923e-03 -2.23031045e-01 3.36222354e+00] [ 1.55643085e-03 9.99841037e-01 1.77617080e-02 -4.45175862e-01] [ 2.23039011e-01 -1.76613924e-02 9.74649514e-01 -1.53875567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41320100799999 meters Centerline goodness [0,1] 0.8833927423596096 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.15 [[ 9.74826782e-01 2.39030162e-03 -2.22950737e-01 3.36220325e+00] [ 1.53368174e-03 9.99846990e-01 1.74254186e-02 -4.42366693e-01] [ 2.22958275e-01 -1.73287002e-02 9.74673958e-01 -1.54128452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44320100799999 meters Centerline goodness [0,1] 0.8795353045914942 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.15 [[ 9.74858921e-01 2.38174860e-03 -2.22810261e-01 3.36233478e+00] [ 1.43037028e-03 9.99855378e-01 1.69463173e-02 -4.40128945e-01] [ 2.22818399e-01 -1.68389698e-02 9.74714527e-01 -1.54984522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47320100799999 meters Centerline goodness [0,1] 0.8823238494210741 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.74853433e-01 2.20907121e-03 -2.22836047e-01 3.36308511e+00] [ 1.46318563e-03 9.99865860e-01 1.63131884e-02 -4.38232053e-01] [ 2.22842192e-01 -1.62290182e-02 9.74719435e-01 -1.55979039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50320100799999 meters Centerline goodness [0,1] 0.8806719275850063 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.44, Z:-0.16 [[ 9.74869061e-01 2.30857828e-03 -2.22766658e-01 3.36336245e+00] [ 1.24551715e-03 9.99874198e-01 1.58125279e-02 -4.36647078e-01] [ 2.22775138e-01 -1.56926039e-02 9.74743546e-01 -1.56957421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53320100799999 meters Centerline goodness [0,1] 0.8809420226804722 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 9.74873422e-01 2.74705215e-03 -2.22742596e-01 3.36311523e+00] [ 6.34125131e-04 9.99885685e-01 1.51068090e-02 -4.34244548e-01] [ 2.22758632e-01 -1.48684733e-02 9.74760237e-01 -1.57955702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.563201008 meters Centerline goodness [0,1] 0.884339518541104 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 9.74888820e-01 3.06156106e-03 -2.22671094e-01 3.36251205e+00] [ 3.16089407e-04 9.99885461e-01 1.51315663e-02 -4.33633144e-01] [ 2.22691916e-01 -1.48219788e-02 9.74776189e-01 -1.57756654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.593201008 meters Centerline goodness [0,1] 0.88249630080947 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 9.74889854e-01 3.15757119e-03 -2.22665225e-01 3.36236359e+00] [ 2.01905228e-04 9.99886523e-01 1.50631884e-02 -4.32891268e-01] [ 2.22687520e-01 -1.47299068e-02 9.74778589e-01 -1.57702431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.623201008 meters Centerline goodness [0,1] 0.8824092055302745 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 9.74878174e-01 2.86595428e-03 -2.22720298e-01 3.36289352e+00] [ 5.11366118e-04 9.99885785e-01 1.51048047e-02 -4.32271409e-01] [ 2.22738150e-01 -1.48392361e-02 9.74765363e-01 -1.57534377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.653201008 meters Centerline goodness [0,1] 0.8825237362445922 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 9.74881550e-01 -2.66760668e-03 -2.22707986e-01 3.36379466e+00] [ 5.12828261e-03 9.99932024e-01 1.04713028e-02 -4.30380365e-01] [ 2.22664914e-01 -1.13503894e-02 9.74828962e-01 -1.58142872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.683201008 meters Centerline goodness [0,1] 0.8855155149327589 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.43, Z:-0.16 [[ 0.97487953 -0.0077842 -0.22259674 3.36383014] [ 0.00939549 0.99993676 0.00618053 -0.42917783] [ 0.22253455 -0.00811668 0.97489102 -0.15823973] [ 0. 0. 0. 1. ]] SLAMing on 101.713201008 meters Centerline goodness [0,1] 0.8859526309648815 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.16 [[ 0.97474077 -0.00843862 -0.2231798 3.36547081] [ 0.01018169 0.99992598 0.0066606 -0.43083939] [ 0.22310708 -0.00876471 0.97475454 -0.15697904] [ 0. 0. 0. 1. ]] SLAMing on 101.74320100799999 meters Centerline goodness [0,1] 0.8859700444652469 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.16 [[ 0.97459725 -0.00910828 -0.22377945 3.36745666] [ 0.0109082 0.99991733 0.00680834 -0.43176058] [ 0.22369894 -0.00907642 0.97461603 -0.15636172] [ 0. 0. 0. 1. ]] SLAMing on 101.77320100799999 meters Centerline goodness [0,1] 0.8860083873427373 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.16 [[ 0.9744761 -0.00961706 -0.2242852 3.3689551 ] [ 0.01146376 0.99991025 0.00693298 -0.43208147] [ 0.2241984 -0.00932717 0.97449889 -0.15571931] [ 0. 0. 0. 1. ]] SLAMing on 101.80320100799999 meters Centerline goodness [0,1] 0.8874017358777287 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97444163 -0.00965189 -0.22443341 3.36882701] [ 0.01168687 0.99990175 0.00774049 -0.43207594] [ 0.22433664 -0.01016558 0.97445869 -0.15392288] [ 0. 0. 0. 1. ]] SLAMing on 101.83320100799999 meters Centerline goodness [0,1] 0.8852861274209096 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97445329 -0.00921409 -0.22440117 3.36773554] [ 0.01139244 0.9998997 0.00841454 -0.43230093] [ 0.22430113 -0.01075606 0.97446052 -0.15258584] [ 0. 0. 0. 1. ]] SLAMing on 101.86320100799999 meters Centerline goodness [0,1] 0.885357746807394 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97443659 -0.00893059 -0.22448514 3.36709827] [ 0.01127457 0.99989447 0.0091619 -0.43247995] [ 0.22437963 -0.01145866 0.97443444 -0.15105631] [ 0. 0. 0. 1. ]] SLAMing on 101.89320100799999 meters Centerline goodness [0,1] 0.8858321471109433 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97445971 -0.00864132 -0.2243961 3.36645418] [ 0.01108209 0.99989232 0.00961985 -0.43240817] [ 0.22428881 -0.01186093 0.97445054 -0.15026866] [ 0. 0. 0. 1. ]] SLAMing on 101.92320100799999 meters Centerline goodness [0,1] 0.8858321471109433 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97445971 -0.00864132 -0.2243961 3.36645418] [ 0.01108209 0.99989232 0.00961985 -0.43240817] [ 0.22428881 -0.01186093 0.97445054 -0.15026866] [ 0. 0. 0. 1. ]] SLAMing on 101.953201008 meters Centerline goodness [0,1] 0.8823889293517844 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97448655 -0.00814137 -0.22429822 3.36529675] [ 0.0107097 0.99989025 0.01023629 -0.43238547] [ 0.22419026 -0.0123773 0.97446679 -0.14910164] [ 0. 0. 0. 1. ]] SLAMing on 101.983201008 meters Centerline goodness [0,1] 0.8826445798944268 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97445242 -0.00819583 -0.22444446 3.36587457] [ 0.01076397 0.99988983 0.01022101 -0.43215892] [ 0.22433597 -0.0123758 0.97443328 -0.14914522] [ 0. 0. 0. 1. ]] SLAMing on 102.013201008 meters Centerline goodness [0,1] 0.8791838873042668 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97441485 -0.00828808 -0.22460411 3.36668905] [ 0.01084719 0.99988953 0.01016234 -0.43185931] [ 0.22449507 -0.01233866 0.97439711 -0.14933304] [ 0. 0. 0. 1. ]] SLAMing on 102.043201008 meters Centerline goodness [0,1] 0.8829539500494847 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97439441 -0.00801913 -0.22470255 3.36683821] [ 0.01057473 0.99989235 0.01017207 -0.43165641] [ 0.22459679 -0.01228778 0.97437431 -0.14941745] [ 0. 0. 0. 1. ]] SLAMing on 102.073201008 meters Centerline goodness [0,1] 0.8841679753388006 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97434462 -0.00801324 -0.22491852 3.36755106] [ 0.01053909 0.99989414 0.01003169 -0.43107131] [ 0.22481432 -0.01214476 0.97432593 -0.14961102] [ 0. 0. 0. 1. ]] SLAMing on 102.10320100799998 meters Centerline goodness [0,1] 0.884199228381632 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.97428384 -0.0080959 -0.22517871 3.3685449 ] [ 0.01053966 0.99989787 0.00965253 -0.42935445] [ 0.22507757 -0.01177761 0.97426966 -0.15008776] [ 0. 0. 0. 1. ]] SLAMing on 102.13320100799999 meters Centerline goodness [0,1] 0.8896343411460602 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.9743182 -0.00782255 -0.22503965 3.36851727] [ 0.01018929 0.9999043 0.00935753 -0.42766744] [ 0.22494492 -0.01141021 0.97430467 -0.15091226] [ 0. 0. 0. 1. ]] SLAMing on 102.16320100799999 meters Centerline goodness [0,1] 0.8865677696007417 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.9741205 -0.00371384 -0.22599881 3.37115515] [ 0.00695307 0.99988417 0.01353866 -0.42860973] [ 0.22592236 -0.01475967 0.97403349 -0.14992458] [ 0. 0. 0. 1. ]] SLAMing on 102.19320100799999 meters Centerline goodness [0,1] 0.8887634595345606 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 0.9740669 -0.00375717 -0.22622898 3.37183898] [ 0.00693275 0.99988826 0.01324416 -0.427614 ] [ 0.22615394 -0.01446909 0.97398411 -0.15015121] [ 0. 0. 0. 1. ]] SLAMing on 102.22320100799999 meters Centerline goodness [0,1] 0.8881956938076723 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 9.74063520e-01 -2.98385612e-03 -2.26255068e-01 3.37074962e+00] [ 6.17435232e-03 9.99891220e-01 1.33949699e-02 -4.27221096e-01] [ 2.26190487e-01 -1.44445300e-02 9.73975985e-01 -1.49681544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25320100799999 meters Centerline goodness [0,1] 0.8916253299683811 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 9.74044401e-01 -2.76424078e-03 -2.26340150e-01 3.37037744e+00] [ 5.95851667e-03 9.99892050e-01 1.34307476e-02 -4.26175074e-01] [ 2.26278591e-01 -1.44307960e-02 9.73955724e-01 -1.49176121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28320100799999 meters Centerline goodness [0,1] 0.8886022378108875 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 9.74044796e-01 -2.53692451e-03 -2.26341111e-01 3.36987942e+00] [ 5.75804601e-03 9.99891314e-01 1.35721962e-02 -4.25000802e-01] [ 2.26282080e-01 -1.45232096e-02 9.73953539e-01 -1.48612210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.313201008 meters Centerline goodness [0,1] 0.8835866790438617 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.15 [[ 9.73896075e-01 1.85582571e-03 -2.26986764e-01 3.37110405e+00] [ 2.55896946e-03 9.99813275e-01 1.91537578e-02 -4.27253757e-01] [ 2.26979926e-01 -1.92346217e-02 9.73709475e-01 -1.45377344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.343201008 meters Centerline goodness [0,1] 0.8842350203606748 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 9.73864799e-01 1.90793094e-03 -2.27120483e-01 3.37117986e+00] [ 2.58419407e-03 9.99806915e-01 1.94796089e-02 -4.27751085e-01] [ 2.27113795e-01 -1.95574288e-02 9.73671829e-01 -1.44724548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.373201008 meters Centerline goodness [0,1] 0.8876584118125799 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 9.73760547e-01 1.48993820e-03 -2.27570158e-01 3.37255349e+00] [ 3.03869947e-03 9.99804296e-01 1.95483112e-02 -4.28433523e-01] [ 2.27554747e-01 -1.97268916e-02 9.73565451e-01 -1.44237139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.403201008 meters Centerline goodness [0,1] 0.8894014598540146 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 9.73827761e-01 -2.75130946e-03 -2.27270594e-01 3.37144685e+00] [ 6.40251560e-03 9.99861993e-01 1.53298216e-02 -4.27487643e-01] [ 2.27197052e-01 -1.63837094e-02 9.73710981e-01 -1.44808890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.433201008 meters Centerline goodness [0,1] 0.8913714537703954 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 0.97379388 -0.00720115 -0.22731833 3.37074406] [ 0.01021772 0.99987463 0.01209628 -0.42982631] [ 0.22720272 -0.01410196 0.97374538 -0.14341626] [ 0. 0. 0. 1. ]] SLAMing on 102.463201008 meters Centerline goodness [0,1] 0.8884442221110556 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 0.97370491 -0.00769456 -0.22768298 3.37235189] [ 0.01077836 0.99986621 0.01230401 -0.4313918 ] [ 0.22755784 -0.01443452 0.97365757 -0.14314847] [ 0. 0. 0. 1. ]] SLAMing on 102.49320100799999 meters Centerline goodness [0,1] 0.8887969991434563 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.43, Z:-0.14 [[ 0.97360031 -0.00822965 -0.22811119 3.37441533] [ 0.01136572 0.99985805 0.01243775 -0.43264592] [ 0.22797645 -0.01470205 0.97355564 -0.14323005] [ 0. 0. 0. 1. ]] SLAMing on 102.52320100799999 meters Centerline goodness [0,1] 0.8872682177867013 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.43, Z:-0.14 [[ 0.97348704 -0.00953041 -0.22854357 3.37824745] [ 0.01257658 0.99985039 0.01187589 -0.43312131] [ 0.22839619 -0.01443532 0.97346125 -0.14479553] [ 0. 0. 0. 1. ]] SLAMing on 102.55320100799999 meters Centerline goodness [0,1] 0.8824977751409078 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.43, Z:-0.15 [[ 0.97342667 -0.00977288 -0.22879032 3.37964925] [ 0.01280362 0.9998488 0.01176616 -0.43330486] [ 0.22864074 -0.01438284 0.97340462 -0.14530014] [ 0. 0. 0. 1. ]] SLAMing on 102.58320100799999 meters Centerline goodness [0,1] 0.8863878687359318 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.43, Z:-0.15 [[ 0.9733627 -0.00991536 -0.22905618 3.38066381] [ 0.01295032 0.9998471 0.01175043 -0.43353556] [ 0.22890464 -0.01440378 0.97334228 -0.14537302] [ 0. 0. 0. 1. ]] SLAMing on 102.61320100799999 meters Centerline goodness [0,1] 0.8836093254732351 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.43, Z:-0.15 [[ 0.97326749 -0.0100914 -0.22945274 3.38179824] [ 0.01316505 0.9998429 0.01186868 -0.43419467] [ 0.22929692 -0.01457216 0.97324744 -0.14500435] [ 0. 0. 0. 1. ]] SLAMing on 102.64320100799999 meters Centerline goodness [0,1] 0.8925661611656259 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.44, Z:-0.14 [[ 0.97313315 -0.00995271 -0.23002785 3.38231197] [ 0.01325173 0.99983024 0.01280136 -0.43651471] [ 0.2298614 -0.01550569 0.97309985 -0.14293086] [ 0. 0. 0. 1. ]] SLAMing on 102.67320100799999 meters Centerline goodness [0,1] 0.8926156504125584 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.44, Z:-0.14 [[ 0.97311188 -0.00983971 -0.2301227 3.38246212] [ 0.01321801 0.99982625 0.01314341 -0.43746824] [ 0.22995339 -0.01583177 0.97307286 -0.14252308] [ 0. 0. 0. 1. ]] SLAMing on 102.703201008 meters Centerline goodness [0,1] 0.8899824043422504 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.44, Z:-0.14 [[ 0.97307444 -0.0099661 -0.23027552 3.38321378] [ 0.01338247 0.99982227 0.01327891 -0.43799844] [ 0.23010225 -0.01600303 0.97303487 -0.14246044] [ 0. 0. 0. 1. ]] SLAMing on 102.733201008 meters Centerline goodness [0,1] 0.8888225816076863 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.44, Z:-0.14 [[ 0.97299431 -0.01034099 -0.23059734 3.38476169] [ 0.01374821 0.9998187 0.0131737 -0.43807455] [ 0.2304193 -0.01598824 0.97296008 -0.14267491] [ 0. 0. 0. 1. ]] SLAMing on 102.763201008 meters Centerline goodness [0,1] 0.889772251778349 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97297723 -0.01038987 -0.23066723 3.38520385] [ 0.01374623 0.99982167 0.01294835 -0.43737045] [ 0.23049156 -0.01576925 0.97294654 -0.1430001 ] [ 0. 0. 0. 1. ]] SLAMing on 102.793201008 meters Centerline goodness [0,1] 0.8909198637238928 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.9727831 -0.00603057 -0.23163908 3.38716972] [ 0.01032343 0.99979662 0.01732486 -0.43775685] [ 0.23148749 -0.01924464 0.97264751 -0.14117832] [ 0. 0. 0. 1. ]] SLAMing on 102.823201008 meters Centerline goodness [0,1] 0.8923008587503701 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97274512 -0.00633987 -0.2317903 3.38813008] [ 0.01054696 0.99980129 0.01691567 -0.43712474] [ 0.231637 -0.01889931 0.97261869 -0.14168538] [ 0. 0. 0. 1. ]] SLAMing on 102.85320100799998 meters Centerline goodness [0,1] 0.8904402590458084 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97271429 -0.00649553 -0.23191532 3.38871557] [ 0.01069046 0.99980111 0.01683602 -0.43704184] [ 0.23175983 -0.01885592 0.97259027 -0.14169551] [ 0. 0. 0. 1. ]] SLAMing on 102.88320100799999 meters Centerline goodness [0,1] 0.8900136555245503 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97264644 -0.00714047 -0.2321808 3.39037483] [ 0.01136003 0.99979363 0.01684159 -0.43721888] [ 0.23201263 -0.0190185 0.97252683 -0.14158238] [ 0. 0. 0. 1. ]] SLAMing on 102.91320100799999 meters Centerline goodness [0,1] 0.8853559966718174 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97258226 -0.00759974 -0.23243492 3.39172286] [ 0.01183243 0.99978849 0.01682139 -0.43780407] [ 0.23225792 -0.01911046 0.97246648 -0.14161203] [ 0. 0. 0. 1. ]] SLAMing on 102.94320100799999 meters Centerline goodness [0,1] 0.8870890758307977 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97266012 -0.01216268 -0.23191455 3.39069993] [ 0.01550255 0.99980063 0.01258418 -0.43691431] [ 0.23171525 -0.01583539 0.97265476 -0.1423851 ] [ 0. 0. 0. 1. ]] SLAMing on 102.97320100799999 meters Centerline goodness [0,1] 0.8860880473090018 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97253014 -0.01251752 -0.2324402 3.39189292] [ 0.0159918 0.99978671 0.01306857 -0.43877874] [ 0.23222704 -0.01642671 0.97252289 -0.14121591] [ 0. 0. 0. 1. ]] SLAMing on 103.00320100799999 meters Centerline goodness [0,1] 0.8847714524406254 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.972389 -0.01277437 -0.23301599 3.39277451] [ 0.01642924 0.99977047 0.01375088 -0.4401274 ] [ 0.23278685 -0.01719948 0.97237568 -0.13923058] [ 0. 0. 0. 1. ]] SLAMing on 103.03320100799999 meters Centerline goodness [0,1] 0.8830529706513959 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97232936 -0.01309282 -0.23324705 3.39358056] [ 0.01675109 0.99976569 0.01371 -0.43983637] [ 0.2330129 -0.01723778 0.97232086 -0.13898916] [ 0. 0. 0. 1. ]] SLAMing on 103.063201008 meters Centerline goodness [0,1] 0.8809935076538209 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.44, Z:-0.14 [[ 0.97229716 -0.01336439 -0.23336587 3.3943126 ] [ 0.01697594 0.9997651 0.01347417 -0.43872792] [ 0.23313098 -0.0170625 0.97229564 -0.1392105 ] [ 0. 0. 0. 1. ]] SLAMing on 103.093201008 meters Centerline goodness [0,1] 0.8806617363153049 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.14 [[ 0.97229009 -0.01363505 -0.23337964 3.39516377] [ 0.01712053 0.99977001 0.01291547 -0.43695024] [ 0.23314987 -0.01655317 0.97229992 -0.14013725] [ 0. 0. 0. 1. ]] SLAMing on 103.123201008 meters Centerline goodness [0,1] 0.879012858967125 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.14 [[ 0.97227211 -0.01389773 -0.23343907 3.3961275 ] [ 0.01723953 0.99977596 0.01228112 -0.43526708] [ 0.23321609 -0.01596497 0.97229387 -0.14120046] [ 0. 0. 0. 1. ]] SLAMing on 103.153201008 meters Centerline goodness [0,1] 0.8759439689637812 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97223645 -0.0144374 -0.23355479 3.39767044] [ 0.01760294 0.99977921 0.01147484 -0.43307133] [ 0.23333755 -0.01526751 0.97227593 -0.14244822] [ 0. 0. 0. 1. ]] SLAMing on 103.183201008 meters Centerline goodness [0,1] 0.8747781852596711 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97221477 -0.01453667 -0.23363889 3.39800922] [ 0.01771016 0.99977713 0.01149059 -0.43284219] [ 0.23341978 -0.0153091 0.97225554 -0.14229407] [ 0. 0. 0. 1. ]] SLAMing on 103.213201008 meters Centerline goodness [0,1] 0.8751778937381405 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97217114 -0.01467921 -0.23381146 3.39863485] [ 0.0178775 0.99977329 0.01156533 -0.43330695] [ 0.23358868 -0.01542344 0.97221317 -0.14211716] [ 0. 0. 0. 1. ]] SLAMing on 103.24320100799999 meters Centerline goodness [0,1] 0.8752412912422416 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97198726 -0.01591112 -0.23449435 3.40210807] [ 0.0190161 0.99975882 0.01098589 -0.43351995] [ 0.23426299 -0.01513731 0.97205541 -0.1427614 ] [ 0. 0. 0. 1. ]] SLAMing on 103.27320100799999 meters Centerline goodness [0,1] 0.8785362671253187 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97192473 -0.01640119 -0.23471967 3.40360205] [ 0.01944926 0.99975384 0.01067684 -0.43265591] [ 0.23448677 -0.01494221 0.97200447 -0.14328152] [ 0. 0. 0. 1. ]] SLAMing on 103.30320100799999 meters Centerline goodness [0,1] 0.8793405094445927 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.43, Z:-0.14 [[ 0.97185587 -0.01692122 -0.23496774 3.40500859] [ 0.01990655 0.99974839 0.010339 -0.43197039] [ 0.23473367 -0.01472542 0.97194818 -0.14367586] [ 0. 0. 0. 1. ]] SLAMing on 103.33320100799999 meters Centerline goodness [0,1] 0.8787005112352871 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.43, Z:-0.14 [[ 0.97173701 -0.01718749 -0.23543952 3.40565275] [ 0.02034624 0.99973255 0.01099348 -0.43384628] [ 0.2351876 -0.01547308 0.97182683 -0.14187625] [ 0. 0. 0. 1. ]] SLAMing on 103.36320100799999 meters Centerline goodness [0,1] 0.8793926633255241 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.44, Z:-0.14 [[ 0.97169803 -0.01696234 -0.23561668 3.40542061] [ 0.02026587 0.99972726 0.01160612 -0.43513254] [ 0.23535555 -0.01605262 0.97177676 -0.14071466] [ 0. 0. 0. 1. ]] SLAMing on 103.39320100799999 meters Centerline goodness [0,1] 0.8788977735501323 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.44, Z:-0.14 [[ 0.97166704 -0.01674714 -0.23575981 3.40526336] [ 0.02016324 0.99972365 0.01208622 -0.43596997] [ 0.23549225 -0.01649747 0.9717362 -0.13983194] [ 0. 0. 0. 1. ]] SLAMing on 103.42320100799999 meters Centerline goodness [0,1] 0.8771862101731152 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.14 [[ 0.97166742 -0.01652234 -0.23577414 3.40492144] [ 0.02001428 0.99972249 0.0124249 -0.43613899] [ 0.23550342 -0.01679172 0.97172845 -0.13923503] [ 0. 0. 0. 1. ]] SLAMing on 103.453201008 meters Centerline goodness [0,1] 0.8742807995729284 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.14 [[ 0.97169507 -0.01598533 -0.23569716 3.40449063] [ 0.01953477 0.99972811 0.01273183 -0.43577127] [ 0.23542956 -0.01697575 0.97174315 -0.13914786] [ 0. 0. 0. 1. ]] SLAMing on 103.483201008 meters Centerline goodness [0,1] 0.8731850708156418 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.44, Z:-0.14 [[ 0.97178014 -0.0154233 -0.23538369 3.40349558] [ 0.01900093 0.99973575 0.01293846 -0.43511747] [ 0.23512194 -0.01704585 0.9718164 -0.13931282] [ 0. 0. 0. 1. ]] SLAMing on 103.513201008 meters Centerline goodness [0,1] 0.8683648656663305 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97183982 -0.01495442 -0.23516743 3.40249285] [ 0.01852331 0.99974425 0.01297413 -0.43373518] [ 0.23491327 -0.01696486 0.97186828 -0.13929583] [ 0. 0. 0. 1. ]] SLAMing on 103.543201008 meters Centerline goodness [0,1] 0.8685607520982236 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97195422 -0.0132514 -0.2347965 3.39899732] [ 0.01687166 0.99976764 0.01341657 -0.43144492] [ 0.23456416 -0.01700169 0.97195195 -0.13828228] [ 0. 0. 0. 1. ]] SLAMing on 103.573201008 meters Centerline goodness [0,1] 0.8697491421133594 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97208019 -0.01238389 -0.23432189 3.39684906] [ 0.01600314 0.99978012 0.01355045 -0.43027367] [ 0.23410256 -0.01692202 0.97206463 -0.13816261] [ 0. 0. 0. 1. ]] SLAMing on 103.60320100799998 meters Centerline goodness [0,1] 0.8705250420564885 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97213859 -0.01178119 -0.23411057 3.39575496] [ 0.01535318 0.99979179 0.01344099 -0.42832791] [ 0.23390347 -0.01666085 0.97211706 -0.13833178] [ 0. 0. 0. 1. ]] SLAMing on 103.63320100799999 meters Centerline goodness [0,1] 0.8701835669462201 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97202434 -0.00743379 -0.23476247 3.39748467] [ 0.01185781 0.99977762 0.01743866 -0.42837322] [ 0.23458062 -0.01973457 0.97189633 -0.13773048] [ 0. 0. 0. 1. ]] SLAMing on 103.66320100799999 meters Centerline goodness [0,1] 0.869702460980885 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.43, Z:-0.14 [[ 0.97207272 -0.00719363 -0.23456956 3.39742514] [ 0.01146982 0.99979189 0.01687075 -0.42588485] [ 0.23439938 -0.01909006 0.97195293 -0.13892933] [ 0. 0. 0. 1. ]] SLAMing on 103.69320100799999 meters Centerline goodness [0,1] 0.8709931917131754 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.42, Z:-0.14 [[ 0.9721679 -0.00494989 -0.23423296 3.3945994 ] [ 0.00926361 0.99980709 0.01731973 -0.42304289] [ 0.23410205 -0.01900753 0.97202621 -0.13918929] [ 0. 0. 0. 1. ]] SLAMing on 103.72320100799999 meters Centerline goodness [0,1] 0.8755428604739282 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 0.9734488 -0.00455779 -0.22885949 3.40920545] [ 0.0068488 0.99993407 0.00921728 -0.42013563] [ 0.22880239 -0.01053996 0.97341583 -0.1406585 ] [ 0. 0. 0. 1. ]] SLAMing on 103.75320100799999 meters Centerline goodness [0,1] 0.8770713807263302 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 0.97348738 -0.00374946 -0.22871 3.40764873] [ 0.00612099 0.9999346 0.00966066 -0.42043051] [ 0.22865882 -0.01080447 0.97344666 -0.13990255] [ 0. 0. 0. 1. ]] SLAMing on 103.78320100799999 meters Centerline goodness [0,1] 0.8771817173545036 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 9.73511759e-01 -3.17695904e-03 -2.28614876e-01 3.40669533e+00] [ 5.60909078e-03 9.99934371e-01 9.98957436e-03 -4.20367470e-01] [ 2.28568135e-01 -1.10072897e-02 9.73465689e-01 -1.39459482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.813201008 meters Centerline goodness [0,1] 0.8771817173545036 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 9.73511759e-01 -3.17695904e-03 -2.28614876e-01 3.40669533e+00] [ 5.60909078e-03 9.99934371e-01 9.98957436e-03 -4.20367470e-01] [ 2.28568135e-01 -1.10072897e-02 9.73465689e-01 -1.39459482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.843201008 meters Centerline goodness [0,1] 0.8739053271653429 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 9.73506861e-01 -3.21296118e-03 -2.28635232e-01 3.40726051e+00] [ 5.58694740e-03 9.99936988e-01 9.73678853e-03 -4.19100147e-01] [ 2.28589541e-01 -1.07562034e-02 9.73463469e-01 -1.39995285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.873201008 meters Centerline goodness [0,1] 0.8805797101449275 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 0.97344229 -0.00400828 -0.22889746 3.40999899] [ 0.00617811 0.99994251 0.0087637 -0.416654 ] [ 0.22884917 -0.00994511 0.97341109 -0.14194789] [ 0. 0. 0. 1. ]] SLAMing on 103.903201008 meters Centerline goodness [0,1] 0.8758746842426178 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 0.97334471 -0.0045543 -0.22930182 3.41196668] [ 0.00666902 0.99994207 0.00844835 -0.41669343] [ 0.22925007 -0.00975238 0.9733187 -0.14249257] [ 0. 0. 0. 1. ]] SLAMing on 103.933201008 meters Centerline goodness [0,1] 0.8788213413925374 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.42, Z:-0.14 [[ 0.97322981 -0.00503922 -0.22977888 3.41387947] [ 0.00714614 0.9999397 0.00833811 -0.41721014] [ 0.22972301 -0.00975693 0.97320714 -0.14267479] [ 0. 0. 0. 1. ]] SLAMing on 103.963201008 meters Centerline goodness [0,1] 0.8779611508689937 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.42, Z:-0.14 [[ 0.97314619 -0.00851152 -0.23003052 3.41786191] [ 0.01047359 0.99991843 0.00730992 -0.41999249] [ 0.22994954 -0.00952286 0.97315596 -0.14242453] [ 0. 0. 0. 1. ]] SLAMing on 103.99320100799999 meters Centerline goodness [0,1] 0.8765540441714202 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.42, Z:-0.14 [[ 0.9730778 -0.01321565 -0.23009766 3.41739454] [ 0.01453811 0.9998861 0.00405289 -0.4218801 ] [ 0.23001789 -0.00728897 0.9731591 -0.14100771] [ 0. 0. 0. 1. ]] SLAMing on 104.02320100799999 meters Centerline goodness [0,1] 0.8766053964887475 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.42, Z:-0.14 [[ 9.73071617e-01 -1.75991868e-02 -2.29830149e-01 3.41617222e+00] [ 1.82463768e-02 9.99833282e-01 6.90852372e-04 -4.23240203e-01] [ 2.29779673e-01 -4.86581633e-03 9.73230510e-01 -1.40202376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05320100799999 meters Centerline goodness [0,1] 0.8794677029971147 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 9.72933019e-01 -1.81724430e-02 -2.30371662e-01 3.41802712e+00] [ 1.89468631e-02 9.99819831e-01 1.14970691e-03 -4.25224508e-01] [ 2.30309263e-01 -5.48340816e-03 9.73102038e-01 -1.39396023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08320100799999 meters Centerline goodness [0,1] 0.8833740327753097 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.9727777 -0.01506312 -0.2312502 3.42248322] [ 0.0166001 0.99985115 0.00470194 -0.42535875] [ 0.23114496 -0.00841272 0.97288295 -0.139755 ] [ 0. 0. 0. 1. ]] SLAMing on 104.11320100799999 meters Centerline goodness [0,1] 0.8820649624765479 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.97267107 -0.01052386 -0.2319488 3.42399906] [ 0.01299024 0.99987414 0.00910845 -0.42627957] [ 0.23182375 -0.0118726 0.97268535 -0.13871037] [ 0. 0. 0. 1. ]] SLAMing on 104.14320100799999 meters Centerline goodness [0,1] 0.881889532320174 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.97273904 -0.00998549 -0.23168739 3.42284335] [ 0.01249861 0.99987788 0.00938168 -0.42570414] [ 0.23156541 -0.01202169 0.97274505 -0.13848536] [ 0. 0. 0. 1. ]] SLAMing on 104.17320100799999 meters Centerline goodness [0,1] 0.8825374490663384 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.97271362 -0.00994984 -0.23179565 3.42298892] [ 0.01248862 0.999877 0.00948782 -0.42548893] [ 0.23167273 -0.01212374 0.97271823 -0.13814982] [ 0. 0. 0. 1. ]] SLAMing on 104.203201008 meters Centerline goodness [0,1] 0.8852959300448957 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.97281437 -0.00920039 -0.23140346 3.42132697] [ 0.0118287 0.9998803 0.00997326 -0.42552535] [ 0.231284 -0.01243934 0.97280675 -0.13763045] [ 0. 0. 0. 1. ]] SLAMing on 104.233201008 meters Centerline goodness [0,1] 0.8857419014703298 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.43, Z:-0.14 [[ 0.97274876 -0.00926815 -0.23167641 3.42184193] [ 0.01189905 0.99987959 0.00996113 -0.42538577] [ 0.23155619 -0.01244641 0.97274191 -0.13730268] [ 0. 0. 0. 1. ]] SLAMing on 104.263201008 meters Centerline goodness [0,1] 0.8866406272943526 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.42, Z:-0.14 [[ 0.97263184 -0.01527311 -0.23184916 3.42432085] [ 0.01681391 0.99984773 0.00467096 -0.42328535] [ 0.23174252 -0.00844142 0.97274053 -0.13907786] [ 0. 0. 0. 1. ]] SLAMing on 104.293201008 meters Centerline goodness [0,1] 0.8875302021333019 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97250869 -0.01583595 -0.2323275 3.42612053] [ 0.01735535 0.99983927 0.00449717 -0.42343159] [ 0.23221894 -0.00840566 0.97262722 -0.13909024] [ 0. 0. 0. 1. ]] SLAMing on 104.323201008 meters Centerline goodness [0,1] 0.8873587570621468 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97244102 -0.01617999 -0.23258692 3.42750799] [ 0.01767495 0.99983435 0.00434474 -0.42315721] [ 0.2324781 -0.00833597 0.97256591 -0.13944862] [ 0. 0. 0. 1. ]] SLAMing on 104.35320100799998 meters Centerline goodness [0,1] 0.8913938040091706 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97235586 -0.0167675 -0.2329011 3.42956581] [ 0.01815381 0.99982795 0.00380994 -0.42228092] [ 0.23279715 -0.00793266 0.97249296 -0.14042773] [ 0. 0. 0. 1. ]] SLAMing on 104.38320100799999 meters Centerline goodness [0,1] 0.8927460531721345 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 9.72291870e-01 -1.71794992e-02 -2.33138124e-01 3.43114159e+00] [ 1.84836949e-02 9.99823346e-01 3.41034700e-03 -4.21517578e-01] [ 2.33038351e-01 -7.62510662e-03 9.72437651e-01 -1.41183634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41320100799999 meters Centerline goodness [0,1] 0.8928687053006445 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97228334 -0.01643143 -0.23322762 3.43062635] [ 0.0179023 0.99983096 0.00419098 -0.42263325] [ 0.23311933 -0.00825013 0.97241314 -0.14033521] [ 0. 0. 0. 1. ]] SLAMing on 104.44320100799999 meters Centerline goodness [0,1] 0.8931523022432113 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97232385 -0.0157712 -0.23310427 3.42938914] [ 0.01738059 0.99983718 0.00485163 -0.42348311] [ 0.2329898 -0.00876885 0.97243964 -0.13942934] [ 0. 0. 0. 1. ]] SLAMing on 104.47320100799999 meters Centerline goodness [0,1] 0.8950110375275938 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97227286 -0.01552723 -0.23333322 3.42905243] [ 0.01727766 0.99983582 0.00545964 -0.42406447] [ 0.23321014 -0.00933971 0.97238151 -0.1380564 ] [ 0. 0. 0. 1. ]] SLAMing on 104.50320100799999 meters Centerline goodness [0,1] 0.8969129807833789 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97228103 -0.01520573 -0.23332035 3.42846716] [ 0.01703082 0.99983809 0.00580949 -0.42418195] [ 0.23319423 -0.0096221 0.97238257 -0.13744679] [ 0. 0. 0. 1. ]] SLAMing on 104.53320100799999 meters Centerline goodness [0,1] 0.893254131623831 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97231231 -0.01504086 -0.23320067 3.42846339] [ 0.01677167 0.99984454 0.00544068 -0.42202788] [ 0.23308259 -0.00920121 0.97241341 -0.13819885] [ 0. 0. 0. 1. ]] SLAMing on 104.563201008 meters Centerline goodness [0,1] 0.8930647718597686 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97230897 -0.01507232 -0.23321255 3.42872908] [ 0.01675602 0.99984588 0.00523999 -0.42091548] [ 0.23309763 -0.0090026 0.97241167 -0.13851915] [ 0. 0. 0. 1. ]] SLAMing on 104.593201008 meters Centerline goodness [0,1] 0.8956029450588132 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97231726 -0.01477956 -0.23319671 3.42821691] [ 0.01653147 0.99984789 0.0055598 -0.42074885] [ 0.23307907 -0.00926097 0.97241369 -0.13796784] [ 0. 0. 0. 1. ]] SLAMing on 104.623201008 meters Centerline goodness [0,1] 0.8944956823121659 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97234695 -0.01414043 -0.23311256 3.42676102] [ 0.01609194 0.99984957 0.00647175 -0.42193698] [ 0.23298598 -0.01004402 0.97242822 -0.13645941] [ 0. 0. 0. 1. ]] SLAMing on 104.653201008 meters Centerline goodness [0,1] 0.8951256843468535 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97230455 -0.01330367 -0.23333856 3.42518711] [ 0.01572962 0.99983982 0.00853886 -0.42535085] [ 0.23318759 -0.0119727 0.97235806 -0.13275975] [ 0. 0. 0. 1. ]] SLAMing on 104.683201008 meters Centerline goodness [0,1] 0.8953947756353559 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97225423 -0.01339761 -0.23354275 3.42584647] [ 0.01588106 0.99983554 0.00875652 -0.4259645 ] [ 0.23338703 -0.01222247 0.9723071 -0.1324642 ] [ 0. 0. 0. 1. ]] SLAMing on 104.713201008 meters Centerline goodness [0,1] 0.8975939140178097 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97220749 -0.0137238 -0.23371833 3.42707854] [ 0.01619107 0.99983158 0.00864115 -0.42590375] [ 0.23356038 -0.01218514 0.97226595 -0.13287604] [ 0. 0. 0. 1. ]] SLAMing on 104.74320100799999 meters Centerline goodness [0,1] 0.8959551225273104 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97217613 -0.01408217 -0.23382741 3.42832064] [ 0.01650544 0.99982841 0.00840981 -0.42553952] [ 0.23366886 -0.01203524 0.97224175 -0.13354487] [ 0. 0. 0. 1. ]] SLAMing on 104.77320100799999 meters Centerline goodness [0,1] 0.895782441063072 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97209379 -0.01431293 -0.23415553 3.42962118] [ 0.01684428 0.99981927 0.0088141 -0.42632845] [ 0.23398705 -0.01251231 0.97215919 -0.13303004] [ 0. 0. 0. 1. ]] SLAMing on 104.80320100799999 meters Centerline goodness [0,1] 0.899101752319246 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97204674 -0.01420336 -0.23435741 3.42973709] [ 0.01680673 0.99981721 0.00911498 -0.4270815 ] [ 0.23418511 -0.01279896 0.97210777 -0.13239084] [ 0. 0. 0. 1. ]] SLAMing on 104.83320100799999 meters Centerline goodness [0,1] 0.8990696031091744 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97203952 -0.01395605 -0.23440223 3.42950149] [ 0.01661317 0.99981813 0.00936488 -0.42731647] [ 0.2342289 -0.0129972 0.97209459 -0.13196848] [ 0. 0. 0. 1. ]] SLAMing on 104.86320100799999 meters Centerline goodness [0,1] 0.8967717276255439 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97206604 -0.0136553 -0.23430992 3.42910679] [ 0.01631399 0.99982262 0.0094123 -0.4267378 ] [ 0.23413983 -0.01297191 0.97211639 -0.13204419] [ 0. 0. 0. 1. ]] SLAMing on 104.89320100799999 meters Centerline goodness [0,1] 0.8972562411681583 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97220264 -0.01297329 -0.23378135 3.42783161] [ 0.01561987 0.99983313 0.00947278 -0.42569926] [ 0.23361944 -0.0128611 0.97224305 -0.1326582 ] [ 0. 0. 0. 1. ]] SLAMing on 104.92320100799999 meters Centerline goodness [0,1] 0.8984713263232306 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97221414 -0.01293083 -0.23373587 3.42796653] [ 0.01554675 0.9998354 0.00935276 -0.42520345] [ 0.23357646 -0.01272672 0.97225515 -0.13298453] [ 0. 0. 0. 1. ]] SLAMing on 104.953201008 meters Centerline goodness [0,1] 0.8960580851876893 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.13 [[ 0.9722418 -0.0127525 -0.23363059 3.42795846] [ 0.01535398 0.99983869 0.00931954 -0.42472113] [ 0.23347406 -0.012648 0.97228077 -0.13333843] [ 0. 0. 0. 1. ]] SLAMing on 104.983201008 meters Centerline goodness [0,1] 0.8966904531171996 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.13 [[ 0.9722665 -0.0126236 -0.23353478 3.42790793] [ 0.01521437 0.99984105 0.00929554 -0.42424529] [ 0.23338032 -0.01259083 0.97230402 -0.13357218] [ 0. 0. 0. 1. ]] SLAMing on 105.013201008 meters Centerline goodness [0,1] 0.8986045962769567 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97231332 -0.01188107 -0.23337877 3.42675443] [ 0.01460953 0.99984361 0.00996591 -0.42560036] [ 0.23322386 -0.01309954 0.97233484 -0.13285485] [ 0. 0. 0. 1. ]] SLAMing on 105.043201008 meters Centerline goodness [0,1] 0.9003916026263875 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97233129 -0.01152913 -0.23332153 3.42647383] [ 0.0142995 0.99984588 0.01018553 -0.42616469] [ 0.23316814 -0.01324009 0.9723463 -0.13284904] [ 0. 0. 0. 1. ]] SLAMing on 105.073201008 meters Centerline goodness [0,1] 0.9001031687546057 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97234547 -0.01140285 -0.23326866 3.42678904] [ 0.01415684 0.99984842 0.01013517 -0.42618417] [ 0.23311773 -0.01315723 0.97235951 -0.13339292] [ 0. 0. 0. 1. ]] SLAMing on 105.10320100799998 meters Centerline goodness [0,1] 0.9018077964904017 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97240723 -0.01085744 -0.2330371 3.42622406] [ 0.0136775 0.99985144 0.01048876 -0.42671578] [ 0.2328886 -0.01338671 0.97241128 -0.13354197] [ 0. 0. 0. 1. ]] SLAMing on 105.13320100799999 meters Centerline goodness [0,1] 0.9013419849579708 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97244776 -0.01036017 -0.23289057 3.42539789] [ 0.01326039 0.99985276 0.01089093 -0.42738818] [ 0.23274345 -0.01367909 0.97244196 -0.13317757] [ 0. 0. 0. 1. ]] SLAMing on 105.16320100799999 meters Centerline goodness [0,1] 0.9021422046733654 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97246121 -0.0100723 -0.23284705 3.42504979] [ 0.01303633 0.99985236 0.01119408 -0.42761393] [ 0.23269993 -0.01392127 0.97244894 -0.13284661] [ 0. 0. 0. 1. ]] SLAMing on 105.19320100799999 meters Centerline goodness [0,1] 0.8997439142848733 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97249789 -0.01040665 -0.23267907 3.42642049] [ 0.01324852 0.99985547 0.01065424 -0.42580542] [ 0.23253457 -0.01344388 0.97249521 -0.1344914 ] [ 0. 0. 0. 1. ]] SLAMing on 105.22320100799999 meters Centerline goodness [0,1] 0.9009769878170797 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97247705 -0.01076063 -0.23275009 3.42760306] [ 0.0134905 0.99985758 0.01014007 -0.4244954 ] [ 0.23260783 -0.0130009 0.97248371 -0.13548 ] [ 0. 0. 0. 1. ]] SLAMing on 105.25320100799999 meters Centerline goodness [0,1] 0.8981336792758794 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97234924 -0.01151001 -0.23324767 3.42974559] [ 0.01424774 0.99984793 0.01005595 -0.4255752 ] [ 0.23309646 -0.01310115 0.97236536 -0.13546662] [ 0. 0. 0. 1. ]] SLAMing on 105.28320100799999 meters Centerline goodness [0,1] 0.8991098797453431 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97215209 -0.01235196 -0.23402511 3.43216351] [ 0.01516669 0.99983263 0.01023152 -0.42724453] [ 0.23385956 -0.01349598 0.97217672 -0.13459289] [ 0. 0. 0. 1. ]] SLAMing on 105.313201008 meters Centerline goodness [0,1] 0.8984652761317848 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97220707 -0.01671329 -0.23352533 3.43125612] [ 0.0186733 0.99980651 0.00618457 -0.42726452] [ 0.23337678 -0.01037337 0.97233105 -0.13533608] [ 0. 0. 0. 1. ]] SLAMing on 105.343201008 meters Centerline goodness [0,1] 0.8967057014431039 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97220559 -0.01665024 -0.23353598 3.4315615 ] [ 0.01862273 0.99980709 0.00624358 -0.42732003] [ 0.23338698 -0.01041912 0.97232811 -0.13549126] [ 0. 0. 0. 1. ]] SLAMing on 105.373201008 meters Centerline goodness [0,1] 0.896832900023635 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97227101 -0.01632828 -0.23328622 3.43132219] [ 0.01826927 0.99981412 0.00616171 -0.42658976] [ 0.23314225 -0.01025282 0.97238859 -0.13623934] [ 0. 0. 0. 1. ]] SLAMing on 105.403201008 meters Centerline goodness [0,1] 0.8980525228681027 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97239634 -0.01585458 -0.23279601 3.4305205 ] [ 0.01771616 0.9998256 0.00590779 -0.42477046] [ 0.23266175 -0.00986897 0.97250764 -0.13733963] [ 0. 0. 0. 1. ]] SLAMing on 105.433201008 meters Centerline goodness [0,1] 0.897165206140093 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97241579 -0.01599934 -0.23270485 3.43135158] [ 0.01780603 0.99982541 0.00566519 -0.42379651] [ 0.23257358 -0.00965247 0.9725309 -0.13815651] [ 0. 0. 0. 1. ]] SLAMing on 105.463201008 meters Centerline goodness [0,1] 0.8970510330213668 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97239546 -0.0159374 -0.23279405 3.43170751] [ 0.01778208 0.9998249 0.00582748 -0.42461687] [ 0.23266041 -0.00980617 0.9725086 -0.13806936] [ 0. 0. 0. 1. ]] SLAMing on 105.49320100799999 meters Centerline goodness [0,1] 0.8983010854176499 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97235388 -0.01599765 -0.23296352 3.43234515] [ 0.01784897 0.99982363 0.00584075 -0.425113 ] [ 0.23282899 -0.00983743 0.97246793 -0.13808122] [ 0. 0. 0. 1. ]] SLAMing on 105.52320100799999 meters Centerline goodness [0,1] 0.8971698113207547 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97238384 -0.01584936 -0.23284861 3.43259172] [ 0.01763475 0.99982888 0.00558776 -0.42399233] [ 0.2327202 -0.00953968 0.97249694 -0.13888183] [ 0. 0. 0. 1. ]] SLAMing on 105.55320100799999 meters Centerline goodness [0,1] 0.8959964674712982 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97239587 -0.01601981 -0.2327867 3.43320678] [ 0.01773265 0.99982889 0.00526701 -0.42266922] [ 0.23266249 -0.00924954 0.97251355 -0.13961155] [ 0. 0. 0. 1. ]] SLAMing on 105.58320100799999 meters Centerline goodness [0,1] 0.8931075110456553 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97240921 -0.01598028 -0.23273367 3.43338376] [ 0.01769792 0.99982936 0.00529388 -0.42232361] [ 0.23260935 -0.00926672 0.9725261 -0.13979372] [ 0. 0. 0. 1. ]] SLAMing on 105.61320100799999 meters Centerline goodness [0,1] 0.8946918817014257 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97240772 -0.01571384 -0.23275804 3.43305232] [ 0.01751263 0.9998306 0.00566357 -0.42287192] [ 0.23262962 -0.00958351 0.97251818 -0.13926439] [ 0. 0. 0. 1. ]] SLAMing on 105.64320100799999 meters Centerline goodness [0,1] 0.8948689182805858 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.9724731 -0.01453695 -0.23256126 3.43030984] [ 0.01670443 0.99983343 0.00735328 -0.42544651] [ 0.23241563 -0.01103567 0.97255395 -0.13645801] [ 0. 0. 0. 1. ]] SLAMing on 105.67320100799999 meters Centerline goodness [0,1] 0.8941443432646686 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97252377 -0.01401907 -0.2323811 3.42912668] [ 0.01633229 0.99983435 0.00803332 -0.42608255] [ 0.23222999 -0.01160791 0.97259164 -0.13551801] [ 0. 0. 0. 1. ]] SLAMing on 105.703201008 meters Centerline goodness [0,1] 0.8901783605008269 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97250622 -0.01398534 -0.23245659 3.42900324] [ 0.01641283 0.99982907 0.00851185 -0.42675301] [ 0.23229781 -0.0120931 0.97256953 -0.13468352] [ 0. 0. 0. 1. ]] SLAMing on 105.733201008 meters Centerline goodness [0,1] 0.8901783605008269 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97250622 -0.01398534 -0.23245659 3.42900324] [ 0.01641283 0.99982907 0.00851185 -0.42675301] [ 0.23229781 -0.0120931 0.97256953 -0.13468352] [ 0. 0. 0. 1. ]] SLAMing on 105.763201008 meters Centerline goodness [0,1] 0.8855286473715298 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.13 [[ 0.97247174 -0.01418219 -0.23258887 3.42957103] [ 0.01670494 0.99982103 0.00888017 -0.42758004] [ 0.2324213 -0.01252109 0.97253461 -0.13417108] [ 0. 0. 0. 1. ]] SLAMing on 105.793201008 meters Centerline goodness [0,1] 0.881404567506804 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.42, Z:-0.14 [[ 0.97402687 -0.02687405 -0.22483203 3.42614842] [ 0.0294548 0.99953304 0.00813166 -0.42484623] [ 0.22450851 -0.01454284 0.9743636 -0.14291144] [ 0. 0. 0. 1. ]] SLAMing on 105.823201008 meters Centerline goodness [0,1] 0.8805881830823397 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 0.97382637 -0.02849548 -0.22549991 3.4296077 ] [ 0.03108688 0.99948508 0.00794866 -0.42626728] [ 0.2251573 -0.01475071 0.97421076 -0.14275065] [ 0. 0. 0. 1. ]] SLAMing on 105.85320100799998 meters Centerline goodness [0,1] 0.8858681102947737 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.43, Z:-0.14 [[ 9.73456405e-01 -3.54361826e-02 -2.26112595e-01 3.43393637e+00] [ 3.70977877e-02 9.99306825e-01 3.10225923e-03 -4.27065396e-01] [ 2.25845927e-01 -1.14081912e-02 9.74096233e-01 -1.43288135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88320100799999 meters Centerline goodness [0,1] 0.8942484981859276 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.43, Z:-0.14 [[ 9.73203555e-01 -3.64506804e-02 -2.27037858e-01 3.43680834e+00] [ 3.81990620e-02 9.99264666e-01 3.31039938e-03 -4.29108861e-01] [ 2.26750243e-01 -1.18943256e-02 9.73880307e-01 -1.42250142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91320100799999 meters Centerline goodness [0,1] 0.8955682055255864 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.43, Z:-0.14 [[ 9.73088651e-01 -4.13767270e-02 -2.26685783e-01 3.43672784e+00] [ 4.22292178e-02 9.99107354e-01 -1.08970099e-03 -4.28295354e-01] [ 2.26528521e-01 -8.51238764e-03 9.73967334e-01 -1.42915983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94320100799999 meters Centerline goodness [0,1] 0.8933587809023946 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.43, Z:-0.14 [[ 9.72950735e-01 -4.17608682e-02 -2.27206726e-01 3.43798093e+00] [ 4.27238059e-02 9.99086690e-01 -6.80301993e-04 -4.29661063e-01] [ 2.27027626e-01 -9.04523575e-03 9.73846313e-01 -1.41848358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97320100799999 meters Centerline goodness [0,1] 0.891679795487649 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.43, Z:-0.14 [[ 9.72801797e-01 -4.23427458e-02 -2.27736153e-01 3.43970761e+00] [ 4.33344902e-02 9.99060411e-01 -6.45883493e-04 -4.29648731e-01] [ 2.27549523e-01 -9.24051347e-03 9.73722665e-01 -1.41321778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00320100799999 meters Centerline goodness [0,1] 0.8910574875798438 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.43, Z:-0.14 [[ 9.72699249e-01 -3.97733645e-02 -2.28635629e-01 3.44425699e+00] [ 4.14461967e-02 9.99137565e-01 2.51763823e-03 -4.28401330e-01] [ 2.28338311e-01 -1.19249821e-02 9.73508814e-01 -1.41655283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03320100799999 meters Centerline goodness [0,1] 0.8916509211147851 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.43, Z:-0.14 [[ 9.72671694e-01 -4.03431619e-02 -2.28653022e-01 3.44549100e+00] [ 4.18498639e-02 9.99122391e-01 1.74247229e-03 -4.25801964e-01] [ 2.28382057e-01 -1.12639513e-02 9.73506425e-01 -1.42823030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.063201008 meters Centerline goodness [0,1] 0.8906204057630109 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.43, Z:-0.14 [[ 0.97258021 -0.0366097 -0.22966815 3.44823737] [ 0.03903147 0.99921991 0.00600907 -0.42664271] [ 0.229269 -0.01480858 0.97325045 -0.14151751] [ 0. 0. 0. 1. ]] SLAMing on 106.093201008 meters Centerline goodness [0,1] 0.890015234970116 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.14 [[ 0.97255653 -0.03688519 -0.22972436 3.44867685] [ 0.03922483 0.99921458 0.00562474 -0.42467269] [ 0.22933646 -0.01448128 0.97323948 -0.14174992] [ 0. 0. 0. 1. ]] SLAMing on 106.123201008 meters Centerline goodness [0,1] 0.8937978158033055 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.14 [[ 0.9727077 -0.03590791 -0.22923863 3.44535924] [ 0.03828461 0.9992493 0.00592735 -0.4215761 ] [ 0.2288537 -0.01454189 0.97335221 -0.14034839] [ 0. 0. 0. 1. ]] SLAMing on 106.153201008 meters Centerline goodness [0,1] 0.8958418026598525 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.14 [[ 0.97264732 -0.03123096 -0.23017781 3.44574036] [ 0.03472781 0.99933455 0.0111554 -0.42310577] [ 0.22967625 -0.01884384 0.97308465 -0.13685197] [ 0. 0. 0. 1. ]] SLAMing on 106.183201008 meters Centerline goodness [0,1] 0.8968442385639838 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.42, Z:-0.14 [[ 0.97271516 -0.0303008 -0.23001539 3.44298565] [ 0.0338187 0.99936335 0.01136645 -0.41960528] [ 0.22952454 -0.01883514 0.97312061 -0.1352366 ] [ 0. 0. 0. 1. ]] SLAMing on 106.213201008 meters Centerline goodness [0,1] 0.8961147192367378 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.13 [[ 0.97259421 -0.02633987 -0.23101239 3.4454032 ] [ 0.0306929 0.99941223 0.0152691 -0.41926459] [ 0.23047442 -0.02194107 0.97283099 -0.13431412] [ 0. 0. 0. 1. ]] SLAMing on 106.24320100799999 meters Centerline goodness [0,1] 0.8938032777474814 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.42, Z:-0.14 [[ 0.97262216 -0.02646452 -0.23088041 3.44559793] [ 0.03063031 0.99942594 0.01447671 -0.4157053 ] [ 0.23036475 -0.02115231 0.97287443 -0.13538926] [ 0. 0. 0. 1. ]] SLAMing on 106.27320100799999 meters Centerline goodness [0,1] 0.8903185223308744 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.41, Z:-0.14 [[ 0.97258175 -0.02237778 -0.23148213 3.44748651] [ 0.02731826 0.99946183 0.01815911 -0.41473935] [ 0.2309512 -0.02398491 0.97266966 -0.13528363] [ 0. 0. 0. 1. ]] SLAMing on 106.30320100799999 meters Centerline goodness [0,1] 0.8835836148408891 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.41, Z:-0.14 [[ 0.97261292 -0.01802807 -0.23173066 3.44816054] [ 0.02366995 0.99948669 0.02158922 -0.41035985] [ 0.23122249 -0.02648301 0.97254039 -0.13523692] [ 0. 0. 0. 1. ]] SLAMing on 106.33320100799999 meters Centerline goodness [0,1] 0.8815245111929725 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.41, Z:-0.14 [[ 0.97261956 -0.01816022 -0.23169246 3.44820616] [ 0.02364085 0.99950203 0.02089999 -0.4074875 ] [ 0.23119754 -0.02580514 0.97256454 -0.13584206] [ 0. 0. 0. 1. ]] SLAMing on 106.36320100799999 meters Centerline goodness [0,1] 0.8779935458302667 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.41, Z:-0.14 [[ 0.97262103 -0.01834865 -0.23167144 3.44836607] [ 0.02370628 0.99951156 0.02036302 -0.40548159] [ 0.23118465 -0.02529757 0.97258094 -0.13625828] [ 0. 0. 0. 1. ]] SLAMing on 106.39320100799999 meters Centerline goodness [0,1] 0.877064479638009 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.40, Z:-0.14 [[ 0.97254562 -0.01872037 -0.2319581 3.44905036] [ 0.02399703 0.999513 0.01994735 -0.4044328 ] [ 0.23147171 -0.02496602 0.97252123 -0.13612016] [ 0. 0. 0. 1. ]] SLAMing on 106.42320100799999 meters Centerline goodness [0,1] 0.8803486305813331 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.40, Z:-0.14 [[ 0.97243645 -0.01905259 -0.23238838 3.44951184] [ 0.02427574 0.99951243 0.01963657 -0.40311083] [ 0.23190095 -0.02473672 0.97242483 -0.13524228] [ 0. 0. 0. 1. ]] SLAMing on 106.453201008 meters Centerline goodness [0,1] 0.8813368275706597 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.40, Z:-0.14 [[ 0.97246507 -0.01901667 -0.23227151 3.44928704] [ 0.0241645 0.99952095 0.01933759 -0.40129836] [ 0.2317925 -0.02441785 0.97245874 -0.13555183] [ 0. 0. 0. 1. ]] SLAMing on 106.483201008 meters Centerline goodness [0,1] 0.8773603489517378 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.40, Z:-0.14 [[ 0.97251804 -0.01905593 -0.2320464 3.44940545] [ 0.02404195 0.99953645 0.0186779 -0.3983841 ] [ 0.23158291 -0.02374345 0.97252538 -0.13670187] [ 0. 0. 0. 1. ]] SLAMing on 106.513201008 meters Centerline goodness [0,1] 0.872468558303689 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.40, Z:-0.14 [[ 0.97252802 -0.01916033 -0.23199599 3.44992408] [ 0.02397758 0.99955112 0.0179621 -0.39538225] [ 0.23154769 -0.02303134 0.97255089 -0.13782522] [ 0. 0. 0. 1. ]] SLAMing on 106.543201008 meters Centerline goodness [0,1] 0.8688565697091274 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.39, Z:-0.14 [[ 0.97242829 -0.01514933 -0.23270953 3.45294184] [ 0.02059915 0.99956711 0.02100655 -0.39412957] [ 0.23229056 -0.02522098 0.97231939 -0.13904969] [ 0. 0. 0. 1. ]] SLAMing on 106.573201008 meters Centerline goodness [0,1] 0.8710864534835094 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.39, Z:-0.14 [[ 0.9724438 -0.01502873 -0.23265251 3.45321821] [ 0.02035022 0.99958293 0.02048969 -0.39259004] [ 0.23224754 -0.02465961 0.97234407 -0.14001854] [ 0. 0. 0. 1. ]] SLAMing on 106.60320100799998 meters Centerline goodness [0,1] 0.8693379306509468 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.39, Z:-0.14 [[ 0.97246822 -0.01503119 -0.23255024 3.45365321] [ 0.02017612 0.99960113 0.01976104 -0.39050447] [ 0.23216046 -0.02390895 0.97238361 -0.14128776] [ 0. 0. 0. 1. ]] SLAMing on 106.63320100799999 meters Centerline goodness [0,1] 0.8705296262280482 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.39, Z:-0.14 [[ 0.97256627 -0.01433648 -0.23218382 3.45237095] [ 0.0194338 0.99961742 0.01968123 -0.38898708] [ 0.23181283 -0.02365351 0.97247279 -0.14168814] [ 0. 0. 0. 1. ]] SLAMing on 106.66320100799999 meters Centerline goodness [0,1] 0.869888167886235 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97372115 -0.01114591 -0.22747063 3.46807012] [ 0.01465794 0.99979794 0.013756 -0.38560652] [ 0.22727135 -0.01672876 0.97368778 -0.14318385] [ 0. 0. 0. 1. ]] SLAMing on 106.69320100799999 meters Centerline goodness [0,1] 0.8657265311765519 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97374974 -0.01076263 -0.22736667 3.46739935] [ 0.01432597 0.99979897 0.01402775 -0.38558547] [ 0.22716999 -0.01691677 0.97370818 -0.14284977] [ 0. 0. 0. 1. ]] SLAMing on 106.72320100799999 meters Centerline goodness [0,1] 0.8669290029374273 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97371545 -0.01050462 -0.22752554 3.46731053] [ 0.01416715 0.99979493 0.01447003 -0.38662865] [ 0.22732688 -0.01731308 0.9736646 -0.14218353] [ 0. 0. 0. 1. ]] SLAMing on 106.75320100799999 meters Centerline goodness [0,1] 0.8684917098015335 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97363934 -0.01068743 -0.22784253 3.46843637] [ 0.01440692 0.99978862 0.01466791 -0.3878058 ] [ 0.2276376 -0.01756377 0.97358751 -0.14200925] [ 0. 0. 0. 1. ]] SLAMing on 106.78320100799999 meters Centerline goodness [0,1] 0.870977610902517 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97353093 -0.01120979 -0.22828023 3.47068641] [ 0.01500459 0.99977648 0.01489464 -0.39021883] [ 0.22806224 -0.01792565 0.97348153 -0.14220294] [ 0. 0. 0. 1. ]] SLAMing on 106.813201008 meters Centerline goodness [0,1] 0.8725150414506335 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97336096 -0.0118966 -0.22896924 3.47316291] [ 0.01569454 0.99976769 0.01477325 -0.39099881] [ 0.2287403 -0.01797327 0.97332155 -0.14219005] [ 0. 0. 0. 1. ]] SLAMing on 106.843201008 meters Centerline goodness [0,1] 0.8752120588480685 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.39, Z:-0.14 [[ 0.97325114 -0.01213587 -0.22942308 3.47444314] [ 0.01603498 0.99975682 0.01513857 -0.39244054] [ 0.22918357 -0.01841242 0.97320906 -0.14160764] [ 0. 0. 0. 1. ]] SLAMing on 106.873201008 meters Centerline goodness [0,1] 0.876623920878384 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97306146 -0.01248224 -0.23020769 3.47607897] [ 0.01667485 0.99972849 0.01627572 -0.39586898] [ 0.22994203 -0.01967595 0.97300541 -0.13951644] [ 0. 0. 0. 1. ]] SLAMing on 106.903201008 meters Centerline goodness [0,1] 0.8749192438414651 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97296616 -0.01264953 -0.23060103 3.47706391] [ 0.01697457 0.99971509 0.01678119 -0.39777146] [ 0.23032305 -0.02024188 0.97290367 -0.13874001] [ 0. 0. 0. 1. ]] SLAMing on 106.933201008 meters Centerline goodness [0,1] 0.8791357571996729 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97285962 -0.01297663 -0.23103194 3.47855458] [ 0.01737628 0.99970417 0.0170188 -0.39942982] [ 0.23074275 -0.02057138 0.97279731 -0.13848613] [ 0. 0. 0. 1. ]] SLAMing on 106.963201008 meters Centerline goodness [0,1] 0.8797761970365788 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97273381 -0.01338463 -0.23153788 3.48026668] [ 0.01782245 0.99969518 0.01708555 -0.40040856] [ 0.23123862 -0.02074626 0.97267584 -0.13832959] [ 0. 0. 0. 1. ]] SLAMing on 106.99320100799999 meters Centerline goodness [0,1] 0.8806331680937359 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.9726773 -0.01350661 -0.23176807 3.48143871] [ 0.01795697 0.99969247 0.01710279 -0.40068693] [ 0.23146579 -0.02079735 0.97262072 -0.1386829 ] [ 0. 0. 0. 1. ]] SLAMing on 107.02320100799999 meters Centerline goodness [0,1] 0.8834806598727549 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97265412 -0.01346887 -0.23186752 3.48169515] [ 0.01794424 0.99969098 0.01720308 -0.40084287] [ 0.23156416 -0.02089333 0.97259524 -0.13854506] [ 0. 0. 0. 1. ]] SLAMing on 107.05320100799999 meters Centerline goodness [0,1] 0.8851526416582178 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97262473 -0.01323492 -0.23200426 3.48162321] [ 0.01780568 0.99968623 0.01761808 -0.40184573] [ 0.23169829 -0.02126677 0.9725552 -0.13789704] [ 0. 0. 0. 1. ]] SLAMing on 107.08320100799999 meters Centerline goodness [0,1] 0.8876670614109288 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.40, Z:-0.14 [[ 0.97253398 -0.01338758 -0.23237564 3.48255368] [ 0.01801323 0.99967937 0.01779529 -0.40283491] [ 0.2320629 -0.02149236 0.97246331 -0.13750675] [ 0. 0. 0. 1. ]] SLAMing on 107.11320100799999 meters Centerline goodness [0,1] 0.886566827424768 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97238832 -0.01447901 -0.23291909 3.48538347] [ 0.01902543 0.99966959 0.01728445 -0.40269521] [ 0.23259187 -0.02123858 0.9723425 -0.13810183] [ 0. 0. 0. 1. ]] SLAMing on 107.14320100799999 meters Centerline goodness [0,1] 0.8856530687040117 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97231915 -0.01505567 -0.23317119 3.48702394] [ 0.01952799 0.99966674 0.01688366 -0.40222485] [ 0.23283929 -0.02096967 0.97228912 -0.13874956] [ 0. 0. 0. 1. ]] SLAMing on 107.17320100799999 meters Centerline goodness [0,1] 0.8873259248839499 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97222818 -0.01558534 -0.23351544 3.48846095] [ 0.02005285 0.99965828 0.01676948 -0.40208496] [ 0.23317429 -0.02098641 0.97220848 -0.13863109] [ 0. 0. 0. 1. ]] SLAMing on 107.203201008 meters Centerline goodness [0,1] 0.8894438330652671 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97216493 -0.01559754 -0.23377781 3.48868132] [ 0.02014572 0.99965116 0.01707972 -0.40298234] [ 0.23342986 -0.02131393 0.97214002 -0.13781097] [ 0. 0. 0. 1. ]] SLAMing on 107.233201008 meters Centerline goodness [0,1] 0.8934630174168741 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97204871 -0.01571424 -0.23425279 3.48884723] [ 0.02046339 0.99963113 0.01785665 -0.40458515] [ 0.23388578 -0.02215114 0.97201171 -0.13564907] [ 0. 0. 0. 1. ]] SLAMing on 107.263201008 meters Centerline goodness [0,1] 0.8937703065404718 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97202685 -0.01578722 -0.23433859 3.4888732 ] [ 0.02056136 0.99962756 0.0179435 -0.4040254 ] [ 0.23396804 -0.02225988 0.97198943 -0.1352056 ] [ 0. 0. 0. 1. ]] SLAMing on 107.293201008 meters Centerline goodness [0,1] 0.8916420014094433 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97200043 -0.01613412 -0.23442451 3.48949794] [ 0.02084153 0.99962757 0.01761703 -0.40264588] [ 0.23405297 -0.02200952 0.97197469 -0.13542311] [ 0. 0. 0. 1. ]] SLAMing on 107.323201008 meters Centerline goodness [0,1] 0.893216679285494 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97194444 -0.0166026 -0.23462387 3.49072382] [ 0.02120644 0.99962865 0.01711269 -0.40072844] [ 0.23425263 -0.02160812 0.97193559 -0.13592718] [ 0. 0. 0. 1. ]] SLAMing on 107.35320100799998 meters Centerline goodness [0,1] 0.8896200263209475 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97199215 -0.0162882 -0.23444819 3.49013908] [ 0.02072591 0.99964942 0.01647671 -0.39730493] [ 0.23409762 -0.02087439 0.97198897 -0.13667921] [ 0. 0. 0. 1. ]] SLAMing on 107.38320100799999 meters Centerline goodness [0,1] 0.8914707032340948 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.40, Z:-0.14 [[ 0.97206579 -0.01573724 -0.23418034 3.48886281] [ 0.02010741 0.99966518 0.01628555 -0.39509375] [ 0.23384565 -0.02053938 0.97205676 -0.13681671] [ 0. 0. 0. 1. ]] SLAMing on 107.41320100799999 meters Centerline goodness [0,1] 0.8933750276732344 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.39, Z:-0.14 [[ 0.97206563 -0.010634 -0.23446817 3.48868073] [ 0.01574104 0.99967764 0.01992065 -0.39200121] [ 0.23418075 -0.02305495 0.97191967 -0.13648938] [ 0. 0. 0. 1. ]] SLAMing on 107.44320100799999 meters Centerline goodness [0,1] 0.8886162498966116 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.39, Z:-0.14 [[ 0.97196653 -0.00614188 -0.23503902 3.49000631] [ 0.01205886 0.99964531 0.02374544 -0.39123143] [ 0.23480981 -0.02591408 0.97169584 -0.13608777] [ 0. 0. 0. 1. ]] SLAMing on 107.47320100799999 meters Centerline goodness [0,1] 0.892084942084942 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.39, Z:-0.14 [[ 0.97207184 -0.00515474 -0.23462685 3.48821985] [ 0.0110014 0.99966055 0.02361692 -0.38867088] [ 0.23442547 -0.02553857 0.97179858 -0.13648515] [ 0. 0. 0. 1. ]] SLAMing on 107.50320100799999 meters Centerline goodness [0,1] 0.8852364790891176 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73242588e-01 -3.28378378e-03 -2.29756572e-01 3.50365810e+00] [ 7.26940979e-03 9.99837392e-01 1.65028986e-02 -3.84816376e-01] [ 2.29665019e-01 -1.77315184e-02 9.73108202e-01 -1.38312360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53320100799999 meters Centerline goodness [0,1] 0.8872159943267054 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73300614e-01 -2.35327388e-03 -2.29522063e-01 3.50211720e+00] [ 6.31838622e-03 9.99843206e-01 1.65421321e-02 -3.82695554e-01] [ 2.29447147e-01 -1.75506764e-02 9.73162874e-01 -1.38249066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.563201008 meters Centerline goodness [0,1] 0.88708360548661 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73334612e-01 3.58048462e-03 -2.29361969e-01 3.49989615e+00] [ 1.25175827e-03 9.99780385e-01 2.09192395e-02 -3.80840715e-01] [ 2.29386498e-01 -2.06485256e-02 9.73116372e-01 -1.37187773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.593201008 meters Centerline goodness [0,1] 0.8822954026736224 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73368847e-01 4.11220965e-03 -2.29207717e-01 3.49892981e+00] [ 6.32302229e-04 9.99787137e-01 2.06223319e-02 -3.78831614e-01] [ 2.29243730e-01 -2.02180640e-02 9.73159053e-01 -1.37397128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.623201008 meters Centerline goodness [0,1] 0.8822954026736224 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73368847e-01 4.11220965e-03 -2.29207717e-01 3.49892981e+00] [ 6.32302229e-04 9.99787137e-01 2.06223319e-02 -3.78831614e-01] [ 2.29243730e-01 -2.02180640e-02 9.73159053e-01 -1.37397128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.653201008 meters Centerline goodness [0,1] 0.8840867108551559 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73395413e-01 4.34748186e-03 -2.29090525e-01 3.49852739e+00] [ 2.87643993e-04 9.99796010e-01 2.01954505e-02 -3.77107797e-01] [ 2.29131592e-01 -1.97240554e-02 9.73195600e-01 -1.37875144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.683201008 meters Centerline goodness [0,1] 0.8878024932779272 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73479519e-01 4.81809650e-03 -2.28723439e-01 3.49755835e+00] [-2.16804658e-04 9.99797184e-01 2.01381391e-02 -3.75961343e-01] [ 2.28774077e-01 -1.95544776e-02 9.73283126e-01 -1.38239760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.713201008 meters Centerline goodness [0,1] 0.8797378867801403 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73528939e-01 5.38016080e-03 -2.28500455e-01 3.49660886e+00] [-7.34852358e-04 9.99791429e-01 2.04097564e-02 -3.75983086e-01] [ 2.28562604e-01 -1.97015744e-02 9.73329843e-01 -1.38063225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74320100799999 meters Centerline goodness [0,1] 0.8842276864556446 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73468155e-01 5.14545688e-03 -2.28764672e-01 3.49745672e+00] [-4.74960029e-04 9.99790426e-01 2.04665346e-02 -3.76893720e-01] [ 2.28822038e-01 -1.98148656e-02 9.73266585e-01 -1.37808368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77320100799999 meters Centerline goodness [0,1] 0.8773878397554852 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73363029e-01 4.54408512e-03 -2.29224269e-01 3.49944453e+00] [ 2.01606757e-04 9.99786217e-01 2.06756041e-02 -3.79471037e-01] [ 2.29269216e-01 -2.01710818e-02 9.73154024e-01 -1.37630105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80320100799999 meters Centerline goodness [0,1] 0.8800822481151473 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73270993e-01 4.01595810e-03 -2.29624575e-01 3.50122167e+00] [ 7.38058413e-04 9.99787241e-01 2.06137976e-02 -3.80359891e-01] [ 2.29658505e-01 -2.02322876e-02 9.73060957e-01 -1.37795443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83320100799999 meters Centerline goodness [0,1] 0.8732132608160923 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.38, Z:-0.14 [[ 9.73106087e-01 3.08541532e-03 -2.30336763e-01 3.50430415e+00] [ 1.64835984e-03 9.99791431e-01 2.03562850e-02 -3.81447144e-01] [ 2.30351529e-01 -2.01885027e-02 9.72898041e-01 -1.38148629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86320100799999 meters Centerline goodness [0,1] 0.870818661971831 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.38, Z:-0.14 [[ 9.72974728e-01 2.44026087e-03 -2.30898729e-01 3.50677233e+00] [ 2.31414386e-03 9.99790894e-01 2.03177995e-02 -3.83347164e-01] [ 2.30900028e-01 -2.03030383e-02 9.72765626e-01 -1.38419003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89320100799999 meters Centerline goodness [0,1] 0.8673444086288122 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.39, Z:-0.14 [[ 9.72819125e-01 9.63083664e-04 -2.31564296e-01 3.51069552e+00] [ 3.78070919e-03 9.99792006e-01 2.00412137e-02 -3.86476293e-01] [ 2.31535434e-01 -2.03719533e-02 9.72613143e-01 -1.39029042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92320100799999 meters Centerline goodness [0,1] 0.8703555125190205 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.39, Z:-0.14 [[ 9.72760245e-01 6.23681479e-04 -2.31812676e-01 3.51220488e+00] [ 4.11750251e-03 9.99792136e-01 1.99682548e-02 -3.87209119e-01] [ 2.31776944e-01 -2.03788137e-02 9.72555475e-01 -1.39508116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.953201008 meters Centerline goodness [0,1] 0.8671998228962006 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.39, Z:-0.14 [[ 9.72677855e-01 1.61159724e-04 -2.32158921e-01 3.51401212e+00] [ 4.56343223e-03 9.99793279e-01 1.98134789e-02 -3.87528352e-01] [ 2.32114122e-01 -2.03315737e-02 9.72476047e-01 -1.39904156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.983201008 meters Centerline goodness [0,1] 0.863967835851934 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-0.14 [[ 9.72630367e-01 3.36703304e-05 -2.32357844e-01 3.51504744e+00] [ 4.71064457e-03 9.99791609e-01 1.98632385e-02 -3.88309540e-01] [ 2.32310091e-01 -2.04141442e-02 9.72427521e-01 -1.40161418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.013201008 meters Centerline goodness [0,1] 0.8654184223009739 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-0.14 [[ 9.72636802e-01 4.55362359e-04 -2.32330464e-01 3.51526866e+00] [ 4.45486230e-03 9.99777676e-01 2.06095407e-02 -3.91856873e-01] [ 2.32288196e-01 -2.10805980e-02 9.72418533e-01 -1.40046602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.043201008 meters Centerline goodness [0,1] 0.864636257048741 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-0.14 [[ 9.72599608e-01 4.72409983e-04 -2.32486086e-01 3.51591396e+00] [ 4.47441994e-03 9.99774680e-01 2.07501563e-02 -3.93124336e-01] [ 2.32443505e-01 -2.12218342e-02 9.72378348e-01 -1.40117367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.073201008 meters Centerline goodness [0,1] 0.8662275784753364 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.39, Z:-0.14 [[ 9.72571543e-01 6.73520477e-04 -2.32602969e-01 3.51622810e+00] [ 4.35489500e-03 9.99767805e-01 2.11038194e-02 -3.94657895e-01] [ 2.32563173e-01 -2.15379357e-02 9.72342783e-01 -1.39969248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10320100799998 meters Centerline goodness [0,1] 0.8706434128120875 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72560572e-01 9.63701048e-04 -2.32647814e-01 3.51680041e+00] [ 4.10415752e-03 9.99764740e-01 2.12983566e-02 -3.96721001e-01] [ 2.32613606e-01 -2.16687652e-02 9.72327812e-01 -1.40525047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13320100799999 meters Centerline goodness [0,1] 0.8694446778123162 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72597857e-01 1.06734658e-03 -2.32491441e-01 3.51723612e+00] [ 3.98046351e-03 9.99766448e-01 2.12415887e-02 -3.97116972e-01] [ 2.32459814e-01 -2.15849474e-02 9.72366456e-01 -1.41306497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16320100799999 meters Centerline goodness [0,1] 0.8704232448773933 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72645641e-01 1.39476618e-03 -2.32289715e-01 3.51711366e+00] [ 3.65549697e-03 9.99766247e-01 2.13093522e-02 -3.97546241e-01] [ 2.32265138e-01 -2.15755829e-02 9.72413184e-01 -1.41913565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19320100799999 meters Centerline goodness [0,1] 0.8724282145563758 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72683848e-01 1.68891598e-03 -2.32127721e-01 3.51715515e+00] [ 3.36925194e-03 9.99765482e-01 2.13922612e-02 -3.98246509e-01] [ 2.32109413e-01 -2.15900037e-02 9.72450046e-01 -1.42505119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22320100799999 meters Centerline goodness [0,1] 0.876148845550325 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72671697e-01 2.24619151e-03 -2.32173911e-01 3.51741254e+00] [ 2.90938812e-03 9.99756789e-01 2.18608744e-02 -4.00854332e-01] [ 2.32166547e-01 -2.19389378e-02 9.72428598e-01 -1.42641708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25320100799999 meters Centerline goodness [0,1] 0.8797265361242403 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72659880e-01 2.49927116e-03 -2.32220826e-01 3.51758528e+00] [ 2.70685045e-03 9.99752156e-01 2.20974865e-02 -4.02560258e-01] [ 2.32218500e-01 -2.21219256e-02 9.72412047e-01 -1.42690366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28320100799999 meters Centerline goodness [0,1] 0.8795943159024776 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72752309e-01 -2.11158481e-03 -2.31837198e-01 3.51737521e+00] [ 6.41438175e-03 9.99820862e-01 1.78073155e-02 -4.02109206e-01] [ 2.31758065e-01 -1.88091995e-02 9.72591596e-01 -1.43972892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.313201008 meters Centerline goodness [0,1] 0.8709932726553224 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.40, Z:-0.14 [[ 9.72592460e-01 -3.13382642e-03 -2.32495344e-01 3.52055258e+00] [ 7.44737851e-03 9.99815998e-01 1.76778353e-02 -4.04050146e-01] [ 2.32397165e-01 -1.89248101e-02 9.72436841e-01 -1.44294144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.343201008 meters Centerline goodness [0,1] 0.8687818923002366 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.41, Z:-0.15 [[ 0.97250107 -0.00910081 -0.23272052 3.52379093] [ 0.01249846 0.99983569 0.0131293 -0.40569039] [ 0.2325628 -0.0156769 0.97245503 -0.14604032] [ 0. 0. 0. 1. ]] SLAMing on 108.373201008 meters Centerline goodness [0,1] 0.8697500570645971 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.41, Z:-0.15 [[ 0.97238285 -0.00958157 -0.23319473 3.52590994] [ 0.01303684 0.99982682 0.0132803 -0.40761524] [ 0.2330271 -0.01595366 0.97233937 -0.14615804] [ 0. 0. 0. 1. ]] SLAMing on 108.403201008 meters Centerline goodness [0,1] 0.8635413983572308 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.41, Z:-0.15 [[ 0.97228223 -0.00982962 -0.23360362 3.5275697 ] [ 0.01336918 0.9998185 0.0135733 -0.4096162 ] [ 0.2334278 -0.01632017 0.97223717 -0.14609659] [ 0. 0. 0. 1. ]] SLAMing on 108.433201008 meters Centerline goodness [0,1] 0.8685112141191375 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.41, Z:-0.14 [[ 0.97213878 -0.01022917 -0.23418276 3.52887741] [ 0.01404378 0.99979439 0.01462719 -0.41421748] [ 0.23398499 -0.01750847 0.97208255 -0.1441454 ] [ 0. 0. 0. 1. ]] SLAMing on 108.463201008 meters Centerline goodness [0,1] 0.8696858472298489 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.42, Z:-0.14 [[ 0.97206242 -0.01011898 -0.23450429 3.52912313] [ 0.01415412 0.99977921 0.01553041 -0.41699568] [ 0.23429536 -0.01841573 0.97199102 -0.14267504] [ 0. 0. 0. 1. ]] SLAMing on 108.49320100799999 meters Centerline goodness [0,1] 0.8763384846906291 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.42, Z:-0.14 [[ 0.97219612 -0.01342643 -0.23378288 3.53043265] [ 0.01711534 0.99975887 0.01375757 -0.41814679] [ 0.23354179 -0.01737633 0.97219149 -0.1434955 ] [ 0. 0. 0. 1. ]] SLAMing on 108.52320100799999 meters Centerline goodness [0,1] 0.8768099087050067 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.42, Z:-0.14 [[ 0.9720563 -0.01396995 -0.23433178 3.53238128] [ 0.017725 0.99974591 0.01392598 -0.41979449] [ 0.23407769 -0.01769036 0.97205693 -0.1431622 ] [ 0. 0. 0. 1. ]] SLAMing on 108.55320100799999 meters Centerline goodness [0,1] 0.8782902399254601 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.42, Z:-0.14 [[ 0.97199331 -0.01435934 -0.23456942 3.5339669 ] [ 0.01808171 0.99974229 0.01372583 -0.41989704] [ 0.23431187 -0.01758283 0.97200246 -0.14377342] [ 0. 0. 0. 1. ]] SLAMing on 108.58320100799999 meters Centerline goodness [0,1] 0.8783539956929166 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.15 [[ 0.97198003 -0.01475731 -0.23459977 3.53561762] [ 0.01834358 0.99974576 0.01311184 -0.41826125] [ 0.23434663 -0.01704785 0.97200361 -0.14532547] [ 0. 0. 0. 1. ]] SLAMing on 108.61320100799999 meters Centerline goodness [0,1] 0.8762034566755597 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.15 [[ 0.97196763 -0.01466708 -0.23465678 3.53579333] [ 0.01826474 0.9997465 0.01316551 -0.41818311] [ 0.23440419 -0.01708239 0.97198913 -0.14527749] [ 0. 0. 0. 1. ]] SLAMing on 108.64320100799999 meters Centerline goodness [0,1] 0.8777250633058765 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97191341 -0.01441221 -0.23489701 3.5356175 ] [ 0.01812833 0.99974224 0.01366844 -0.41969181] [ 0.23463946 -0.01754283 0.97192416 -0.14425594] [ 0. 0. 0. 1. ]] SLAMing on 108.67320100799999 meters Centerline goodness [0,1] 0.8792166661824099 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97185167 -0.01443747 -0.23515079 3.53595366] [ 0.01821431 0.99973752 0.01389717 -0.42040636] [ 0.23488843 -0.0177891 0.97185954 -0.14355995] [ 0. 0. 0. 1. ]] SLAMing on 108.703201008 meters Centerline goodness [0,1] 0.8797293765788786 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97188009 -0.01406525 -0.23505586 3.53525053] [ 0.017854 0.99974261 0.01399802 -0.41997878] [ 0.23479847 -0.01780108 0.97188106 -0.14335004] [ 0. 0. 0. 1. ]] SLAMing on 108.733201008 meters Centerline goodness [0,1] 0.8823290020638935 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97185084 -0.01450658 -0.23514998 3.53643653] [ 0.01819479 0.99974302 0.0135223 -0.41884037] [ 0.23489338 -0.01742017 0.97186503 -0.14414388] [ 0. 0. 0. 1. ]] SLAMing on 108.763201008 meters Centerline goodness [0,1] 0.882952988837399 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97188345 -0.01932522 -0.23466807 3.53552096] [ 0.02212263 0.99971207 0.00929384 -0.41777344] [ 0.23442089 -0.014224 0.97203113 -0.14450141] [ 0. 0. 0. 1. ]] SLAMing on 108.793201008 meters Centerline goodness [0,1] 0.8840676781502083 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97176392 -0.01967016 -0.23513395 3.53645291] [ 0.0226029 0.99969665 0.00978372 -0.4191588 ] [ 0.23487017 -0.01482218 0.97191373 -0.14322238] [ 0. 0. 0. 1. ]] SLAMing on 108.823201008 meters Centerline goodness [0,1] 0.8894582083903462 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.14 [[ 0.97157317 -0.02106796 -0.23580015 3.54023682] [ 0.02380353 0.99967827 0.00876035 -0.41790331] [ 0.23553972 -0.0141242 0.97176208 -0.14447871] [ 0. 0. 0. 1. ]] SLAMing on 108.85320100799998 meters Centerline goodness [0,1] 0.8866946289176278 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.15 [[ 0.97149887 -0.02162855 -0.23605539 3.54191204] [ 0.02424894 0.9996723 0.00820297 -0.41668127] [ 0.23580061 -0.01369327 0.97170498 -0.14529326] [ 0. 0. 0. 1. ]] SLAMing on 108.88320100799999 meters Centerline goodness [0,1] 0.8909535737170152 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.42, Z:-0.15 [[ 0.97144095 -0.02209887 -0.23625014 3.54331069] [ 0.02460039 0.99966813 0.00764569 -0.41516366] [ 0.23600278 -0.01323918 0.97166219 -0.14607739] [ 0. 0. 0. 1. ]] SLAMing on 108.91320100799999 meters Centerline goodness [0,1] 0.8871761997727207 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.9713721 -0.02265576 -0.23648038 3.54504518] [ 0.02501737 0.99966258 0.00699026 -0.41384258] [ 0.23624221 -0.01270626 0.97161112 -0.14711663] [ 0. 0. 0. 1. ]] SLAMing on 108.94320100799999 meters Centerline goodness [0,1] 0.8870934870585495 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.97120177 -0.02372059 -0.2370748 3.5485176 ] [ 0.02580255 0.99965091 0.00568246 -0.41164691] [ 0.23685725 -0.01163595 0.97147478 -0.14905209] [ 0. 0. 0. 1. ]] SLAMing on 108.97320100799999 meters Centerline goodness [0,1] 0.8911661807580175 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.97112089 -0.02393527 -0.23738431 3.54959442] [ 0.02598034 0.99964738 0.00548992 -0.41124104] [ 0.2371692 -0.0114987 0.9714003 -0.14917118] [ 0. 0. 0. 1. ]] SLAMing on 109.00320100799999 meters Centerline goodness [0,1] 0.8899181450085933 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.97107952 -0.02394814 -0.23755221 3.54983041] [ 0.02601869 0.99964586 0.00558425 -0.41074124] [ 0.23733435 -0.01160355 0.97135872 -0.14874775] [ 0. 0. 0. 1. ]] SLAMing on 109.03320100799999 meters Centerline goodness [0,1] 0.8882364910036915 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.97094733 -0.01952103 -0.23849571 3.55108543] [ 0.02281096 0.99967881 0.01104207 -0.41304236] [ 0.23820356 -0.01616158 0.97108077 -0.14519726] [ 0. 0. 0. 1. ]] SLAMing on 109.063201008 meters Centerline goodness [0,1] 0.8886951974200297 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.15 [[ 0.97093535 -0.01959509 -0.23853842 3.55116844] [ 0.02287442 0.99967797 0.01098691 -0.41245344] [ 0.23824631 -0.01612401 0.97107091 -0.14501868] [ 0. 0. 0. 1. ]] SLAMing on 109.093201008 meters Centerline goodness [0,1] 0.8900448796409629 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97095973 -0.01932006 -0.23846163 3.55031548] [ 0.02265038 0.99968033 0.01123336 -0.41204608] [ 0.23816837 -0.01630839 0.97108695 -0.14437872] [ 0. 0. 0. 1. ]] SLAMing on 109.123201008 meters Centerline goodness [0,1] 0.8868981616574263 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97079284 -0.01439888 -0.23948681 3.5506861 ] [ 0.01901619 0.99967497 0.01698041 -0.41432265] [ 0.23916447 -0.02103859 0.97075112 -0.14004807] [ 0. 0. 0. 1. ]] SLAMing on 109.153201008 meters Centerline goodness [0,1] 0.8891510808133776 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.9708044 -0.01431192 -0.23944514 3.55029707] [ 0.01890337 0.99967865 0.01688971 -0.4128464 ] [ 0.23912647 -0.02092292 0.97076298 -0.13987516] [ 0. 0. 0. 1. ]] SLAMing on 109.183201008 meters Centerline goodness [0,1] 0.8878599628425453 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97079164 -0.01442954 -0.23948982 3.55062547] [ 0.0189495 0.99968294 0.01658128 -0.41111114] [ 0.23917463 -0.02063518 0.97075727 -0.14013228] [ 0. 0. 0. 1. ]] SLAMing on 109.213201008 meters Centerline goodness [0,1] 0.8833241126284832 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97073145 -0.01485559 -0.23970766 3.55142142] [ 0.01934209 0.99967882 0.01637478 -0.41043855] [ 0.23938741 -0.02053196 0.97070701 -0.13997032] [ 0. 0. 0. 1. ]] SLAMing on 109.24320100799999 meters Centerline goodness [0,1] 0.886447099970854 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97055016 -0.01565865 -0.24038965 3.55337062] [ 0.02020345 0.9996605 0.016453 -0.41146619] [ 0.24005041 -0.02082516 0.97053702 -0.13902418] [ 0. 0. 0. 1. ]] SLAMing on 109.27320100799999 meters Centerline goodness [0,1] 0.8925497696253152 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97032401 -0.01700901 -0.24120946 3.55674602] [ 0.02142137 0.99964754 0.01568206 -0.4100427 ] [ 0.24085771 -0.02038372 0.97034637 -0.13919951] [ 0. 0. 0. 1. ]] SLAMing on 109.30320100799999 meters Centerline goodness [0,1] 0.893456473604475 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97030105 -0.01701168 -0.24130162 3.55681585] [ 0.02144327 0.99964598 0.01575115 -0.40989425] [ 0.24094824 -0.02045765 0.97032233 -0.13890495] [ 0. 0. 0. 1. ]] SLAMing on 109.33320100799999 meters Centerline goodness [0,1] 0.8909424831647378 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97023508 -0.01733402 -0.24154381 3.5576815 ] [ 0.02175019 0.99964127 0.01562862 -0.40898913] [ 0.24118626 -0.02041706 0.97026405 -0.13872468] [ 0. 0. 0. 1. ]] SLAMing on 109.36320100799999 meters Centerline goodness [0,1] 0.8916883192713048 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97019858 -0.01746718 -0.2416808 3.55829565] [ 0.02189098 0.99963816 0.01563114 -0.40865745] [ 0.24132032 -0.02045594 0.9702299 -0.1386918 ] [ 0. 0. 0. 1. ]] SLAMing on 109.39320100799999 meters Centerline goodness [0,1] 0.891570132181728 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97017062 -0.0175483 -0.24178714 3.55877687] [ 0.02198552 0.99963554 0.01566585 -0.40866368] [ 0.24142411 -0.02051437 0.97020285 -0.13869422] [ 0. 0. 0. 1. ]] SLAMing on 109.42320100799999 meters Centerline goodness [0,1] 0.8948380891311318 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97014571 -0.01764479 -0.24188005 3.559294 ] [ 0.02206675 0.99963502 0.01558462 -0.40855361] [ 0.24151679 -0.02045686 0.97018099 -0.13885894] [ 0. 0. 0. 1. ]] SLAMing on 109.453201008 meters Centerline goodness [0,1] 0.8946015424164524 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97017716 -0.01692644 -0.24180524 3.5579124 ] [ 0.02150488 0.99963573 0.01630761 -0.40956687] [ 0.24144112 -0.02102127 0.97018776 -0.13770425] [ 0. 0. 0. 1. ]] SLAMing on 109.483201008 meters Centerline goodness [0,1] 0.8964420186217565 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97017039 -0.01660009 -0.241855 3.55720663] [ 0.02127032 0.99963408 0.01671177 -0.40991334] [ 0.24148909 -0.0213576 0.97016848 -0.13673322] [ 0. 0. 0. 1. ]] SLAMing on 109.513201008 meters Centerline goodness [0,1] 0.8954065254187824 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97022316 -0.01580756 -0.24169636 3.55556213] [ 0.0206035 0.99963755 0.01732818 -0.41022878] [ 0.24133485 -0.02179199 0.9701972 -0.13578458] [ 0. 0. 0. 1. ]] SLAMing on 109.543201008 meters Centerline goodness [0,1] 0.8954065254187824 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97022316 -0.01580756 -0.24169636 3.55556213] [ 0.0206035 0.99963755 0.01732818 -0.41022878] [ 0.24133485 -0.02179199 0.9701972 -0.13578458] [ 0. 0. 0. 1. ]] SLAMing on 109.573201008 meters Centerline goodness [0,1] 0.8923587846301745 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.41, Z:-0.14 [[ 0.97027241 -0.01546074 -0.24152105 3.55486964] [ 0.02025294 0.99964396 0.01737173 -0.40964422] [ 0.24116647 -0.02174682 0.97024008 -0.13581283] [ 0. 0. 0. 1. ]] SLAMing on 109.60320100799998 meters Centerline goodness [0,1] 0.895440091023135 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97020785 -0.01561677 -0.24177022 3.55572488] [ 0.02044131 0.99963859 0.01745951 -0.41003222] [ 0.24141018 -0.02188145 0.97017644 -0.13562981] [ 0. 0. 0. 1. ]] SLAMing on 109.63320100799999 meters Centerline goodness [0,1] 0.8956795705825724 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.97009133 -0.0161811 -0.24220028 3.55746412] [ 0.02103745 0.9996259 0.01747811 -0.4109319 ] [ 0.24182686 -0.02205064 0.97006883 -0.1354491 ] [ 0. 0. 0. 1. ]] SLAMing on 109.66320100799999 meters Centerline goodness [0,1] 0.8935510299625469 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.96998244 -0.0167607 -0.24259666 3.55935627] [ 0.02159492 0.99961743 0.01728138 -0.41138123] [ 0.2422142 -0.02200149 0.96997331 -0.13575599] [ 0. 0. 0. 1. ]] SLAMing on 109.69320100799999 meters Centerline goodness [0,1] 0.8924847703842549 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.96988258 -0.01756943 -0.24293846 3.56154432] [ 0.02233436 0.99960816 0.01687326 -0.41132852] [ 0.24254682 -0.02179096 0.96989494 -0.13637202] [ 0. 0. 0. 1. ]] SLAMing on 109.72320100799999 meters Centerline goodness [0,1] 0.8883180176741728 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.96976466 -0.01815628 -0.24336568 3.56351346] [ 0.0229301 0.99959595 0.0167972 -0.41202149] [ 0.24296237 -0.02186973 0.96978915 -0.13651107] [ 0. 0. 0. 1. ]] SLAMing on 109.75320100799999 meters Centerline goodness [0,1] 0.8908516231943993 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.41, Z:-0.14 [[ 0.96966803 -0.02337606 -0.24330531 3.56456756] [ 0.02720607 0.99955302 0.01239284 -0.41258781] [ 0.24290687 -0.01863632 0.96987058 -0.13750331] [ 0. 0. 0. 1. ]] SLAMing on 109.78320100799999 meters Centerline goodness [0,1] 0.8869472499481681 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.42, Z:-0.14 [[ 0.9695699 -0.02324945 -0.24370815 3.56493697] [ 0.02729574 0.99953973 0.01323868 -0.41533725] [ 0.24328819 -0.01948802 0.96975826 -0.13605173] [ 0. 0. 0. 1. ]] SLAMing on 109.813201008 meters Centerline goodness [0,1] 0.8858879335902757 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.13 [[ 0.96943925 -0.02352447 -0.24420101 3.56615434] [ 0.02772032 0.99952102 0.013759 -0.41712643] [ 0.24376037 -0.02010784 0.96962702 -0.1349912 ] [ 0. 0. 0. 1. ]] SLAMing on 109.843201008 meters Centerline goodness [0,1] 0.8840644317641464 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.13 [[ 0.96933408 -0.0239846 -0.24457346 3.5676354 ] [ 0.02825272 0.99950336 0.01395751 -0.41817712] [ 0.24411723 -0.02043936 0.9695303 -0.13462243] [ 0. 0. 0. 1. ]] SLAMing on 109.873201008 meters Centerline goodness [0,1] 0.8793987832518192 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.14 [[ 0.96916862 -0.02603667 -0.24501892 3.57205014] [ 0.03022839 0.9994537 0.01336209 -0.41911638] [ 0.24453716 -0.02035664 0.96942621 -0.13561792] [ 0. 0. 0. 1. ]] SLAMing on 109.903201008 meters Centerline goodness [0,1] 0.8792969913613345 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.14 [[ 0.96904777 -0.02668418 -0.24542691 3.57416493] [ 0.03088447 0.99943473 0.01328066 -0.41958174] [ 0.24493379 -0.02044947 0.96932412 -0.13582927] [ 0. 0. 0. 1. ]] SLAMing on 109.933201008 meters Centerline goodness [0,1] 0.8754290148327215 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.42, Z:-0.14 [[ 0.9689359 -0.02719731 -0.24581198 3.57568912] [ 0.03144019 0.99941645 0.01335202 -0.42014596] [ 0.2453054 -0.02066562 0.96922556 -0.13553706] [ 0. 0. 0. 1. ]] SLAMing on 109.963201008 meters Centerline goodness [0,1] 0.8764651495720123 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.42, Z:-0.13 [[ 0.96884649 -0.02730047 -0.24615271 3.57629099] [ 0.03167725 0.99940235 0.01383791 -0.42137824] [ 0.24562782 -0.02120426 0.96913227 -0.13452651] [ 0. 0. 0. 1. ]] SLAMing on 109.99320100799999 meters Centerline goodness [0,1] 0.8752838532329389 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.13 [[ 0.96891244 -0.0311823 -0.24543095 3.57281639] [ 0.03490764 0.99933173 0.01084212 -0.42230799] [ 0.24492885 -0.01907248 0.96935344 -0.13267658] [ 0. 0. 0. 1. ]] SLAMing on 110.02320100799999 meters Centerline goodness [0,1] 0.8745437137215009 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.13 [[ 0.96890886 -0.0307994 -0.24549342 3.5717777 ] [ 0.03474774 0.99932684 0.01176703 -0.42398239] [ 0.24496574 -0.01993152 0.96932684 -0.13087807] [ 0. 0. 0. 1. ]] SLAMing on 110.05320100799999 meters Centerline goodness [0,1] 0.8696640641359299 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.42, Z:-0.13 [[ 0.96890446 -0.03090253 -0.24549781 3.57182635] [ 0.03486109 0.99932257 0.01179426 -0.42354777] [ 0.24496703 -0.01998584 0.9693254 -0.13067328] [ 0. 0. 0. 1. ]] SLAMing on 110.08320100799999 meters Centerline goodness [0,1] 0.863383093471589 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.42, Z:-0.13 [[ 0.96882398 -0.02756264 -0.24621208 3.57529007] [ 0.03222969 0.99936875 0.01494508 -0.42137481] [ 0.24564473 -0.02241449 0.96910075 -0.13128862] [ 0. 0. 0. 1. ]] SLAMing on 110.11320100799999 meters Centerline goodness [0,1] 0.8624698920574504 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.42, Z:-0.13 [[ 0.96884297 -0.02772085 -0.24611958 3.57595306] [ 0.03217713 0.99938269 0.01410229 -0.41848376] [ 0.24557672 -0.02158233 0.96913687 -0.13278429] [ 0. 0. 0. 1. ]] SLAMing on 110.14320100799999 meters Centerline goodness [0,1] 0.8591566014778764 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.42, Z:-0.13 [[ 0.96884873 -0.02780149 -0.2460878 3.57641998] [ 0.03209336 0.99939442 0.01344627 -0.41606595] [ 0.24556495 -0.02092519 0.96915427 -0.1337857 ] [ 0. 0. 0. 1. ]] SLAMing on 110.17320100799999 meters Centerline goodness [0,1] 0.8595497285913446 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.13 [[ 0.9688806 -0.02770323 -0.2459734 3.57645831] [ 0.03185591 0.99940898 0.01291895 -0.41436071] [ 0.24547013 -0.02035263 0.96919048 -0.13472355] [ 0. 0. 0. 1. ]] SLAMing on 110.203201008 meters Centerline goodness [0,1] 0.8600065044496349 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96897221 -0.02720857 -0.24566755 3.57542534] [ 0.03114698 0.99944085 0.01215952 -0.41103284] [ 0.24519934 -0.01943404 0.96927788 -0.13593846] [ 0. 0. 0. 1. ]] SLAMing on 110.233201008 meters Centerline goodness [0,1] 0.854202855881054 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96903795 -0.02700752 -0.24543034 3.57454551] [ 0.03089341 0.99945069 0.01199608 -0.40949283] [ 0.24497154 -0.01920684 0.96934 -0.13602876] [ 0. 0. 0. 1. ]] SLAMing on 110.263201008 meters Centerline goodness [0,1] 0.849977950904013 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96907523 -0.02699838 -0.2452841 3.57423841] [ 0.03079277 0.99945793 0.01164675 -0.40766213] [ 0.24483669 -0.01883955 0.96938128 -0.13641774] [ 0. 0. 0. 1. ]] SLAMing on 110.293201008 meters Centerline goodness [0,1] 0.8492378671961689 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96904962 -0.02313806 -0.24577929 3.57619037] [ 0.02767766 0.99950388 0.01503156 -0.40550742] [ 0.24530955 -0.02136892 0.96920926 -0.13656878] [ 0. 0. 0. 1. ]] SLAMing on 110.323201008 meters Centerline goodness [0,1] 0.8421052631578947 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.40, Z:-0.14 [[ 0.96911503 -0.02315263 -0.2455199 3.57588676] [ 0.02756165 0.9995144 0.01453657 -0.40329757] [ 0.24506412 -0.02085454 0.96928255 -0.13733563] [ 0. 0. 0. 1. ]] SLAMing on 110.35320100799998 meters Centerline goodness [0,1] 0.8436492491794708 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.40, Z:-0.14 [[ 0.96916798 -0.02298927 -0.24532616 3.57528684] [ 0.02732572 0.99952449 0.01428659 -0.40144276] [ 0.24488106 -0.02054982 0.96933532 -0.13761765] [ 0. 0. 0. 1. ]] SLAMing on 110.38320100799999 meters Centerline goodness [0,1] 0.8385035704992917 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96936671 -0.02165938 -0.2446611 3.57160513] [ 0.02606776 0.9995507 0.01479422 -0.39925492] [ 0.24423074 -0.02071879 0.96949579 -0.1366686 ] [ 0. 0. 0. 1. ]] SLAMing on 110.41320100799999 meters Centerline goodness [0,1] 0.8390668362627197 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96948283 -0.02123854 -0.24423753 3.57022778] [ 0.02560957 0.99956342 0.01473473 -0.39779711] [ 0.24381796 -0.02053989 0.96960348 -0.13687164] [ 0. 0. 0. 1. ]] SLAMing on 110.44320100799999 meters Centerline goodness [0,1] 0.8383899676375405 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96953307 -0.02118027 -0.24404309 3.56997939] [ 0.02545212 0.99957284 0.01436406 -0.39608333] [ 0.24363461 -0.02013785 0.969658 -0.13747659] [ 0. 0. 0. 1. ]] SLAMing on 110.47320100799999 meters Centerline goodness [0,1] 0.8349651965456488 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96958942 -0.02109266 -0.24382671 3.56974544] [ 0.02527655 0.99958186 0.01404292 -0.39464153] [ 0.24342855 -0.01977897 0.96971714 -0.13814222] [ 0. 0. 0. 1. ]] SLAMing on 110.50320100799999 meters Centerline goodness [0,1] 0.8346771871220411 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96962169 -0.02092206 -0.24371306 3.56943093] [ 0.02506018 0.99958943 0.01389103 -0.39351061] [ 0.24332237 -0.01957654 0.9697479 -0.13840326] [ 0. 0. 0. 1. ]] SLAMing on 110.53320100799999 meters Centerline goodness [0,1] 0.8321603998506305 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96967292 -0.02095348 -0.24350641 3.56973596] [ 0.0249625 0.99959872 0.01338932 -0.39191522] [ 0.24312814 -0.01906179 0.96980686 -0.13960506] [ 0. 0. 0. 1. ]] SLAMing on 110.563201008 meters Centerline goodness [0,1] 0.8303355240401246 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96961769 -0.02127269 -0.24369862 3.5708236 ] [ 0.02522371 0.99959595 0.01310333 -0.39118112] [ 0.24332141 -0.01885221 0.96976249 -0.14001107] [ 0. 0. 0. 1. ]] SLAMing on 110.593201008 meters Centerline goodness [0,1] 0.825248881835233 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96959016 -0.02142679 -0.24379461 3.571633 ] [ 0.02536286 0.99959356 0.0130171 -0.39136125] [ 0.2434166 -0.01880458 0.96973952 -0.14040065] [ 0. 0. 0. 1. ]] SLAMing on 110.623201008 meters Centerline goodness [0,1] 0.8245305840340975 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96952145 -0.02192214 -0.24402372 3.57326562] [ 0.02582454 0.99958449 0.01280376 -0.39172461] [ 0.24364164 -0.01871532 0.96968474 -0.14095197] [ 0. 0. 0. 1. ]] SLAMing on 110.653201008 meters Centerline goodness [0,1] 0.8240791327601575 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.96947268 -0.02233648 -0.24417985 3.57461165] [ 0.02617585 0.99957933 0.01248952 -0.39121297] [ 0.24379815 -0.01849987 0.96964953 -0.1415971 ] [ 0. 0. 0. 1. ]] SLAMing on 110.683201008 meters Centerline goodness [0,1] 0.8244125514107394 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.39, Z:-0.14 [[ 0.96943297 -0.02248316 -0.24432403 3.57541748] [ 0.02633816 0.99957466 0.01252223 -0.3912756 ] [ 0.24393857 -0.01857451 0.96961279 -0.14171982] [ 0. 0. 0. 1. ]] SLAMing on 110.713201008 meters Centerline goodness [0,1] 0.8244021895707289 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.39, Z:-0.14 [[ 0.96940914 -0.02228653 -0.24443656 3.57525015] [ 0.02626531 0.99957009 0.01302949 -0.39236837] [ 0.24404109 -0.01905111 0.96957774 -0.14093271] [ 0. 0. 0. 1. ]] SLAMing on 110.74320100799999 meters Centerline goodness [0,1] 0.8251998499321809 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96935916 -0.02164632 -0.24469217 3.57436607] [ 0.02602761 0.99955335 0.01468561 -0.39637597] [ 0.24426498 -0.02060438 0.9694896 -0.13826743] [ 0. 0. 0. 1. ]] SLAMing on 110.77320100799999 meters Centerline goodness [0,1] 0.8241806010374706 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96934328 -0.021337 -0.24478223 3.57398705] [ 0.0258409 0.99955047 0.01520244 -0.39748172] [ 0.24434781 -0.02106177 0.96945889 -0.13749504] [ 0. 0. 0. 1. ]] SLAMing on 110.80320100799999 meters Centerline goodness [0,1] 0.8220297244835878 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96935186 -0.02126356 -0.24475462 3.5741925 ] [ 0.02578748 0.99955046 0.01529343 -0.39759131] [ 0.2443194 -0.02113632 0.96946443 -0.13768856] [ 0. 0. 0. 1. ]] SLAMing on 110.83320100799999 meters Centerline goodness [0,1] 0.8261498827684024 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96939588 -0.02105046 -0.24459866 3.57410676] [ 0.02558541 0.99955436 0.01537747 -0.39733905] [ 0.24416595 -0.02116501 0.96950247 -0.13805453] [ 0. 0. 0. 1. ]] SLAMing on 110.86320100799999 meters Centerline goodness [0,1] 0.8248021260615864 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.40, Z:-0.14 [[ 0.96942061 -0.0162089 -0.24486925 3.5750274 ] [ 0.02168255 0.99957131 0.019674 -0.39817673] [ 0.24444538 -0.02438177 0.96935648 -0.1378898 ] [ 0. 0. 0. 1. ]] SLAMing on 110.89320100799999 meters Centerline goodness [0,1] 0.8255803893294881 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96947847 -0.01583694 -0.24466444 3.57443028] [ 0.02124561 0.99958443 0.01948303 -0.39709384] [ 0.24425422 -0.02408642 0.96941205 -0.13837906] [ 0. 0. 0. 1. ]] SLAMing on 110.92320100799999 meters Centerline goodness [0,1] 0.8224460930058021 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96957062 -0.01517032 -0.24434131 3.57317194] [ 0.02057179 0.99959684 0.01956935 -0.39684139] [ 0.24394593 -0.02400041 0.96949181 -0.13862064] [ 0. 0. 0. 1. ]] SLAMing on 110.953201008 meters Centerline goodness [0,1] 0.8292675885562516 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96971934 -0.01335551 -0.24385657 3.57023174] [ 0.0188108 0.99962189 0.02005577 -0.39747146] [ 0.24349651 -0.02403561 0.96960391 -0.13873759] [ 0. 0. 0. 1. ]] SLAMing on 110.983201008 meters Centerline goodness [0,1] 0.8327514067234165 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96979187 -0.01285776 -0.24359477 3.56970489] [ 0.01822693 0.9996378 0.01980023 -0.39645264] [ 0.24325195 -0.02364208 0.96967497 -0.13965844] [ 0. 0. 0. 1. ]] SLAMing on 111.013201008 meters Centerline goodness [0,1] 0.8324360118619181 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.969889 -0.01229793 -0.24323668 3.56915084] [ 0.01756061 0.99965603 0.01947959 -0.39445355] [ 0.24291346 -0.02316442 0.96977135 -0.14090177] [ 0. 0. 0. 1. ]] SLAMing on 111.043201008 meters Centerline goodness [0,1] 0.8307093425605536 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.97001021 -0.0118492 -0.24277517 3.5689566 ] [ 0.01695194 0.9996769 0.01894008 -0.39210581] [ 0.24247231 -0.02248759 0.96989767 -0.14283925] [ 0. 0. 0. 1. ]] SLAMing on 111.073201008 meters Centerline goodness [0,1] 0.839381372040781 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.97001329 -0.00650933 -0.2429647 3.56970512] [ 0.01250319 0.99965414 0.0231358 -0.39298651] [ 0.24273007 -0.02547986 0.96975919 -0.1434225 ] [ 0. 0. 0. 1. ]] SLAMing on 111.10320100799998 meters Centerline goodness [0,1] 0.8392193040620406 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.39, Z:-0.14 [[ 0.97004205 -0.00600603 -0.24286281 3.56917799] [ 0.01202768 0.99965571 0.02331934 -0.39377846] [ 0.24263914 -0.02554181 0.96978032 -0.14353235] [ 0. 0. 0. 1. ]] SLAMing on 111.13320100799999 meters Centerline goodness [0,1] 0.8446123237507569 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96999186 -0.00590953 -0.24306556 3.56968768] [ 0.01196181 0.99965388 0.02343144 -0.39506307] [ 0.24284296 -0.02563581 0.96972682 -0.1434063 ] [ 0. 0. 0. 1. ]] SLAMing on 111.16320100799999 meters Centerline goodness [0,1] 0.8442736623136484 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96991926 -0.00584371 -0.24335671 3.57041197] [ 0.01195526 0.99964895 0.02364422 -0.39660081] [ 0.24313311 -0.02584237 0.96964863 -0.14314507] [ 0. 0. 0. 1. ]] SLAMing on 111.19320100799999 meters Centerline goodness [0,1] 0.846735853432282 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96983371 -0.00586621 -0.24369686 3.5717299 ] [ 0.01209797 0.99963676 0.02408294 -0.39939324] [ 0.24346706 -0.02630468 0.9695524 -0.14292337] [ 0. 0. 0. 1. ]] SLAMing on 111.22320100799999 meters Centerline goodness [0,1] 0.8478651815755889 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96979975 -0.00598151 -0.24382918 3.57277125] [ 0.01223261 0.99963396 0.02413106 -0.40035607] [ 0.24359559 -0.02638497 0.96951793 -0.14332283] [ 0. 0. 0. 1. ]] SLAMing on 111.25320100799999 meters Centerline goodness [0,1] 0.8473783587509078 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96976539 -0.00613421 -0.24396199 3.57383276] [ 0.01238597 0.99963282 0.02410021 -0.40111015] [ 0.24372458 -0.02639326 0.96948529 -0.14382143] [ 0. 0. 0. 1. ]] SLAMing on 111.28320100799999 meters Centerline goodness [0,1] 0.8496638826644938 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.40, Z:-0.14 [[ 0.96975816 -0.00600347 -0.24399399 3.57418779] [ 0.01233669 0.99962526 0.02443659 -0.40231483] [ 0.24375585 -0.02670766 0.96946882 -0.14381661] [ 0. 0. 0. 1. ]] SLAMing on 111.313201008 meters Centerline goodness [0,1] 0.8482515239011871 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96961198 -0.00590488 -0.24457666 3.5750611 ] [ 0.01262 0.99958493 0.02589813 -0.40644449] [ 0.24432221 -0.0281977 0.96928404 -0.1415699 ] [ 0. 0. 0. 1. ]] SLAMing on 111.343201008 meters Centerline goodness [0,1] 0.8475872374088073 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96972334 -0.01021805 -0.24399228 3.57357852] [ 0.01604401 0.99963137 0.0219022 -0.40648945] [ 0.24367854 -0.02515368 0.96952981 -0.14220308] [ 0. 0. 0. 1. ]] SLAMing on 111.373201008 meters Centerline goodness [0,1] 0.8487071875091715 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96955812 -0.0104066 -0.24464004 3.57486905] [ 0.01642536 0.99961021 0.02257519 -0.40934971] [ 0.24430975 -0.02590626 0.96935113 -0.14079124] [ 0. 0. 0. 1. ]] SLAMing on 111.403201008 meters Centerline goodness [0,1] 0.8481158223742407 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96961754 -0.01484843 -0.24417484 3.57376443] [ 0.01994766 0.99963126 0.01842387 -0.40895321] [ 0.24381123 -0.02273482 0.96955619 -0.14148358] [ 0. 0. 0. 1. ]] SLAMing on 111.433201008 meters Centerline goodness [0,1] 0.8481158223742407 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96961754 -0.01484843 -0.24417484 3.57376443] [ 0.01994766 0.99963126 0.01842387 -0.40895321] [ 0.24381123 -0.02273482 0.96955619 -0.14148358] [ 0. 0. 0. 1. ]] SLAMing on 111.463201008 meters Centerline goodness [0,1] 0.8501407615943103 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96965152 -0.01914409 -0.24374051 3.5725332 ] [ 0.02347806 0.99961349 0.01488816 -0.40962279] [ 0.24336128 -0.02015888 0.9697262 -0.14135582] [ 0. 0. 0. 1. ]] SLAMing on 111.49320100799999 meters Centerline goodness [0,1] 0.8450262090206415 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.41, Z:-0.14 [[ 0.96950136 -0.01950728 -0.24430838 3.57415672] [ 0.02393497 0.99959845 0.01516748 -0.41093259] [ 0.2439144 -0.02055241 0.96957896 -0.14065214] [ 0. 0. 0. 1. ]] SLAMing on 111.52320100799999 meters Centerline goodness [0,1] 0.8465472389736313 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96935869 -0.02010326 -0.24482561 3.57615146] [ 0.02454586 0.99958454 0.01510804 -0.41142953] [ 0.24442018 -0.02065457 0.96944941 -0.1404717 ] [ 0. 0. 0. 1. ]] SLAMing on 111.55320100799999 meters Centerline goodness [0,1] 0.844783187805239 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96923071 -0.02121125 -0.24523847 3.5794888 ] [ 0.02548975 0.99957301 0.01428509 -0.4098086 ] [ 0.24483075 -0.02009662 0.96935754 -0.14203149] [ 0. 0. 0. 1. ]] SLAMing on 111.58320100799999 meters Centerline goodness [0,1] 0.8442206603272104 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96915475 -0.02180338 -0.24548663 3.58130182] [ 0.02597451 0.99956782 0.01376597 -0.408951 ] [ 0.24508039 -0.01971775 0.96930223 -0.14287676] [ 0. 0. 0. 1. ]] SLAMing on 111.61320100799999 meters Centerline goodness [0,1] 0.8448433670908501 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.41, Z:-0.14 [[ 0.96901847 -0.02258343 -0.24595365 3.58367861] [ 0.02668003 0.99955506 0.01333609 -0.40883298] [ 0.24554304 -0.01948497 0.96918984 -0.1433027 ] [ 0. 0. 0. 1. ]] SLAMing on 111.64320100799999 meters Centerline goodness [0,1] 0.8483815508655442 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.41, Z:-0.14 [[ 0.96875432 -0.02347445 -0.24690892 3.58673476] [ 0.02759223 0.99953171 0.01323013 -0.41008661] [ 0.24648273 -0.01962951 0.96894837 -0.14271885] [ 0. 0. 0. 1. ]] SLAMing on 111.67320100799999 meters Centerline goodness [0,1] 0.8515958709065021 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.41, Z:-0.14 [[ 0.9685718 -0.0241116 -0.24756272 3.58899368] [ 0.02827974 0.99951164 0.01329412 -0.41156567] [ 0.24712128 -0.01987732 0.96878066 -0.14226699] [ 0. 0. 0. 1. ]] SLAMing on 111.703201008 meters Centerline goodness [0,1] 0.8501795945023303 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.41, Z:-0.14 [[ 0.96832412 -0.02509018 -0.24843284 3.59193315] [ 0.0293248 0.99948066 0.0133588 -0.4137403 ] [ 0.24796865 -0.02022089 0.968557 -0.14151929] [ 0. 0. 0. 1. ]] SLAMing on 111.733201008 meters Centerline goodness [0,1] 0.8515867334764973 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.42, Z:-0.14 [[ 0.96810636 -0.02593273 -0.24919386 3.59459686] [ 0.03026519 0.99944979 0.01356959 -0.41587421] [ 0.24870485 -0.02067871 0.96835855 -0.14073226] [ 0. 0. 0. 1. ]] SLAMing on 111.763201008 meters Centerline goodness [0,1] 0.8520632264618878 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.42, Z:-0.14 [[ 0.96794713 -0.02646829 -0.24975547 3.59668754] [ 0.03089042 0.99942748 0.01380215 -0.41726585] [ 0.24924716 -0.0210748 0.96821057 -0.14030356] [ 0. 0. 0. 1. ]] SLAMing on 111.793201008 meters Centerline goodness [0,1] 0.8515722895160809 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.42, Z:-0.14 [[ 0.96773066 -0.02779704 -0.25044899 3.60066261] [ 0.03213538 0.99939571 0.0132488 -0.41671362] [ 0.24992937 -0.02086954 0.96803914 -0.14108812] [ 0. 0. 0. 1. ]] SLAMing on 111.823201008 meters Centerline goodness [0,1] 0.8537692192864607 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.42, Z:-0.14 [[ 0.96767672 -0.02811548 -0.25062182 3.60197506] [ 0.03242605 0.99938847 0.01308603 -0.41650706] [ 0.25010063 -0.02078972 0.96799662 -0.1415015 ] [ 0. 0. 0. 1. ]] SLAMing on 111.85320100799998 meters Centerline goodness [0,1] 0.8575460487225193 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.42, Z:-0.14 [[ 0.96760182 -0.02825069 -0.25089562 3.60261038] [ 0.03254814 0.99938569 0.01299465 -0.41566447] [ 0.25037439 -0.02073983 0.96792692 -0.14113989] [ 0. 0. 0. 1. ]] SLAMing on 111.88320100799999 meters Centerline goodness [0,1] 0.8605653479178432 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.41, Z:-0.14 [[ 0.96768497 -0.02707549 -0.25070445 3.59971958] [ 0.03143944 0.9994156 0.01341741 -0.4147132 ] [ 0.25019465 -0.02086584 0.96797069 -0.13980482] [ 0. 0. 0. 1. ]] SLAMing on 111.91320100799999 meters Centerline goodness [0,1] 0.8654547611280804 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.41, Z:-0.14 [[ 0.96764446 -0.0272015 -0.25084714 3.59997278] [ 0.03149486 0.99941785 0.01311621 -0.41351257] [ 0.25034432 -0.02059222 0.96793785 -0.13974225] [ 0. 0. 0. 1. ]] SLAMing on 111.94320100799999 meters Centerline goodness [0,1] 0.8612740740740741 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.41, Z:-0.14 [[ 0.96769475 -0.02696568 -0.25067854 3.59945846] [ 0.03122438 0.99942751 0.01302635 -0.41256976] [ 0.25018376 -0.02043282 0.96798274 -0.13998457] [ 0. 0. 0. 1. ]] SLAMing on 111.97320100799999 meters Centerline goodness [0,1] 0.8590303173292438 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.41, Z:-0.14 [[ 0.96720428 -0.02907386 -0.25233034 3.60411153] [ 0.03372052 0.9993317 0.01410927 -0.41309594] [ 0.25175149 -0.02215526 0.96753828 -0.13542408] [ 0. 0. 0. 1. ]] SLAMing on 112.00320100799999 meters Centerline goodness [0,1] 0.8651768317883923 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.41, Z:-0.14 [[ 0.9670431 -0.02998566 -0.25284086 3.60655737] [ 0.03455504 0.99930958 0.01364992 -0.41217147] [ 0.25225699 -0.02193699 0.96741159 -0.13569424] [ 0. 0. 0. 1. ]] SLAMing on 112.03320100799999 meters Centerline goodness [0,1] 0.8637770897832817 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.41, Z:-0.14 [[ 0.96689064 -0.03120323 -0.25327625 3.60976753] [ 0.03551849 0.99929107 0.01248196 -0.40976618] [ 0.25270721 -0.02106468 0.96731347 -0.13721804] [ 0. 0. 0. 1. ]] SLAMing on 112.063201008 meters Centerline goodness [0,1] 0.8613334117923973 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.41, Z:-0.14 [[ 0.96682316 -0.03198858 -0.25343579 3.61198452] [ 0.03608341 0.99928233 0.01152425 -0.40719291] [ 0.25288527 -0.02028674 0.96728356 -0.13876403] [ 0. 0. 0. 1. ]] SLAMing on 112.093201008 meters Centerline goodness [0,1] 0.8658769023253086 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.40, Z:-0.14 [[ 0.96680819 -0.03235766 -0.25344606 3.61275656] [ 0.0362739 0.9992836 0.01079292 -0.40429622] [ 0.25291526 -0.01962816 0.96728931 -0.13965007] [ 0. 0. 0. 1. ]] SLAMing on 112.123201008 meters Centerline goodness [0,1] 0.8698795883261903 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96825742 -0.0293547 -0.24822544 3.62765942] [ 0.03166154 0.99948457 0.00530547 -0.39956044] [ 0.24794175 -0.01299626 0.96868776 -0.13966311] [ 0. 0. 0. 1. ]] SLAMing on 112.153201008 meters Centerline goodness [0,1] 0.8730785994479151 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.9683238 -0.02872351 -0.24804029 3.62597529] [ 0.03109934 0.99950025 0.00566469 -0.39883695] [ 0.24775362 -0.01319914 0.96873316 -0.13874634] [ 0. 0. 0. 1. ]] SLAMing on 112.183201008 meters Centerline goodness [0,1] 0.8786756193563325 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96826384 -0.02865632 -0.24828201 3.62574132] [ 0.03113159 0.99949699 0.00604833 -0.39889732] [ 0.2479838 -0.01358579 0.96866891 -0.13739642] [ 0. 0. 0. 1. ]] SLAMing on 112.213201008 meters Centerline goodness [0,1] 0.8783267762092108 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96821115 -0.02876232 -0.24847513 3.62555637] [ 0.03131396 0.9994896 0.0063221 -0.39830018] [ 0.24816647 -0.01390186 0.96861764 -0.13611444] [ 0. 0. 0. 1. ]] SLAMing on 112.24320100799999 meters Centerline goodness [0,1] 0.876468720228644 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96815434 -0.02921277 -0.24864388 3.62653911] [ 0.03168932 0.99947998 0.00596265 -0.39704149] [ 0.2483404 -0.01365212 0.96857662 -0.13634467] [ 0. 0. 0. 1. ]] SLAMing on 112.27320100799999 meters Centerline goodness [0,1] 0.8794414409205239 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96810172 -0.02965527 -0.24879636 3.62785554] [ 0.03207129 0.99946955 0.0056622 -0.39644125] [ 0.24849647 -0.0134608 0.96853927 -0.13684961] [ 0. 0. 0. 1. ]] SLAMing on 112.30320100799999 meters Centerline goodness [0,1] 0.876507156281625 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96790658 -0.03101304 -0.24938936 3.6314856 ] [ 0.03338828 0.99942841 0.00529866 -0.39654666] [ 0.24908248 -0.01345529 0.9683888 -0.13714606] [ 0. 0. 0. 1. ]] SLAMing on 112.33320100799999 meters Centerline goodness [0,1] 0.8804171494785632 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96775009 -0.03156572 -0.24992671 3.63372406] [ 0.03397126 0.99940867 0.00531609 -0.39747836] [ 0.24961111 -0.01363497 0.96825016 -0.13712145] [ 0. 0. 0. 1. ]] SLAMing on 112.36320100799999 meters Centerline goodness [0,1] 0.8865581570777845 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96759609 -0.03215921 -0.25044679 3.63594586] [ 0.03456419 0.9993889 0.00520916 -0.3982906 ] [ 0.25012622 -0.01369686 0.96811635 -0.13721047] [ 0. 0. 0. 1. ]] SLAMing on 112.39320100799999 meters Centerline goodness [0,1] 0.8859954711722696 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96744258 -0.03294964 -0.25093661 3.63863693] [ 0.03526575 0.99936674 0.0047375 -0.39835727] [ 0.2506216 -0.01343272 0.96799193 -0.13793611] [ 0. 0. 0. 1. ]] SLAMing on 112.42320100799999 meters Centerline goodness [0,1] 0.8913617502829121 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96735577 -0.03324969 -0.2512315 3.64040088] [ 0.03552906 0.99935833 0.0045412 -0.39884661] [ 0.2509193 -0.01331897 0.96791638 -0.13853729] [ 0. 0. 0. 1. ]] SLAMing on 112.453201008 meters Centerline goodness [0,1] 0.8950351723736992 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96737383 -0.03279991 -0.25122111 3.63958244] [ 0.0352239 0.99936614 0.00515707 -0.39993376] [ 0.25089272 -0.0138378 0.96791599 -0.1375437 ] [ 0. 0. 0. 1. ]] SLAMing on 112.483201008 meters Centerline goodness [0,1] 0.896295865219542 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96741189 -0.0322574 -0.25114477 3.63863201] [ 0.03482141 0.99937689 0.00577096 -0.40101232] [ 0.25080212 -0.01432811 0.96793233 -0.13671759] [ 0. 0. 0. 1. ]] SLAMing on 112.513201008 meters Centerline goodness [0,1] 0.8990313290863077 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96758784 -0.03127009 -0.25059119 3.63659956] [ 0.03400277 0.99940007 0.00658176 -0.40090521] [ 0.25023504 -0.01488922 0.96807063 -0.13629094] [ 0. 0. 0. 1. ]] SLAMing on 112.543201008 meters Centerline goodness [0,1] 0.8982218606543088 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96759415 -0.03137901 -0.25055321 3.63713098] [ 0.03409049 0.99939769 0.00648822 -0.4002057 ] [ 0.2501987 -0.01481945 0.96808109 -0.13665493] [ 0. 0. 0. 1. ]] SLAMing on 112.573201008 meters Centerline goodness [0,1] 0.9008016324150998 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 0.96760061 -0.03112338 -0.25056018 3.63690535] [ 0.03394882 0.99939933 0.00696128 -0.40120909] [ 0.25019302 -0.01524196 0.968076 -0.13612246] [ 0. 0. 0. 1. ]] SLAMing on 112.60320100799998 meters Centerline goodness [0,1] 0.9003762139461635 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.13 [[ 0.9675038 -0.03087304 -0.25096463 3.63678931] [ 0.03391269 0.9993944 0.00779519 -0.4031594 ] [ 0.25057199 -0.01605276 0.96796487 -0.13435992] [ 0. 0. 0. 1. ]] SLAMing on 112.63320100799999 meters Centerline goodness [0,1] 0.9034951966595615 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.41, Z:-0.13 [[ 0.96726628 -0.03180746 -0.25176224 3.63939088] [ 0.03498223 0.99935476 0.00814338 -0.40584508] [ 0.25134077 -0.01668402 0.96775486 -0.13292121] [ 0. 0. 0. 1. ]] SLAMing on 112.66320100799999 meters Centerline goodness [0,1] 0.9044111173069586 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.41, Z:-0.13 [[ 0.96704625 -0.03269423 -0.25249283 3.64236494] [ 0.03583068 0.99932718 0.00783268 -0.40644753] [ 0.25206686 -0.01662155 0.96756706 -0.13305303] [ 0. 0. 0. 1. ]] SLAMing on 112.69320100799999 meters Centerline goodness [0,1] 0.9046697172357151 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.41, Z:-0.13 [[ 0.96695238 -0.03321336 -0.25278445 3.64422263] [ 0.03626862 0.99931442 0.00743496 -0.40627033] [ 0.2523642 -0.01635739 0.96749405 -0.13377996] [ 0. 0. 0. 1. ]] SLAMing on 112.72320100799999 meters Centerline goodness [0,1] 0.904466791393826 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96686576 -0.03409406 -0.25299842 3.64729579] [ 0.03690117 0.9992987 0.00635705 -0.40410195] [ 0.25260425 -0.01548235 0.96744581 -0.13601187] [ 0. 0. 0. 1. ]] SLAMing on 112.75320100799999 meters Centerline goodness [0,1] 0.9066123931123345 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96681304 -0.03432366 -0.25316879 3.64806679] [ 0.03709328 0.99929274 0.00617327 -0.40326593] [ 0.25277785 -0.01535926 0.96740243 -0.13610532] [ 0. 0. 0. 1. ]] SLAMing on 112.78320100799999 meters Centerline goodness [0,1] 0.9025663587036222 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.9667717 -0.03434409 -0.25332381 3.64839884] [ 0.03711433 0.99929202 0.0061633 -0.40301983] [ 0.25293279 -0.01536045 0.96736191 -0.13593549] [ 0. 0. 0. 1. ]] SLAMing on 112.813201008 meters Centerline goodness [0,1] 0.9038636430310676 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96668119 -0.03447767 -0.25365088 3.64901719] [ 0.03726793 0.99928606 0.00620203 -0.40291659] [ 0.25325595 -0.01544843 0.96727595 -0.13539526] [ 0. 0. 0. 1. ]] SLAMing on 112.843201008 meters Centerline goodness [0,1] 0.905595224160131 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96661564 -0.0347366 -0.25386528 3.64975724] [ 0.03741951 0.99928313 0.00574552 -0.40088097] [ 0.25348372 -0.01505323 0.96722252 -0.13555428] [ 0. 0. 0. 1. ]] SLAMing on 112.873201008 meters Centerline goodness [0,1] 0.9058000702329393 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96664651 -0.03453268 -0.25377552 3.64926691] [ 0.03719396 0.99929184 0.00569477 -0.39955098] [ 0.25339915 -0.01494375 0.96724638 -0.13552832] [ 0. 0. 0. 1. ]] SLAMing on 112.903201008 meters Centerline goodness [0,1] 0.9037039193989866 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 0.96662952 -0.03455214 -0.25383761 3.64924115] [ 0.03721367 0.99929114 0.00568943 -0.39831735] [ 0.25346109 -0.0149458 0.96723012 -0.13515575] [ 0. 0. 0. 1. ]] SLAMing on 112.933201008 meters Centerline goodness [0,1] 0.9039582604640317 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96668845 -0.03425123 -0.25365387 3.64830875] [ 0.03693924 0.99930045 0.0058405 -0.39736585] [ 0.25327638 -0.01501572 0.96727742 -0.13482408] [ 0. 0. 0. 1. ]] SLAMing on 112.963201008 meters Centerline goodness [0,1] 0.8984535932921345 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96677372 -0.03360592 -0.25341511 3.64644161] [ 0.03632111 0.9993219 0.00604213 -0.39522855] [ 0.25304022 -0.01504569 0.96733876 -0.13409189] [ 0. 0. 0. 1. ]] SLAMing on 112.99320100799999 meters Centerline goodness [0,1] 0.9036163857478131 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.40, Z:-0.12 [[ 0.96853985 -0.02810435 -0.24726648 3.69969079] [ 0.03425634 0.9992005 0.02061239 -0.39768164] [ 0.24648949 -0.02843436 0.96872825 -0.11633436] [ 0. 0. 0. 1. ]] SLAMing on 113.02320100799999 meters Centerline goodness [0,1] 0.8977453159733249 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96964627 -0.02799087 -0.24290456 3.63003222] [ 0.03305952 0.99931193 0.01681497 -0.39688994] [ 0.24226676 -0.02433488 0.96990444 -0.13606817] [ 0. 0. 0. 1. ]] SLAMing on 113.05320100799999 meters Centerline goodness [0,1] 0.89306616693095 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.40, Z:-0.14 [[ 0.96960438 -0.02828469 -0.2430377 3.63040252] [ 0.03324989 0.99931331 0.01635125 -0.39533526] [ 0.24240832 -0.02393522 0.96987902 -0.13612027] [ 0. 0. 0. 1. ]] SLAMing on 113.08320100799999 meters Centerline goodness [0,1] 0.8945656554026826 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.39, Z:-0.14 [[ 0.9695408 -0.02839276 -0.2432786 3.63070409] [ 0.03334444 0.99931165 0.01625948 -0.39465619] [ 0.24264949 -0.02387622 0.96982016 -0.13567512] [ 0. 0. 0. 1. ]] SLAMing on 113.11320100799999 meters Centerline goodness [0,1] 0.8951387488113419 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.39, Z:-0.14 [[ 0.96948907 -0.02877473 -0.24343985 3.63170766] [ 0.03363557 0.99930874 0.01583336 -0.39405917] [ 0.24281597 -0.02353851 0.96978675 -0.13610666] [ 0. 0. 0. 1. ]] SLAMing on 113.14320100799999 meters Centerline goodness [0,1] 0.8921159436976484 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.39, Z:-0.14 [[ 0.96940621 -0.02934206 -0.24370194 3.63337113] [ 0.03409917 0.99930097 0.01532365 -0.39344712] [ 0.24308196 -0.02316487 0.96972911 -0.13676668] [ 0. 0. 0. 1. ]] SLAMing on 113.17320100799999 meters Centerline goodness [0,1] 0.8916119325251005 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.39, Z:-0.14 [[ 0.9693252 -0.03459018 -0.24333554 3.6341042 ] [ 0.03831168 0.99920986 0.01057646 -0.39181606] [ 0.24277743 -0.01957462 0.96988451 -0.13833687] [ 0. 0. 0. 1. ]] SLAMing on 113.203201008 meters Centerline goodness [0,1] 0.896439848208337 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.39, Z:-0.14 [[ 0.96909437 -0.03539763 -0.2441375 3.63667357] [ 0.0392138 0.99917262 0.01078709 -0.39374593] [ 0.24355367 -0.02002727 0.96968063 -0.13739716] [ 0. 0. 0. 1. ]] SLAMing on 113.233201008 meters Centerline goodness [0,1] 0.8961502729067472 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.39, Z:-0.14 [[ 0.96899414 -0.0404689 -0.24374707 3.63686734] [ 0.04331613 0.99904136 0.00633019 -0.39295923] [ 0.24325723 -0.0166921 0.96981818 -0.13835855] [ 0. 0. 0. 1. ]] SLAMing on 113.263201008 meters Centerline goodness [0,1] 0.901125823951467 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.39, Z:-0.14 [[ 0.96877113 -0.04164752 -0.24443402 3.63985024] [ 0.04455114 0.99898686 0.0063597 -0.39473174] [ 0.24392151 -0.01705091 0.96964507 -0.13782461] [ 0. 0. 0. 1. ]] SLAMing on 113.293201008 meters Centerline goodness [0,1] 0.9028665220704614 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 9.68371707e-01 -4.82702378e-02 -2.44798329e-01 3.64391653e+00] [ 5.02987472e-02 9.98732138e-01 2.03778271e-03 -3.95896186e-01] [ 2.44389594e-01 -1.42863804e-02 9.69571878e-01 -1.38203189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.323201008 meters Centerline goodness [0,1] 0.9028808766348533 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 9.68261366e-01 -4.85577173e-02 -2.45177640e-01 3.64489020e+00] [ 5.06905513e-02 9.98711542e-01 2.39234559e-03 -3.97090475e-01] [ 2.44745572e-01 -1.47446055e-02 9.69475220e-01 -1.37343962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35320100799998 meters Centerline goodness [0,1] 0.9028808766348533 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.40, Z:-0.14 [[ 9.68261366e-01 -4.85577173e-02 -2.45177640e-01 3.64489020e+00] [ 5.06905513e-02 9.98711542e-01 2.39234559e-03 -3.97090475e-01] [ 2.44745572e-01 -1.47446055e-02 9.69475220e-01 -1.37343962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38320100799999 meters Centerline goodness [0,1] 0.9081752510718271 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 9.68109252e-01 -4.89251038e-02 -2.45704723e-01 3.64592704e+00] [ 5.12053271e-02 9.98683947e-01 2.89630228e-03 -3.97505444e-01] [ 2.45239661e-01 -1.53853278e-02 9.69340394e-01 -1.35766025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41320100799999 meters Centerline goodness [0,1] 0.9027974087161367 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.14 [[ 9.68061800e-01 -4.88991638e-02 -2.45896773e-01 3.64608474e+00] [ 5.12452530e-02 9.98681140e-01 3.14725244e-03 -3.97876088e-01] [ 2.45418572e-01 -1.56477772e-02 9.69290912e-01 -1.35139709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44320100799999 meters Centerline goodness [0,1] 0.9058476948004124 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96801099 -0.04847665 -0.24618028 3.64546064] [ 0.05103334 0.99868889 0.00401227 -0.3987406 ] [ 0.24566301 -0.01644732 0.96921575 -0.13333305] [ 0. 0. 0. 1. ]] SLAMing on 113.47320100799999 meters Centerline goodness [0,1] 0.9101209796400118 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96798133 -0.0482421 -0.24634295 3.64523175] [ 0.05092338 0.99869233 0.00452161 -0.39949245] [ 0.24580268 -0.01692145 0.96917217 -0.13232191] [ 0. 0. 0. 1. ]] SLAMing on 113.50320100799999 meters Centerline goodness [0,1] 0.9064224492192087 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96789437 -0.04449651 -0.24738745 3.64829304] [ 0.0481119 0.99880505 0.00858533 -0.40012578] [ 0.24670982 -0.02021197 0.9688786 -0.13131662] [ 0. 0. 0. 1. ]] SLAMing on 113.53320100799999 meters Centerline goodness [0,1] 0.9076613373789241 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.96787426 -0.0447769 -0.24741552 3.64934028] [ 0.0482608 0.99880248 0.00803146 -0.39817484] [ 0.24675962 -0.01971391 0.96887618 -0.13237231] [ 0. 0. 0. 1. ]] SLAMing on 113.563201008 meters Centerline goodness [0,1] 0.907006554989075 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.40, Z:-0.13 [[ 0.9679233 -0.0447342 -0.24723133 3.64931997] [ 0.04811429 0.99881259 0.0076441 -0.39633104] [ 0.24659581 -0.01929426 0.96892633 -0.1331953 ] [ 0. 0. 0. 1. ]] SLAMing on 113.593201008 meters Centerline goodness [0,1] 0.9035442816786556 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.96801379 -0.04445704 -0.24692685 3.64862559] [ 0.04775149 0.99883208 0.00736649 -0.39459912] [ 0.24631096 -0.01892198 0.96900612 -0.13384418] [ 0. 0. 0. 1. ]] SLAMing on 113.623201008 meters Centerline goodness [0,1] 0.9016668111043706 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.96810826 -0.03909003 -0.24746387 3.64761651] [ 0.04334464 0.99899089 0.01176626 -0.39430679] [ 0.24675421 -0.02211725 0.96882567 -0.13201354] [ 0. 0. 0. 1. ]] SLAMing on 113.653201008 meters Centerline goodness [0,1] 0.9053339464306243 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.96809527 -0.03865386 -0.24758318 3.64673704] [ 0.04291747 0.9990084 0.01184517 -0.39362947] [ 0.24687982 -0.0220929 0.96879423 -0.13125056] [ 0. 0. 0. 1. ]] SLAMing on 113.683201008 meters Centerline goodness [0,1] 0.9043673398929742 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.39, Z:-0.13 [[ 0.96817561 -0.03786887 -0.24739025 3.64491543] [ 0.04219393 0.99903492 0.01220262 -0.39370662] [ 0.2466894 -0.02225265 0.96883908 -0.13053928] [ 0. 0. 0. 1. ]] SLAMing on 113.713201008 meters Centerline goodness [0,1] 0.9036937040441176 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.9682803 -0.03301466 -0.24767579 3.6453421 ] [ 0.03819479 0.99913999 0.01613802 -0.39290261] [ 0.24693 -0.02508605 0.96870856 -0.13037766] [ 0. 0. 0. 1. ]] SLAMing on 113.74320100799999 meters Centerline goodness [0,1] 0.9013272940974113 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.96836051 -0.03300127 -0.24736379 3.6454691 ] [ 0.03800236 0.99915791 0.01546915 -0.38972968] [ 0.24664499 -0.02438012 0.96879918 -0.13189346] [ 0. 0. 0. 1. ]] SLAMing on 113.77320100799999 meters Centerline goodness [0,1] 0.9015322281507689 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.9684071 -0.03305165 -0.24717458 3.64592121] [ 0.03790382 0.99917035 0.01489676 -0.38720683] [ 0.24647715 -0.02379499 0.96885645 -0.13319905] [ 0. 0. 0. 1. ]] SLAMing on 113.80320100799999 meters Centerline goodness [0,1] 0.899968561547915 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.39, Z:-0.13 [[ 0.96846678 -0.03290175 -0.24696067 3.64593767] [ 0.03769201 0.99918138 0.01469321 -0.38647216] [ 0.24627507 -0.02353833 0.9689141 -0.13399796] [ 0. 0. 0. 1. ]] SLAMing on 113.83320100799999 meters Centerline goodness [0,1] 0.9040061765462812 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.38, Z:-0.14 [[ 0.96974419 -0.03430374 -0.24170119 3.66109608] [ 0.03662829 0.99931579 0.00512949 -0.38427761] [ 0.24135986 -0.0138274 0.97033717 -0.13531131] [ 0. 0. 0. 1. ]] SLAMing on 113.86320100799999 meters Centerline goodness [0,1] 0.905327986250358 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.39, Z:-0.13 [[ 0.96979358 -0.03356585 -0.24160658 3.65949263] [ 0.0360887 0.99933044 0.0060231 -0.38588638] [ 0.24124264 -0.01456043 0.9703556 -0.13386399] [ 0. 0. 0. 1. ]] SLAMing on 113.89320100799999 meters Centerline goodness [0,1] 0.904184389010231 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.39, Z:-0.13 [[ 0.96983061 -0.03287644 -0.24155275 3.65831604] [ 0.03559315 0.99934261 0.00689083 -0.38784069] [ 0.24116741 -0.01528056 0.97036322 -0.13272261] [ 0. 0. 0. 1. ]] SLAMing on 113.92320100799999 meters Centerline goodness [0,1] 0.9065020812401321 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.39, Z:-0.13 [[ 0.96974021 -0.03284492 -0.24191969 3.65897897] [ 0.03571389 0.99933404 0.00748244 -0.38947662] [ 0.24151283 -0.01589591 0.97026742 -0.13168321] [ 0. 0. 0. 1. ]] SLAMing on 113.953201008 meters Centerline goodness [0,1] 0.9100396756943246 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.39, Z:-0.13 [[ 0.969653 -0.03369764 -0.24215188 3.66194846] [ 0.03652416 0.99930689 0.00719166 -0.39061378] [ 0.24174171 -0.01581781 0.9702117 -0.1329944 ] [ 0. 0. 0. 1. ]] SLAMing on 113.983201008 meters Centerline goodness [0,1] 0.9015903143243321 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.39, Z:-0.13 [[ 0.96955149 -0.03435183 -0.24246619 3.66448758] [ 0.03710026 0.99928857 0.00677713 -0.39059558] [ 0.24206089 -0.01556633 0.97013618 -0.13414226] [ 0. 0. 0. 1. ]] SLAMing on 114.013201008 meters Centerline goodness [0,1] 0.9035807910581051 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.39, Z:-0.13 [[ 0.96941024 -0.03492886 -0.24294808 3.66676782] [ 0.03764878 0.9992695 0.00656013 -0.39072764] [ 0.24254147 -0.01550616 0.97001711 -0.13452073] [ 0. 0. 0. 1. ]] SLAMing on 114.043201008 meters Centerline goodness [0,1] 0.9088932061356453 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.39, Z:-0.13 [[ 0.96915463 -0.03603631 -0.2438046 3.67063373] [ 0.03875066 0.99922877 0.00634471 -0.39386146] [ 0.24338793 -0.0155966 0.96980362 -0.13479859] [ 0. 0. 0. 1. ]] SLAMing on 114.073201008 meters Centerline goodness [0,1] 0.9074004015947386 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.40, Z:-0.13 [[ 0.96901401 -0.03634148 -0.24431772 3.67233579] [ 0.03914385 0.99921164 0.00662296 -0.39553042] [ 0.24388442 -0.01598127 0.96967262 -0.13436641] [ 0. 0. 0. 1. ]] SLAMing on 114.10320100799998 meters Centerline goodness [0,1] 0.9054516953088714 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.40, Z:-0.13 [[ 0.96886133 -0.0367228 -0.24486559 3.67413654] [ 0.03958948 0.99919293 0.00679375 -0.39643688] [ 0.24441848 -0.0162763 0.96953323 -0.13394881] [ 0. 0. 0. 1. ]] SLAMing on 114.13320100799999 meters Centerline goodness [0,1] 0.9059038981424958 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.40, Z:-0.13 [[ 0.96881525 -0.03672674 -0.24504725 3.67466222] [ 0.03967641 0.99918729 0.00710971 -0.39757079] [ 0.24458698 -0.01661059 0.96948507 -0.13352357] [ 0. 0. 0. 1. ]] SLAMing on 114.16320100799999 meters Centerline goodness [0,1] 0.90670613156902 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.96875923 -0.03706429 -0.24521785 3.67581178] [ 0.03998257 0.99917634 0.00693146 -0.3969397 ] [ 0.24475896 -0.01651936 0.96944322 -0.13377775] [ 0. 0. 0. 1. ]] SLAMing on 114.19320100799999 meters Centerline goodness [0,1] 0.9079401945129917 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.96870848 -0.03739945 -0.24536739 3.67690104] [ 0.04024642 0.99916801 0.00659709 -0.39587773] [ 0.24491652 -0.01626582 0.96940772 -0.13423967] [ 0. 0. 0. 1. ]] SLAMing on 114.22320100799999 meters Centerline goodness [0,1] 0.9051514096762966 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.39, Z:-0.13 [[ 0.96867496 -0.03767412 -0.2454577 3.67795721] [ 0.04043976 0.99916253 0.00623494 -0.39472563] [ 0.24501724 -0.01596588 0.96938725 -0.13491865] [ 0. 0. 0. 1. ]] SLAMing on 114.25320100799999 meters Centerline goodness [0,1] 0.9048212319638408 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.39, Z:-0.14 [[ 0.96871376 -0.03753221 -0.24532629 3.67787545] [ 0.04027362 0.99916967 0.00616553 -0.39381096] [ 0.24489118 -0.01585281 0.96942096 -0.13526322] [ 0. 0. 0. 1. ]] SLAMing on 114.28320100799999 meters Centerline goodness [0,1] 0.9064339354576821 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.39, Z:-0.13 [[ 0.96872738 -0.037192 -0.24532431 3.67723474] [ 0.04003771 0.99917623 0.00662089 -0.39423408] [ 0.24487598 -0.01623606 0.96941846 -0.13446533] [ 0. 0. 0. 1. ]] SLAMing on 114.313201008 meters Centerline goodness [0,1] 0.9087490961677512 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.39, Z:-0.13 [[ 0.96864177 -0.03715873 -0.24566715 3.67739032] [ 0.04014758 0.99916805 0.00716745 -0.39474204] [ 0.24519644 -0.01680563 0.96932775 -0.1330258 ] [ 0. 0. 0. 1. ]] SLAMing on 114.343201008 meters Centerline goodness [0,1] 0.9060621024196125 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.9685295 -0.03739626 -0.24607341 3.67814125] [ 0.04054361 0.99914783 0.00773464 -0.39641658] [ 0.24557447 -0.01746793 0.96922033 -0.13169701] [ 0. 0. 0. 1. ]] SLAMing on 114.373201008 meters Centerline goodness [0,1] 0.9021773981986183 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.96838995 -0.03826029 -0.24648946 3.68034973] [ 0.04147524 0.9991086 0.00786249 -0.39787566] [ 0.24596892 -0.01783717 0.96911358 -0.13129726] [ 0. 0. 0. 1. ]] SLAMing on 114.403201008 meters Centerline goodness [0,1] 0.9047702407002188 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.96830195 -0.03872222 -0.24676288 3.6819295 ] [ 0.04190364 0.99909235 0.00765229 -0.39756568] [ 0.24624259 -0.01774999 0.96904568 -0.13163232] [ 0. 0. 0. 1. ]] SLAMing on 114.433201008 meters Centerline goodness [0,1] 0.9008440667075557 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.96822399 -0.0393376 -0.24697135 3.68368421] [ 0.04242362 0.99907388 0.00718466 -0.39672562] [ 0.24646 -0.01743378 0.96899615 -0.13237098] [ 0. 0. 0. 1. ]] SLAMing on 114.463201008 meters Centerline goodness [0,1] 0.8997570755407265 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.40, Z:-0.13 [[ 0.9681497 -0.03950554 -0.24723567 3.68479194] [ 0.04263724 0.99906378 0.00732369 -0.39721048] [ 0.24671487 -0.01763187 0.9689277 -0.13227593] [ 0. 0. 0. 1. ]] SLAMing on 114.49320100799999 meters Centerline goodness [0,1] 0.9023079170318434 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.9680266 -0.03981941 -0.24766696 3.68599758] [ 0.0430058 0.99904692 0.00746689 -0.39727934] [ 0.24713358 -0.01787926 0.96881646 -0.13160304] [ 0. 0. 0. 1. ]] SLAMing on 114.52320100799999 meters Centerline goodness [0,1] 0.9025458367394604 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.96794201 -0.03984686 -0.24799294 3.68659059] [ 0.04312693 0.99903911 0.00780584 -0.39772975] [ 0.24744361 -0.01825078 0.96873039 -0.13079373] [ 0. 0. 0. 1. ]] SLAMing on 114.55320100799999 meters Centerline goodness [0,1] 0.9025204180205497 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.96790216 -0.03981857 -0.24815296 3.68693945] [ 0.04313966 0.99903736 0.00795775 -0.39805055] [ 0.24759721 -0.01840756 0.96868818 -0.13049618] [ 0. 0. 0. 1. ]] SLAMing on 114.58320100799999 meters Centerline goodness [0,1] 0.9044613901305987 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.96786018 -0.03970974 -0.24833407 3.68721197] [ 0.04308638 0.99903791 0.00817468 -0.39796672] [ 0.24777053 -0.01861176 0.96863996 -0.12997663] [ 0. 0. 0. 1. ]] SLAMing on 114.61320100799999 meters Centerline goodness [0,1] 0.90320224390814 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.96780374 -0.03989648 -0.24852403 3.68785462] [ 0.04328339 0.99902938 0.00817654 -0.39751171] [ 0.24795659 -0.01867025 0.96859122 -0.12976808] [ 0. 0. 0. 1. ]] SLAMing on 114.64320100799999 meters Centerline goodness [0,1] 0.9027903315158761 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.40, Z:-0.13 [[ 0.96776281 -0.04023378 -0.24862903 3.68888842] [ 0.04354889 0.99902049 0.00784552 -0.39634273] [ 0.24806984 -0.01842012 0.96856701 -0.13029902] [ 0. 0. 0. 1. ]] SLAMing on 114.67320100799999 meters Centerline goodness [0,1] 0.8994742990654205 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96777983 -0.0403251 -0.24854794 3.68914212] [ 0.04357122 0.99902164 0.00757075 -0.39475199] [ 0.24799948 -0.01815636 0.96859001 -0.13079469] [ 0. 0. 0. 1. ]] SLAMing on 114.703201008 meters Centerline goodness [0,1] 0.8987212723194781 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96777308 -0.04027134 -0.24858295 3.6890659 ] [ 0.04350055 0.99902518 0.00750888 -0.39337792] [ 0.24803823 -0.01808038 0.96858151 -0.1305803 ] [ 0. 0. 0. 1. ]] SLAMing on 114.733201008 meters Centerline goodness [0,1] 0.9015620909328912 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96777002 -0.04008982 -0.24862419 3.6888259 ] [ 0.04334303 0.99903117 0.00762239 -0.39287429] [ 0.24807774 -0.01815284 0.96857003 -0.13021332] [ 0. 0. 0. 1. ]] SLAMing on 114.763201008 meters Centerline goodness [0,1] 0.898909639252987 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96764469 -0.03603428 -0.24973043 3.69140282] [ 0.04028178 0.9991173 0.01191674 -0.39341766] [ 0.24908059 -0.02159076 0.96824207 -0.12847297] [ 0. 0. 0. 1. ]] SLAMing on 114.793201008 meters Centerline goodness [0,1] 0.8976745534678728 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96764459 -0.0362203 -0.24970391 3.69177859] [ 0.04041261 0.9991148 0.01168107 -0.39245324] [ 0.24905977 -0.02139431 0.96825178 -0.12879126] [ 0. 0. 0. 1. ]] SLAMing on 114.823201008 meters Centerline goodness [0,1] 0.8967657722987672 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96764384 -0.03651516 -0.24966385 3.69231978] [ 0.04062835 0.99910998 0.0113397 -0.39129024] [ 0.24902757 -0.02111622 0.96826617 -0.12926254] [ 0. 0. 0. 1. ]] SLAMing on 114.85320100799998 meters Centerline goodness [0,1] 0.8914060004066103 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96766703 -0.03675999 -0.24953801 3.692759 ] [ 0.04080355 0.9991061 0.01104891 -0.39040393] [ 0.24890879 -0.0208737 0.96830197 -0.12986387] [ 0. 0. 0. 1. ]] SLAMing on 114.88320100799999 meters Centerline goodness [0,1] 0.8886791904996951 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96768587 -0.03680173 -0.24945878 3.69293733] [ 0.04090482 0.99909935 0.01128217 -0.39055646] [ 0.2488189 -0.02112167 0.96831969 -0.12970315] [ 0. 0. 0. 1. ]] SLAMing on 114.91320100799999 meters Centerline goodness [0,1] 0.8862530413625305 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.39, Z:-0.13 [[ 0.96754441 -0.03737508 -0.24992183 3.69462261] [ 0.04155448 0.99907045 0.01146546 -0.3912401 ] [ 0.24926099 -0.02147871 0.96819813 -0.1289947 ] [ 0. 0. 0. 1. ]] SLAMing on 114.94320100799999 meters Centerline goodness [0,1] 0.8838963308095515 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.39, Z:-0.13 [[ 0.96743913 -0.03774746 -0.25027315 3.69573509] [ 0.04202213 0.99904751 0.01175652 -0.39240147] [ 0.24959099 -0.02189073 0.96810389 -0.12824741] [ 0. 0. 0. 1. ]] SLAMing on 114.97320100799999 meters Centerline goodness [0,1] 0.8768134903328972 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.39, Z:-0.13 [[ 0.96729694 -0.03849717 -0.2507082 3.69783237] [ 0.04283694 0.99901151 0.01187407 -0.39319406] [ 0.25000326 -0.02222532 0.96798988 -0.12780691] [ 0. 0. 0. 1. ]] SLAMing on 115.00320100799999 meters Centerline goodness [0,1] 0.8748436636514354 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.39, Z:-0.13 [[ 0.96714557 -0.03925144 -0.25117477 3.70012544] [ 0.0436264 0.99897738 0.01187133 -0.39394905] [ 0.25045195 -0.02243916 0.96786895 -0.12770439] [ 0. 0. 0. 1. ]] SLAMing on 115.03320100799999 meters Centerline goodness [0,1] 0.8712888680681619 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.39, Z:-0.13 [[ 0.96684866 -0.04158093 -0.25194185 3.7053595 ] [ 0.04582909 0.99888857 0.01101477 -0.39498685] [ 0.25120383 -0.02219588 0.96767969 -0.12846801] [ 0. 0. 0. 1. ]] SLAMing on 115.063201008 meters Centerline goodness [0,1] 0.8756557160859244 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.40, Z:-0.13 [[ 0.96663906 -0.04243451 -0.25260294 3.70789522] [ 0.04673662 0.9988461 0.01105251 -0.39616557] [ 0.25184245 -0.0224896 0.9675069 -0.1279258 ] [ 0. 0. 0. 1. ]] SLAMing on 115.093201008 meters Centerline goodness [0,1] 0.8718742627978296 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.40, Z:-0.13 [[ 0.96637353 -0.04375433 -0.25339249 3.71092116] [ 0.04815147 0.99877754 0.01117424 -0.39883352] [ 0.25259381 -0.02299971 0.96729901 -0.12674064] [ 0. 0. 0. 1. ]] SLAMing on 115.123201008 meters Centerline goodness [0,1] 0.8729370008873114 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.40, Z:-0.13 [[ 0.96620591 -0.04443186 -0.25391328 3.7129152 ] [ 0.04885642 0.99874365 0.01114287 -0.39947685] [ 0.25309917 -0.0231716 0.9671628 -0.1263503 ] [ 0. 0. 0. 1. ]] SLAMing on 115.153201008 meters Centerline goodness [0,1] 0.8744679593284465 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.13 [[ 0.96603742 -0.04523678 -0.25441176 3.71520078] [ 0.04961188 0.99871014 0.01080336 -0.39931925] [ 0.2535949 -0.02305829 0.96703565 -0.12653671] [ 0. 0. 0. 1. ]] SLAMing on 115.183201008 meters Centerline goodness [0,1] 0.8708579881656805 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.13 [[ 0.96584025 -0.04621332 -0.2549842 3.71804522] [ 0.05049538 0.99867149 0.01026946 -0.39888385] [ 0.25417087 -0.02279418 0.96689068 -0.12706328] [ 0. 0. 0. 1. ]] SLAMing on 115.21320100799998 meters Centerline goodness [0,1] 0.8733534172130664 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.13 [[ 0.96562308 -0.04718725 -0.2556275 3.72107792] [ 0.05143343 0.99862688 0.0099475 -0.39856544] [ 0.2548071 -0.02275333 0.96672417 -0.12726339] [ 0. 0. 0. 1. ]] SLAMing on 115.24320100799999 meters Centerline goodness [0,1] 0.8733534172130664 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.13 [[ 0.96562308 -0.04718725 -0.2556275 3.72107792] [ 0.05143343 0.99862688 0.0099475 -0.39856544] [ 0.2548071 -0.02275333 0.96672417 -0.12726339] [ 0. 0. 0. 1. ]] SLAMing on 115.27320100799999 meters Centerline goodness [0,1] 0.8729523978790841 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.40, Z:-0.13 [[ 0.96544134 -0.04837315 -0.25609187 3.72405938] [ 0.05247906 0.99857947 0.00921945 -0.39733354] [ 0.25528211 -0.0223403 0.96660848 -0.12804055] [ 0. 0. 0. 1. ]] SLAMing on 115.30320100799999 meters Centerline goodness [0,1] 0.8720346984539125 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.40, Z:-0.13 [[ 0.96531524 -0.04899507 -0.25644878 3.72564922] [ 0.05301612 0.99855501 0.00878535 -0.39571814] [ 0.25564778 -0.02207655 0.96651789 -0.12820361] [ 0. 0. 0. 1. ]] SLAMing on 115.33320100799999 meters Centerline goodness [0,1] 0.8698193411264612 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.13 [[ 0.96526985 -0.04924872 -0.256571 3.72630779] [ 0.05318418 0.99854924 0.00841803 -0.3943078 ] [ 0.2557842 -0.02177119 0.96648873 -0.12849714] [ 0. 0. 0. 1. ]] SLAMing on 115.36320100799999 meters Centerline goodness [0,1] 0.8667060212514758 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.13 [[ 0.96520216 -0.04949206 -0.25677876 3.72680053] [ 0.05328242 0.99854886 0.00782022 -0.39151343] [ 0.2560191 -0.02122989 0.96643857 -0.12869543] [ 0. 0. 0. 1. ]] SLAMing on 115.39320100799999 meters Centerline goodness [0,1] 0.8640719619025222 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.13 [[ 0.96516851 -0.04935567 -0.25693145 3.72647439] [ 0.05316653 0.99855439 0.00790225 -0.39012725] [ 0.25617001 -0.02128716 0.96639732 -0.12796398] [ 0. 0. 0. 1. ]] SLAMing on 115.42320100799999 meters Centerline goodness [0,1] 0.865638313500808 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.13 [[ 0.96514889 -0.04928628 -0.25701845 3.72613415] [ 0.05308509 0.99855907 0.00785841 -0.38826315] [ 0.25626079 -0.02122838 0.96637455 -0.12746703] [ 0. 0. 0. 1. ]] SLAMing on 115.453201008 meters Centerline goodness [0,1] 0.8683604118659394 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.12 [[ 0.96500247 -0.04501123 -0.25834904 3.72837647] [ 0.04998894 0.99866867 0.01272754 -0.38958109] [ 0.25743221 -0.0251967 0.9659678 -0.12462237] [ 0. 0. 0. 1. ]] SLAMing on 115.483201008 meters Centerline goodness [0,1] 0.8665088273120543 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.39, Z:-0.13 [[ 0.96499497 -0.04517363 -0.25834869 3.72861104] [ 0.05002646 0.99867292 0.01223773 -0.38661839] [ 0.25745302 -0.02473362 0.96597422 -0.12511502] [ 0. 0. 0. 1. ]] SLAMing on 115.513201008 meters Centerline goodness [0,1] 0.8667581615371138 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.13 [[ 0.96499844 -0.04532326 -0.25830953 3.72898659] [ 0.05007085 0.99867564 0.01182712 -0.38473298] [ 0.25743139 -0.02434693 0.96598981 -0.12572638] [ 0. 0. 0. 1. ]] SLAMing on 115.543201008 meters Centerline goodness [0,1] 0.8633108186793991 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.13 [[ 0.96495635 -0.0456524 -0.2584088 3.72970029] [ 0.05026675 0.99867219 0.01127456 -0.38230453] [ 0.25755098 -0.02386883 0.96596986 -0.12623488] [ 0. 0. 0. 1. ]] SLAMing on 115.573201008 meters Centerline goodness [0,1] 0.8580176712448605 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.13 [[ 0.9650469 -0.04510886 -0.25816597 3.72821849] [ 0.04967532 0.99870274 0.0111892 -0.37968006] [ 0.25732633 -0.02362258 0.96603578 -0.12616416] [ 0. 0. 0. 1. ]] SLAMing on 115.60320100799998 meters Centerline goodness [0,1] 0.8587975088760841 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.13 [[ 0.96496026 -0.04514309 -0.25848365 3.72844903] [ 0.04972173 0.99870031 0.01120022 -0.37874125] [ 0.25764209 -0.02366003 0.9659507 -0.12542168] [ 0. 0. 0. 1. ]] SLAMing on 115.63320100799999 meters Centerline goodness [0,1] 0.8598727964452706 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.12 [[ 0.96491549 -0.04486561 -0.25869899 3.727935 ] [ 0.04953084 0.99870592 0.01154053 -0.37792148] [ 0.25784644 -0.02394921 0.96588904 -0.12425087] [ 0. 0. 0. 1. ]] SLAMing on 115.66320100799999 meters Centerline goodness [0,1] 0.8583505214536793 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.12 [[ 0.96493213 -0.0446438 -0.2586753 3.72728973] [ 0.04933895 0.99871375 0.01168402 -0.37707367] [ 0.25782096 -0.02403705 0.96589366 -0.12373117] [ 0. 0. 0. 1. ]] SLAMing on 115.69320100799999 meters Centerline goodness [0,1] 0.8565995332353704 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.12 [[ 0.96466672 -0.04108592 -0.26025 3.73109508] [ 0.04688573 0.99877028 0.01611415 -0.37756691] [ 0.2592679 -0.02774679 0.96540679 -0.12129287] [ 0. 0. 0. 1. ]] SLAMing on 115.72320100799999 meters Centerline goodness [0,1] 0.858008658008658 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.12 [[ 0.96455474 -0.04173733 -0.26056121 3.73306565] [ 0.04739004 0.99875702 0.0154468 -0.37641943] [ 0.25959263 -0.02724729 0.96533375 -0.12226545] [ 0. 0. 0. 1. ]] SLAMing on 115.75320100799999 meters Centerline goodness [0,1] 0.8584639317815165 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.38, Z:-0.12 [[ 0.96445005 -0.04240201 -0.26084127 3.73495517] [ 0.04790842 0.9987423 0.01478523 -0.37500557] [ 0.25988628 -0.02675611 0.96526848 -0.12318159] [ 0. 0. 0. 1. ]] SLAMing on 115.78320100799999 meters Centerline goodness [0,1] 0.8567442395650549 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96425582 -0.03909751 -0.2620727 3.73919868] [ 0.04544573 0.99880094 0.01820367 -0.37486921] [ 0.26104674 -0.02946308 0.96487643 -0.12296157] [ 0. 0. 0. 1. ]] SLAMing on 115.813201008 meters Centerline goodness [0,1] 0.8588793103448276 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96421293 -0.03926977 -0.2622047 3.73971851] [ 0.04556317 0.99879995 0.01796288 -0.37389911] [ 0.26118465 -0.02926692 0.96484508 -0.123079 ] [ 0. 0. 0. 1. ]] SLAMing on 115.843201008 meters Centerline goodness [0,1] 0.8604944283709073 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96410965 -0.03933974 -0.26257375 3.7402995 ] [ 0.04563447 0.99879754 0.01791572 -0.37376604] [ 0.26155321 -0.02925513 0.96474559 -0.12260752] [ 0. 0. 0. 1. ]] SLAMing on 115.873201008 meters Centerline goodness [0,1] 0.8579260067162251 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96409559 -0.03894199 -0.26268464 3.73979988] [ 0.04531312 0.99880635 0.01823737 -0.37414102] [ 0.26166088 -0.02948563 0.96470938 -0.1219475 ] [ 0. 0. 0. 1. ]] SLAMing on 115.903201008 meters Centerline goodness [0,1] 0.8564962039822375 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96402538 -0.03856747 -0.26299736 3.73966457] [ 0.04486804 0.99883091 0.01799088 -0.37294731] [ 0.26199603 -0.02914384 0.9646288 -0.12176074] [ 0. 0. 0. 1. ]] SLAMing on 115.933201008 meters Centerline goodness [0,1] 0.8579132072241719 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96391129 -0.03427014 -0.2640087 3.74205584] [ 0.0415776 0.99888996 0.02213952 -0.37390288] [ 0.26295691 -0.03231738 0.96426617 -0.12074717] [ 0. 0. 0. 1. ]] SLAMing on 115.96320100799998 meters Centerline goodness [0,1] 0.8536648019180272 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.9639786 -0.0340099 -0.26379649 3.7415212 ] [ 0.04124713 0.99890798 0.02194339 -0.37254444] [ 0.26276212 -0.03203381 0.96432873 -0.12126365] [ 0. 0. 0. 1. ]] SLAMing on 115.99320100799999 meters Centerline goodness [0,1] 0.8500071113639596 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96393706 -0.03409145 -0.26393771 3.74168607] [ 0.0413049 0.99890814 0.02182751 -0.3716022 ] [ 0.26290539 -0.03194227 0.96429272 -0.121036 ] [ 0. 0. 0. 1. ]] SLAMing on 116.02320100799999 meters Centerline goodness [0,1] 0.8573127566190004 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96389998 -0.03395176 -0.26409108 3.74212312] [ 0.04097702 0.99893649 0.02113704 -0.36851701] [ 0.26309258 -0.03119566 0.96426611 -0.121974 ] [ 0. 0. 0. 1. ]] SLAMing on 116.05320100799999 meters Centerline goodness [0,1] 0.8572723923946615 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96389055 -0.03395073 -0.26412566 3.74235285] [ 0.04085908 0.99895038 0.02070449 -0.36737894] [ 0.26314549 -0.0307488 0.96426602 -0.12252355] [ 0. 0. 0. 1. ]] SLAMing on 116.08320100799999 meters Centerline goodness [0,1] 0.8567987303746528 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96378109 -0.03423198 -0.26448854 3.74323701] [ 0.04102178 0.99895426 0.02018928 -0.36639708] [ 0.26352083 -0.03030784 0.96417748 -0.12262274] [ 0. 0. 0. 1. ]] SLAMing on 116.11320100799999 meters Centerline goodness [0,1] 0.8619801251380199 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96367703 -0.03423095 -0.26486755 3.74383282] [ 0.04099241 0.99895845 0.02004074 -0.366676 ] [ 0.26390567 -0.03017036 0.96407653 -0.12233946] [ 0. 0. 0. 1. ]] SLAMing on 116.14320100799999 meters Centerline goodness [0,1] 0.8634609929078014 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.37, Z:-0.12 [[ 0.96354014 -0.03402769 -0.26539126 3.74444441] [ 0.04088525 0.99895646 0.02035636 -0.36841974] [ 0.26442164 -0.03046476 0.96392588 -0.12144669] [ 0. 0. 0. 1. ]] SLAMing on 116.17320100799999 meters Centerline goodness [0,1] 0.8643494571704655 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.37, Z:-0.12 [[ 0.96352885 -0.03421958 -0.26540758 3.74540565] [ 0.0410132 0.9989565 0.02009561 -0.36799979] [ 0.26444296 -0.03024792 0.96392686 -0.12223379] [ 0. 0. 0. 1. ]] SLAMing on 116.203201008 meters Centerline goodness [0,1] 0.8628470742035411 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.37, Z:-0.12 [[ 0.96338098 -0.0350081 -0.26584116 3.74773055] [ 0.04169074 0.99893958 0.01953454 -0.36744224] [ 0.26487539 -0.02990231 0.9638189 -0.12286337] [ 0. 0. 0. 1. ]] SLAMing on 116.233201008 meters Centerline goodness [0,1] 0.8645150302307758 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.37, Z:-0.12 [[ 0.96316853 -0.0357688 -0.26650888 3.75013689] [ 0.04245009 0.99891121 0.01934922 -0.36801905] [ 0.26552661 -0.02994988 0.96363822 -0.12262257] [ 0. 0. 0. 1. ]] SLAMing on 116.263201008 meters Centerline goodness [0,1] 0.8679984109868907 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.37, Z:-0.12 [[ 0.9628348 -0.03767645 -0.26745024 3.75547192] [ 0.04416976 0.99885638 0.01830182 -0.36846528] [ 0.26645483 -0.02943485 0.96339785 -0.12374362] [ 0. 0. 0. 1. ]] SLAMing on 116.293201008 meters Centerline goodness [0,1] 0.8636169789327041 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.37, Z:-0.12 [[ 0.96274514 -0.03826069 -0.26768996 3.75724854] [ 0.04467269 0.99884127 0.01790156 -0.36817416] [ 0.26669485 -0.02919307 0.96333879 -0.12438692] [ 0. 0. 0. 1. ]] SLAMing on 116.323201008 meters Centerline goodness [0,1] 0.8652532726237906 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.37, Z:-0.12 [[ 0.96258349 -0.03883308 -0.26818838 3.75925085] [ 0.04517929 0.99882507 0.01753017 -0.36807696] [ 0.26719253 -0.02899081 0.96320698 -0.12462232] [ 0. 0. 0. 1. ]] SLAMing on 116.35320100799998 meters Centerline goodness [0,1] 0.8693274079138535 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.37, Z:-0.12 [[ 0.9624209 -0.03929657 -0.26870391 3.76090722] [ 0.0456221 0.99880836 0.01733477 -0.36838908] [ 0.26770251 -0.02894218 0.96306683 -0.12440184] [ 0. 0. 0. 1. ]] SLAMing on 116.38320100799999 meters Centerline goodness [0,1] 0.8740812489316848 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.13 [[ 0.96370702 -0.04166606 -0.26369058 3.7785028 ] [ 0.04535653 0.99893946 0.0079204 -0.36577678] [ 0.26308091 -0.01959303 0.9645748 -0.12529961] [ 0. 0. 0. 1. ]] SLAMing on 116.41320100799999 meters Centerline goodness [0,1] 0.8786281938075028 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.12 [[ 0.96357699 -0.04166581 -0.26416538 3.77936158] [ 0.04546554 0.99893156 0.00828369 -0.36644331] [ 0.26353799 -0.01999239 0.96444183 -0.12441743] [ 0. 0. 0. 1. ]] SLAMing on 116.44320100799999 meters Centerline goodness [0,1] 0.8794916365087054 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.12 [[ 0.96354264 -0.04157779 -0.26430449 3.77978058] [ 0.04542901 0.99893164 0.00847288 -0.36684248] [ 0.26366984 -0.02017107 0.96440207 -0.12428541] [ 0. 0. 0. 1. ]] SLAMing on 116.47320100799999 meters Centerline goodness [0,1] 0.8777508206079635 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.13 [[ 0.96353616 -0.04168603 -0.26431108 3.78088312] [ 0.04547771 0.99893137 0.00824006 -0.36630917] [ 0.26368513 -0.01995986 0.96440228 -0.12525463] [ 0. 0. 0. 1. ]] SLAMing on 116.50320100799999 meters Centerline goodness [0,1] 0.8748005470708913 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.13 [[ 0.9635129 -0.04188858 -0.26436384 3.78161097] [ 0.045645 0.99892505 0.00807973 -0.36553835] [ 0.26374121 -0.01985182 0.96438917 -0.12559428] [ 0. 0. 0. 1. ]] SLAMing on 116.53320100799999 meters Centerline goodness [0,1] 0.8685539796238692 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.13 [[ 0.96336189 -0.04247982 -0.26481945 3.783439 ] [ 0.04627307 0.99889599 0.00809904 -0.36603395] [ 0.26418304 -0.02005632 0.964264 -0.12528146] [ 0. 0. 0. 1. ]] SLAMing on 116.563201008 meters Centerline goodness [0,1] 0.8679919908466819 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.37, Z:-0.12 [[ 0.96319295 -0.04280612 -0.26538083 3.78479646] [ 0.04669252 0.99887441 0.00835012 -0.36672494] [ 0.26472469 -0.02043407 0.96410751 -0.12436922] [ 0. 0. 0. 1. ]] SLAMing on 116.593201008 meters Centerline goodness [0,1] 0.8641354071363221 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.37, Z:-0.12 [[ 0.96301948 -0.04298473 -0.26598082 3.78598186] [ 0.04698356 0.99885789 0.00868653 -0.36785379] [ 0.26530365 -0.02086203 0.96393918 -0.12327466] [ 0. 0. 0. 1. ]] SLAMing on 116.623201008 meters Centerline goodness [0,1] 0.8768437634254618 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.37, Z:-0.12 [[ 0.96280641 -0.04348788 -0.26666948 3.78835983] [ 0.04752468 0.99883218 0.0086998 -0.36945184] [ 0.26597972 -0.02104961 0.96374877 -0.12293812] [ 0. 0. 0. 1. ]] SLAMing on 116.653201008 meters Centerline goodness [0,1] 0.8765467461044913 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.37, Z:-0.12 [[ 0.96271194 -0.04356055 -0.26699851 3.78926235] [ 0.04764955 0.99882489 0.00885182 -0.3700464 ] [ 0.26629917 -0.02124411 0.96365629 -0.12259327] [ 0. 0. 0. 1. ]] SLAMing on 116.683201008 meters Centerline goodness [0,1] 0.8686255324047427 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.37, Z:-0.12 [[ 0.96252271 -0.04400483 -0.2676072 3.79093779] [ 0.04823938 0.99879282 0.00926651 -0.37152051] [ 0.26687638 -0.02182843 0.96348353 -0.12150953] [ 0. 0. 0. 1. ]] SLAMing on 116.71320100799998 meters Centerline goodness [0,1] 0.8713377636521237 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.12 [[ 0.96211805 -0.04604782 -0.26871629 3.79554421] [ 0.05050994 0.99867634 0.00971158 -0.3742042 ] [ 0.26791341 -0.02291653 0.96317041 -0.11949345] [ 0. 0. 0. 1. ]] SLAMing on 116.74320100799999 meters Centerline goodness [0,1] 0.8643268423946067 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.12 [[ 0.96200941 -0.04636517 -0.26905047 3.79702985] [ 0.05090669 0.99865411 0.00992358 -0.37478632] [ 0.26822825 -0.02324304 0.96307495 -0.11927933] [ 0. 0. 0. 1. ]] SLAMing on 116.77320100799999 meters Centerline goodness [0,1] 0.8677726627869944 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.12 [[ 0.96191337 -0.04674695 -0.26932767 3.7983895 ] [ 0.05129535 0.99863474 0.00987107 -0.37459492] [ 0.26849852 -0.02331038 0.96299801 -0.1193331 ] [ 0. 0. 0. 1. ]] SLAMing on 116.80320100799999 meters Centerline goodness [0,1] 0.8668733341059218 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.12 [[ 0.96189318 -0.04672488 -0.26940361 3.79880701] [ 0.05130697 0.99863298 0.00998804 -0.37477917] [ 0.26856864 -0.02342971 0.96297556 -0.119341 ] [ 0. 0. 0. 1. ]] SLAMing on 116.83320100799999 meters Centerline goodness [0,1] 0.8679136191494897 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.12 [[ 0.96183598 -0.04661372 -0.26962699 3.79900592] [ 0.05125919 0.99863319 0.01021011 -0.37486985] [ 0.26878253 -0.02364131 0.96291071 -0.1187815 ] [ 0. 0. 0. 1. ]] SLAMing on 116.86320100799999 meters Centerline goodness [0,1] 0.8687547038730967 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.38, Z:-0.12 [[ 0.96148876 -0.04737908 -0.27072973 3.80100832] [ 0.05243029 0.99855892 0.01145178 -0.37772912] [ 0.26979701 -0.02520519 0.96258728 -0.11513318] [ 0. 0. 0. 1. ]] SLAMing on 116.89320100799999 meters Centerline goodness [0,1] 0.86998021184961 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.38, Z:-0.11 [[ 0.96139006 -0.04735291 -0.27108458 3.80113557] [ 0.0525887 0.99854321 0.01207863 -0.37945216] [ 0.27011771 -0.02586826 0.96247974 -0.11365687] [ 0. 0. 0. 1. ]] SLAMing on 116.92320100799999 meters Centerline goodness [0,1] 0.8740492495993006 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.38, Z:-0.11 [[ 0.96131832 -0.04738818 -0.27133273 3.80156799] [ 0.05268176 0.99853615 0.01225481 -0.37970737] [ 0.27035481 -0.02607506 0.96240759 -0.11312585] [ 0. 0. 0. 1. ]] SLAMing on 116.953201008 meters Centerline goodness [0,1] 0.8720376377078403 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.38, Z:-0.11 [[ 0.9613155 -0.0476297 -0.27130044 3.80235782] [ 0.05281508 0.99853412 0.01183955 -0.37872333] [ 0.27033883 -0.02571029 0.96242189 -0.11398819] [ 0. 0. 0. 1. ]] SLAMing on 116.983201008 meters Centerline goodness [0,1] 0.8713299292097018 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96125184 -0.04380257 -0.2721695 3.80553454] [ 0.04981167 0.99864288 0.01520536 -0.37717874] [ 0.2711341 -0.02817339 0.96212918 -0.11429833] [ 0. 0. 0. 1. ]] SLAMing on 117.013201008 meters Centerline goodness [0,1] 0.8694008144269925 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96138087 -0.04310706 -0.27182459 3.80397917] [ 0.04905122 0.998682 0.01510774 -0.37481187] [ 0.27081507 -0.02785762 0.96222822 -0.11465945] [ 0. 0. 0. 1. ]] SLAMing on 117.043201008 meters Centerline goodness [0,1] 0.8676334106728538 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96144129 -0.03800024 -0.27237222 3.80398382] [ 0.04497686 0.99879936 0.01941456 -0.3747458 ] [ 0.27130744 -0.03091641 0.96199608 -0.11343832] [ 0. 0. 0. 1. ]] SLAMing on 117.073201008 meters Centerline goodness [0,1] 0.8651970684978937 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96156519 -0.03726171 -0.27203669 3.80222436] [ 0.04414386 0.99884027 0.0192206 -0.37213011] [ 0.27100501 -0.03049061 0.96209491 -0.11375568] [ 0. 0. 0. 1. ]] SLAMing on 117.10320100799998 meters Centerline goodness [0,1] 0.8658844454644558 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96176481 -0.03564133 -0.27154769 3.79859837] [ 0.04255033 0.99890213 0.01959585 -0.36933617] [ 0.27055114 -0.03040104 0.96222547 -0.11329039] [ 0. 0. 0. 1. ]] SLAMing on 117.13320100799999 meters Centerline goodness [0,1] 0.8584728390843868 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.9617411 -0.0357896 -0.27161217 3.7987076 ] [ 0.04259218 0.99890824 0.01918958 -0.3674178 ] [ 0.27062884 -0.03002396 0.96221546 -0.11342972] [ 0. 0. 0. 1. ]] SLAMing on 117.16320100799999 meters Centerline goodness [0,1] 0.8584728390843868 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.9617411 -0.0357896 -0.27161217 3.7987076 ] [ 0.04259218 0.99890824 0.01918958 -0.3674178 ] [ 0.27062884 -0.03002396 0.96221546 -0.11342972] [ 0. 0. 0. 1. ]] SLAMing on 117.19320100799999 meters Centerline goodness [0,1] 0.8594419987422103 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.11 [[ 0.9618519 -0.03561782 -0.27124212 3.79754782] [ 0.04229132 0.9989285 0.01879625 -0.36476792] [ 0.270282 -0.0295504 0.9623276 -0.11395994] [ 0. 0. 0. 1. ]] SLAMing on 117.22320100799999 meters Centerline goodness [0,1] 0.854215873196551 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.11 [[ 0.96174922 -0.0360497 -0.271549 3.79852722] [ 0.04268979 0.99891553 0.01858327 -0.36403414] [ 0.27058459 -0.02946481 0.96224519 -0.11371697] [ 0. 0. 0. 1. ]] SLAMing on 117.25320100799999 meters Centerline goodness [0,1] 0.8554825813820675 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.11 [[ 0.96168709 -0.03611443 -0.27176037 3.79888812] [ 0.04280569 0.99890779 0.01873228 -0.36456672] [ 0.27078704 -0.02964748 0.96218262 -0.11322563] [ 0. 0. 0. 1. ]] SLAMing on 117.28320100799999 meters Centerline goodness [0,1] 0.854708904109589 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.36, Z:-0.11 [[ 0.96158349 -0.03647908 -0.27207807 3.79995836] [ 0.04318472 0.99889214 0.01869702 -0.3648148 ] [ 0.27109459 -0.02972836 0.96209352 -0.11293612] [ 0. 0. 0. 1. ]] SLAMing on 117.313201008 meters Centerline goodness [0,1] 0.8568687534007274 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.9615255 -0.03667983 -0.27225595 3.80086297] [ 0.04339725 0.99888304 0.01869086 -0.36537445] [ 0.27126627 -0.0297869 0.96204332 -0.11302065] [ 0. 0. 0. 1. ]] SLAMing on 117.343201008 meters Centerline goodness [0,1] 0.8624040479544606 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96141175 -0.03704048 -0.27260861 3.80240171] [ 0.04383013 0.99886102 0.01885674 -0.36735328] [ 0.27159965 -0.03007756 0.96194021 -0.11284112] [ 0. 0. 0. 1. ]] SLAMing on 117.373201008 meters Centerline goodness [0,1] 0.8584098828001268 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96134814 -0.0372995 -0.27279755 3.80358634] [ 0.04407143 0.99885267 0.01873654 -0.36761228] [ 0.2717857 -0.03003491 0.961889 -0.11319967] [ 0. 0. 0. 1. ]] SLAMing on 117.403201008 meters Centerline goodness [0,1] 0.8642035652673951 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.37, Z:-0.11 [[ 0.96133818 -0.03757517 -0.27279482 3.8047414 ] [ 0.04425992 0.99885077 0.01839024 -0.36747778] [ 0.2717903 -0.02975312 0.96189645 -0.11423853] [ 0. 0. 0. 1. ]] SLAMing on 117.433201008 meters Centerline goodness [0,1] 0.8642698444758634 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.11 [[ 0.96133115 -0.03745162 -0.27283656 3.80545642] [ 0.04421948 0.99884687 0.01869668 -0.36930338] [ 0.27182172 -0.03003839 0.96187871 -0.11451225] [ 0. 0. 0. 1. ]] SLAMing on 117.46320100799998 meters Centerline goodness [0,1] 0.8649211028264262 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.11 [[ 0.96123663 -0.03739238 -0.27317751 3.80596424] [ 0.04434172 0.99882984 0.01930708 -0.37158165] [ 0.27213592 -0.03067183 0.96176987 -0.11347552] [ 0. 0. 0. 1. ]] SLAMing on 117.49320100799999 meters Centerline goodness [0,1] 0.8683867227134368 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.11 [[ 0.96119414 -0.0370963 -0.27336733 3.80592733] [ 0.04424972 0.99881935 0.02004653 -0.37368699] [ 0.27230093 -0.03136503 0.96170081 -0.11243262] [ 0. 0. 0. 1. ]] SLAMing on 117.52320100799999 meters Centerline goodness [0,1] 0.8686118633703154 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96120579 -0.03679809 -0.27336664 3.80544614] [ 0.04417489 0.99880566 0.02087678 -0.37598715] [ 0.27227192 -0.03214282 0.96168334 -0.1113174 ] [ 0. 0. 0. 1. ]] SLAMing on 117.55320100799999 meters Centerline goodness [0,1] 0.8645345284171929 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96119944 -0.0368505 -0.27338193 3.8058863 ] [ 0.04423562 0.99880254 0.02089705 -0.37624007] [ 0.2722845 -0.03217945 0.96167855 -0.11155275] [ 0. 0. 0. 1. ]] SLAMing on 117.58320100799999 meters Centerline goodness [0,1] 0.8696777570963239 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96119066 -0.03698205 -0.27339502 3.80645173] [ 0.04435436 0.99879864 0.02083204 -0.37633412] [ 0.27229616 -0.03214982 0.96167624 -0.11187472] [ 0. 0. 0. 1. ]] SLAMing on 117.61320100799999 meters Centerline goodness [0,1] 0.8638539883353161 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96121193 -0.03707732 -0.27330733 3.80670133] [ 0.04447011 0.99879203 0.02090201 -0.37655297] [ 0.27220219 -0.03224527 0.96169965 -0.11198887] [ 0. 0. 0. 1. ]] SLAMing on 117.64320100799999 meters Centerline goodness [0,1] 0.8628626298484011 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96117155 -0.0370257 -0.2734563 3.80694477] [ 0.04449492 0.99878548 0.02116065 -0.3773344 ] [ 0.27234069 -0.03250643 0.96165164 -0.11153794] [ 0. 0. 0. 1. ]] SLAMing on 117.67320100799999 meters Centerline goodness [0,1] 0.8641291676381441 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96118781 -0.03696519 -0.27340734 3.8069942 ] [ 0.04440731 0.99879109 0.02107939 -0.37713283] [ 0.27229761 -0.03240253 0.96166735 -0.11180952] [ 0. 0. 0. 1. ]] SLAMing on 117.703201008 meters Centerline goodness [0,1] 0.8611385419692129 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.38, Z:-0.11 [[ 0.96117403 -0.03731765 -0.2734079 3.80788755] [ 0.04460454 0.99879473 0.0204824 -0.37580119] [ 0.27231401 -0.03188239 0.96168009 -0.11276439] [ 0. 0. 0. 1. ]] SLAMing on 117.733201008 meters Centerline goodness [0,1] 0.862998576533132 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.11 [[ 0.96118869 -0.03733208 -0.27335437 3.80847126] [ 0.04437154 0.99882256 0.01961299 -0.37357556] [ 0.27230031 -0.03098094 0.96171343 -0.11441857] [ 0. 0. 0. 1. ]] SLAMing on 117.763201008 meters Centerline goodness [0,1] 0.8653025685676969 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.12 [[ 0.96118901 -0.03747251 -0.27333404 3.80908122] [ 0.044401 0.99882919 0.01920404 -0.37293465] [ 0.27229439 -0.03059502 0.96172746 -0.11524891] [ 0. 0. 0. 1. ]] SLAMing on 117.793201008 meters Centerline goodness [0,1] 0.8666434439316091 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.12 [[ 0.96112669 -0.03771365 -0.27351994 3.80981283] [ 0.04456172 0.99882849 0.01886515 -0.3723534 ] [ 0.27248804 -0.03032032 0.96168131 -0.11553509] [ 0. 0. 0. 1. ]] SLAMing on 117.823201008 meters Centerline goodness [0,1] 0.8668742361636501 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.12 [[ 0.96105466 -0.03787116 -0.2737512 3.81050339] [ 0.0447181 0.9988225 0.01881261 -0.37240241] [ 0.2727164 -0.03032158 0.96161654 -0.11543974] [ 0. 0. 0. 1. ]] SLAMing on 117.85320100799998 meters Centerline goodness [0,1] 0.8720809248554913 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.12 [[ 0.96094578 -0.03845944 -0.27405125 3.81225796] [ 0.04520836 0.99880901 0.01835111 -0.37189143] [ 0.27301908 -0.03002383 0.96153999 -0.11600179] [ 0. 0. 0. 1. ]] SLAMing on 117.88320100799999 meters Centerline goodness [0,1] 0.8759363567737065 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.37, Z:-0.12 [[ 0.96077415 -0.0443369 -0.27376499 3.81391516] [ 0.04984152 0.99867016 0.01318101 -0.36970492] [ 0.27281652 -0.02630884 0.96170629 -0.11796903] [ 0. 0. 0. 1. ]] SLAMing on 117.91320100799999 meters Centerline goodness [0,1] 0.8758720930232559 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.12 [[ 0.96047907 -0.04653018 -0.27443559 3.81862755] [ 0.05188359 0.99857768 0.01227648 -0.37026067] [ 0.27347403 -0.02603001 0.96152712 -0.11869773] [ 0. 0. 0. 1. ]] SLAMing on 117.94320100799999 meters Centerline goodness [0,1] 0.874044911052785 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.12 [[ 0.96041697 -0.04676226 -0.27461344 3.81974401] [ 0.05208873 0.99856877 0.01213182 -0.37034614] [ 0.2736531 -0.02595587 0.96147817 -0.11908744] [ 0. 0. 0. 1. ]] SLAMing on 117.97320100799999 meters Centerline goodness [0,1] 0.8789653063007953 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.12 [[ 0.96037506 -0.04684229 -0.27474633 3.8204598 ] [ 0.05212366 0.99856915 0.01194921 -0.36962741] [ 0.27379347 -0.02579651 0.9614425 -0.11946307] [ 0. 0. 0. 1. ]] SLAMing on 118.00320100799999 meters Centerline goodness [0,1] 0.8777605974851942 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.37, Z:-0.12 [[ 0.96045186 -0.0465077 -0.27453464 3.82009353] [ 0.0517084 0.9985933 0.01173315 -0.3685831 ] [ 0.27360276 -0.02546487 0.96150563 -0.12027638] [ 0. 0. 0. 1. ]] SLAMing on 118.03320100799999 meters Centerline goodness [0,1] 0.8714331610152166 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.12 [[ 9.61960493e-01 -4.74609575e-02 -2.69034325e-01 3.83510963e+00] [ 5.01073394e-02 9.98739410e-01 2.97416403e-03 -3.65844402e-01] [ 2.68554026e-01 -1.63416225e-02 9.63125997e-01 -1.21149952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.063201008 meters Centerline goodness [0,1] 0.8698764205790411 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.37, Z:-0.12 [[ 0.96196185 -0.04672943 -0.26915751 3.83386881] [ 0.04968087 0.99875648 0.00416032 -0.36763066] [ 0.26862839 -0.01737405 0.96308719 -0.11923519] [ 0. 0. 0. 1. ]] SLAMing on 118.093201008 meters Centerline goodness [0,1] 0.8706171107994389 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.37, Z:-0.12 [[ 0.96190891 -0.0464812 -0.26938958 3.83371515] [ 0.04959158 0.99875829 0.00474816 -0.36823262] [ 0.26883437 -0.01792676 0.96301958 -0.11813469] [ 0. 0. 0. 1. ]] SLAMing on 118.123201008 meters Centerline goodness [0,1] 0.8671758840850121 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.37, Z:-0.12 [[ 0.96190247 -0.04646149 -0.26941599 3.83392624] [ 0.04960319 0.99875717 0.00486118 -0.36740214] [ 0.26885529 -0.01803987 0.96301163 -0.11811298] [ 0. 0. 0. 1. ]] SLAMing on 118.153201008 meters Centerline goodness [0,1] 0.8633817608962017 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.37, Z:-0.12 [[ 0.96185716 -0.0466357 -0.26954763 3.83474712] [ 0.04979055 0.99874778 0.00487518 -0.36723463] [ 0.26898274 -0.01811015 0.96297472 -0.11824956] [ 0. 0. 0. 1. ]] SLAMing on 118.183201008 meters Centerline goodness [0,1] 0.8642188414277355 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.12 [[ 0.96171268 -0.04693324 -0.27001109 3.83622375] [ 0.05016544 0.99872801 0.00507828 -0.36788087] [ 0.2694293 -0.01842907 0.96284382 -0.11778363] [ 0. 0. 0. 1. ]] SLAMing on 118.21320100799998 meters Centerline goodness [0,1] 0.8656746959775491 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.12 [[ 0.96159408 -0.04702643 -0.27041696 3.83737057] [ 0.05035364 0.99871698 0.00537563 -0.36891879] [ 0.26981722 -0.01878565 0.96272829 -0.11731263] [ 0. 0. 0. 1. ]] SLAMing on 118.24320100799999 meters Centerline goodness [0,1] 0.8689816849816849 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.12 [[ 0.96147435 -0.04699683 -0.27084751 3.83804479] [ 0.05049762 0.99870636 0.00596693 -0.37062227] [ 0.2702167 -0.01941421 0.96260377 -0.11613553] [ 0. 0. 0. 1. ]] SLAMing on 118.27320100799999 meters Centerline goodness [0,1] 0.8678503301540719 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96140616 -0.04664933 -0.27114947 3.83775434] [ 0.05039445 0.99870582 0.00686183 -0.37220962] [ 0.27047846 -0.02026143 0.96251279 -0.11449872] [ 0. 0. 0. 1. ]] SLAMing on 118.30320100799999 meters Centerline goodness [0,1] 0.8688954344624448 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96134151 -0.04626894 -0.27144371 3.83755578] [ 0.05026478 0.9987056 0.00778269 -0.37426642] [ 0.27073226 -0.02112588 0.96242285 -0.11298562] [ 0. 0. 0. 1. ]] SLAMing on 118.33320100799999 meters Centerline goodness [0,1] 0.8740540063017168 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96118345 -0.04626927 -0.27200282 3.83834292] [ 0.05046632 0.99869001 0.00845111 -0.3757853 ] [ 0.27125548 -0.02185005 0.96225934 -0.11151723] [ 0. 0. 0. 1. ]] SLAMing on 118.36320100799999 meters Centerline goodness [0,1] 0.8688457129420064 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96124345 -0.04612574 -0.27181511 3.83781456] [ 0.05040306 0.99869044 0.00877171 -0.3751951 ] [ 0.27105455 -0.02213206 0.96230952 -0.11125467] [ 0. 0. 0. 1. ]] SLAMing on 118.39320100799999 meters Centerline goodness [0,1] 0.8700355704500691 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96110587 -0.04665591 -0.27221081 3.8388061 ] [ 0.0510287 0.99865661 0.00900313 -0.3752186 ] [ 0.27142507 -0.02254352 0.96219552 -0.11023423] [ 0. 0. 0. 1. ]] SLAMing on 118.42320100799999 meters Centerline goodness [0,1] 0.8738887253458935 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96098932 -0.04682296 -0.27259334 3.83923337] [ 0.05137706 0.99863329 0.00958878 -0.37621734] [ 0.27177181 -0.02321976 0.96208156 -0.10878974] [ 0. 0. 0. 1. ]] SLAMing on 118.453201008 meters Centerline goodness [0,1] 0.8757873668099134 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96086101 -0.04695945 -0.27302186 3.83979953] [ 0.05167418 0.99861293 0.01009954 -0.37723707] [ 0.27216889 -0.02381243 0.96195481 -0.10744776] [ 0. 0. 0. 1. ]] SLAMing on 118.483201008 meters Centerline goodness [0,1] 0.8718975415869277 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.38, Z:-0.11 [[ 0.96061383 -0.04806908 -0.27369771 3.84247756] [ 0.05266301 0.99856755 0.00945784 -0.37570746] [ 0.27285102 -0.02349908 0.96176926 -0.10755786] [ 0. 0. 0. 1. ]] SLAMing on 118.513201008 meters Centerline goodness [0,1] 0.872429438453833 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.9605104 -0.04857491 -0.27397126 3.84374595] [ 0.05307376 0.99854978 0.00902807 -0.37402811] [ 0.2731354 -0.02321224 0.9616955 -0.10783508] [ 0. 0. 0. 1. ]] SLAMing on 118.543201008 meters Centerline goodness [0,1] 0.8749742351520862 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96049231 -0.04846182 -0.27405468 3.84357926] [ 0.05297023 0.9985549 0.00907014 -0.37317709] [ 0.27321909 -0.02322854 0.96167134 -0.10755727] [ 0. 0. 0. 1. ]] SLAMing on 118.573201008 meters Centerline goodness [0,1] 0.8731481209845395 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96047506 -0.04810639 -0.27417774 3.84290633] [ 0.05271245 0.998565 0.00945241 -0.37266832] [ 0.27332957 -0.02353139 0.96163258 -0.10659954] [ 0. 0. 0. 1. ]] SLAMing on 118.60320100799998 meters Centerline goodness [0,1] 0.8736140599197924 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96048904 -0.04728729 -0.27427123 3.84126241] [ 0.05190252 0.9986061 0.00959059 -0.37082395] [ 0.27343541 -0.02344702 0.96160455 -0.1057608 ] [ 0. 0. 0. 1. ]] SLAMing on 118.63320100799999 meters Centerline goodness [0,1] 0.8742897518179409 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.11 [[ 0.96044967 -0.04692894 -0.27447058 3.84072635] [ 0.05155965 0.99862303 0.00967726 -0.36989508] [ 0.2736385 -0.02344612 0.9615468 -0.10511334] [ 0. 0. 0. 1. ]] SLAMing on 118.66320100799999 meters Centerline goodness [0,1] 0.8738441604334767 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.10 [[ 0.96045456 -0.04635328 -0.27455131 3.83977366] [ 0.05104644 0.99864652 0.00996989 -0.36905757] [ 0.27371757 -0.02359049 0.96152076 -0.10439554] [ 0. 0. 0. 1. ]] SLAMing on 118.69320100799999 meters Centerline goodness [0,1] 0.8773465730485619 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.37, Z:-0.10 [[ 0.96051293 -0.04583009 -0.2744349 3.83877575] [ 0.05049155 0.998675 0.00994193 -0.36756475] [ 0.27361564 -0.023406 0.96155428 -0.10440945] [ 0. 0. 0. 1. ]] SLAMing on 118.72320100799999 meters Centerline goodness [0,1] 0.8700757575757576 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.36, Z:-0.10 [[ 0.96064926 -0.04072464 -0.27476264 3.83859014] [ 0.04626088 0.99883549 0.01369639 -0.36417104] [ 0.2738849 -0.02586819 0.96141453 -0.10424872] [ 0. 0. 0. 1. ]] SLAMing on 118.75320100799999 meters Centerline goodness [0,1] 0.865720999042729 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.36, Z:-0.10 [[ 0.96063731 -0.0362008 -0.27543684 3.83974006] [ 0.04273624 0.99892851 0.01776094 -0.36337589] [ 0.27449875 -0.02883296 0.96115508 -0.10331482] [ 0. 0. 0. 1. ]] SLAMing on 118.78320100799999 meters Centerline goodness [0,1] 0.8692982710185642 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.36, Z:-0.10 [[ 0.96070427 -0.03566872 -0.27527268 3.83824087] [ 0.0421493 0.99895522 0.01766087 -0.36074727] [ 0.27435514 -0.02856943 0.96120396 -0.10312804] [ 0. 0. 0. 1. ]] SLAMing on 118.813201008 meters Centerline goodness [0,1] 0.8680052000577785 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.36, Z:-0.10 [[ 0.96068795 -0.03441792 -0.27548877 3.83569112] [ 0.04088511 0.99900591 0.01776526 -0.35807894] [ 0.27460347 -0.02833026 0.96114012 -0.10180881] [ 0. 0. 0. 1. ]] SLAMing on 118.843201008 meters Centerline goodness [0,1] 0.8682665895619488 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.36, Z:-0.10 [[ 0.96064578 -0.03400274 -0.27568732 3.83463328] [ 0.04047797 0.99902133 0.0178301 -0.35691888] [ 0.27481124 -0.02828767 0.96108199 -0.10076373] [ 0. 0. 0. 1. ]] SLAMing on 118.873201008 meters Centerline goodness [0,1] 0.8711268824649472 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.36, Z:-0.10 [[ 0.96068585 -0.03319947 -0.27564559 3.83256028] [ 0.03973736 0.99904502 0.0181659 -0.35575984] [ 0.27477926 -0.02840515 0.96108767 -0.09960264] [ 0. 0. 0. 1. ]] SLAMing on 118.903201008 meters Centerline goodness [0,1] 0.8690356206985919 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.96072379 -0.03270692 -0.27557223 3.83105026] [ 0.03923914 0.99906367 0.01822274 -0.35385455] [ 0.2747182 -0.02832024 0.96110763 -0.09889276] [ 0. 0. 0. 1. ]] SLAMing on 118.933201008 meters Centerline goodness [0,1] 0.8663397568249599 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.96079202 -0.02767255 -0.27588569 3.83084571] [ 0.03521667 0.99912801 0.02242767 -0.35286855] [ 0.27502449 -0.0312641 0.96092876 -0.09795843] [ 0. 0. 0. 1. ]] SLAMing on 118.96320100799998 meters Centerline goodness [0,1] 0.862078853046595 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.96080653 -0.02774362 -0.27582803 3.83075224] [ 0.03529887 0.99912431 0.02246351 -0.35247333] [ 0.27496327 -0.03131951 0.96094448 -0.09785155] [ 0. 0. 0. 1. ]] SLAMing on 118.99320100799999 meters Centerline goodness [0,1] 0.8598165557047747 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.9606069 -0.02872192 -0.27642258 3.83305908] [ 0.03626043 0.9990958 0.02219816 -0.35233246] [ 0.27553506 -0.0313469 0.96077979 -0.09752009] [ 0. 0. 0. 1. ]] SLAMing on 119.02320100799999 meters Centerline goodness [0,1] 0.8595102930213888 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.96051315 -0.03428067 -0.27611471 3.83379099] [ 0.04058163 0.99902925 0.01713708 -0.34953195] [ 0.2752592 -0.02766558 0.9609719 -0.09909482] [ 0. 0. 0. 1. ]] SLAMing on 119.05320100799999 meters Centerline goodness [0,1] 0.8595102930213888 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.35, Z:-0.10 [[ 0.96051315 -0.03428067 -0.27611471 3.83379099] [ 0.04058163 0.99902925 0.01713708 -0.34953195] [ 0.2752592 -0.02766558 0.9609719 -0.09909482] [ 0. 0. 0. 1. ]] SLAMing on 119.08320100799999 meters Centerline goodness [0,1] 0.8588832196296509 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.35, Z:-0.10 [[ 0.9600646 -0.03718284 -0.27729659 3.84048526] [ 0.04309421 0.99895459 0.01525173 -0.3471037 ] [ 0.2764396 -0.02659252 0.9606633 -0.10066948] [ 0. 0. 0. 1. ]] SLAMing on 119.11320100799999 meters Centerline goodness [0,1] 0.8615107399250637 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.35, Z:-0.10 [[ 0.95992337 -0.03802936 -0.27767047 3.84293526] [ 0.04372708 0.9989404 0.01435363 -0.34540029] [ 0.27683039 -0.0259201 0.96056915 -0.10178114] [ 0. 0. 0. 1. ]] SLAMing on 119.14320100799999 meters Centerline goodness [0,1] 0.8572771825849099 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95978783 -0.03866413 -0.27805107 3.84497135] [ 0.04416715 0.99893223 0.01355237 -0.34353656] [ 0.27723019 -0.02528812 0.96047068 -0.10267723] [ 0. 0. 0. 1. ]] SLAMing on 119.17320100799999 meters Centerline goodness [0,1] 0.8623751070510991 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95981287 -0.03808967 -0.27804393 3.84417174] [ 0.04351779 0.99896312 0.0133747 -0.34217162] [ 0.2772462 -0.02493707 0.96047524 -0.10274695] [ 0. 0. 0. 1. ]] SLAMing on 119.203201008 meters Centerline goodness [0,1] 0.8648764584763212 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95983486 -0.0377402 -0.27801567 3.84338971] [ 0.0431527 0.99897899 0.01337265 -0.34167568] [ 0.27722713 -0.02483266 0.96048345 -0.10250976] [ 0. 0. 0. 1. ]] SLAMing on 119.233201008 meters Centerline goodness [0,1] 0.8682042363942184 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95979626 -0.03751581 -0.27817927 3.84311114] [ 0.04297447 0.99898429 0.01354893 -0.34144182] [ 0.27738842 -0.02495882 0.96043361 -0.10186137] [ 0. 0. 0. 1. ]] SLAMing on 119.263201008 meters Centerline goodness [0,1] 0.8719119073429566 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95980815 -0.03731744 -0.27816493 3.84274626] [ 0.04278192 0.99899189 0.01359846 -0.34117747] [ 0.27737705 -0.02495235 0.96043706 -0.10171906] [ 0. 0. 0. 1. ]] SLAMing on 119.293201008 meters Centerline goodness [0,1] 0.8638367300206091 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95986335 -0.03705288 -0.27800976 3.84255854] [ 0.04255482 0.9989991 0.01378015 -0.34074791] [ 0.27722091 -0.02505771 0.9604794 -0.10196817] [ 0. 0. 0. 1. ]] SLAMing on 119.323201008 meters Centerline goodness [0,1] 0.8669493467797387 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95986998 -0.03701364 -0.2779921 3.84289597] [ 0.04251999 0.99900027 0.01380264 -0.34080355] [ 0.2772033 -0.02506896 0.96048419 -0.10224894] [ 0. 0. 0. 1. ]] SLAMing on 119.35320100799998 meters Centerline goodness [0,1] 0.8614537318570363 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95986506 -0.03687929 -0.27802695 3.84308919] [ 0.04245108 0.99899982 0.01404504 -0.34114804] [ 0.2772309 -0.02528389 0.96047059 -0.1021324 ] [ 0. 0. 0. 1. ]] SLAMing on 119.38320100799999 meters Centerline goodness [0,1] 0.85828584585276 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.34, Z:-0.10 [[ 0.95981397 -0.03676728 -0.27821811 3.8434588 ] [ 0.04242649 0.9989966 0.01434539 -0.34217319] [ 0.27741151 -0.02557272 0.96041079 -0.1017702 ] [ 0. 0. 0. 1. ]] SLAMing on 119.41320100799999 meters Centerline goodness [0,1] 0.8574483456147955 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.35, Z:-0.10 [[ 0.95949359 -0.03685518 -0.27930942 3.84435201] [ 0.04341747 0.99890648 0.01734243 -0.34832949] [ 0.27836483 -0.02876686 0.96004452 -0.09579361] [ 0. 0. 0. 1. ]] SLAMing on 119.44320100799999 meters Centerline goodness [0,1] 0.8543582306018854 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.35, Z:-0.09 [[ 0.95938685 -0.04150842 -0.27902315 3.84283211] [ 0.04724271 0.99878734 0.01385529 -0.34916499] [ 0.27810967 -0.02647439 0.96018442 -0.0946124 ] [ 0. 0. 0. 1. ]] SLAMing on 119.47320100799999 meters Centerline goodness [0,1] 0.8533255712414496 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.35, Z:-0.09 [[ 0.95923522 -0.04173901 -0.27950964 3.84366089] [ 0.04770844 0.99875482 0.01458477 -0.35153253] [ 0.27855285 -0.02732519 0.96003211 -0.09299452] [ 0. 0. 0. 1. ]] SLAMing on 119.50320100799999 meters Centerline goodness [0,1] 0.8537453675333392 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.09 [[ 0.95905985 -0.04267811 -0.27996925 3.84682417] [ 0.04863759 0.99871311 0.01437006 -0.35230271] [ 0.27899567 -0.02739877 0.95990141 -0.0936545 ] [ 0. 0. 0. 1. ]] SLAMing on 119.53320100799999 meters Centerline goodness [0,1] 0.8507358093903293 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.09 [[ 0.95891188 -0.04346845 -0.28035424 3.84960614] [ 0.04930578 0.99868841 0.01379845 -0.35158074] [ 0.27938673 -0.02705458 0.95979743 -0.09475037] [ 0. 0. 0. 1. ]] SLAMing on 119.563201008 meters Centerline goodness [0,1] 0.8522176123414947 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.95880901 -0.04400151 -0.28062278 3.85164906] [ 0.04973385 0.99867348 0.01333505 -0.35092978] [ 0.27966376 -0.02674222 0.9597255 -0.09567437] [ 0. 0. 0. 1. ]] SLAMing on 119.593201008 meters Centerline goodness [0,1] 0.8515445308178298 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.95870481 -0.0443471 -0.28092421 3.85327743] [ 0.0500219 0.99866275 0.01305844 -0.35050235] [ 0.27996944 -0.02657155 0.95964111 -0.09614926] [ 0. 0. 0. 1. ]] SLAMing on 119.623201008 meters Centerline goodness [0,1] 0.8538964832340227 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.9587305 -0.04394476 -0.28089979 3.853118 ] [ 0.04969876 0.99867449 0.01338987 -0.35157358] [ 0.27993904 -0.02679765 0.9596437 -0.09609809] [ 0. 0. 0. 1. ]] SLAMing on 119.653201008 meters Centerline goodness [0,1] 0.8564349177491717 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.95866369 -0.04355451 -0.28118844 3.85351717] [ 0.04939082 0.99868558 0.01369873 -0.3538913 ] [ 0.28022219 -0.0270206 0.9595548 -0.09576678] [ 0. 0. 0. 1. ]] SLAMing on 119.683201008 meters Centerline goodness [0,1] 0.8566358703622232 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.95861612 -0.04362533 -0.28133958 3.8543035 ] [ 0.04941166 0.99868723 0.01350237 -0.35408459] [ 0.2803812 -0.02684505 0.95951328 -0.09613666] [ 0. 0. 0. 1. ]] SLAMing on 119.71320100799998 meters Centerline goodness [0,1] 0.8525644791727865 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.35, Z:-0.10 [[ 0.95858749 -0.04370771 -0.28142433 3.85482321] [ 0.04947237 0.99868549 0.01340801 -0.35393388] [ 0.28046836 -0.02677548 0.95948975 -0.09632406] [ 0. 0. 0. 1. ]] SLAMing on 119.74320100799999 meters Centerline goodness [0,1] 0.8531729694759749 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.95853385 -0.04391641 -0.28157452 3.85568021] [ 0.0497463 0.99866947 0.01358624 -0.35471125] [ 0.28060321 -0.02703016 0.95944318 -0.09615366] [ 0. 0. 0. 1. ]] SLAMing on 119.77320100799999 meters Centerline goodness [0,1] 0.85070728414627 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.95854968 -0.04419873 -0.28147642 3.85674928] [ 0.04995743 0.99866263 0.01331216 -0.35381406] [ 0.2805116 -0.02682221 0.9594758 -0.09720382] [ 0. 0. 0. 1. ]] SLAMing on 119.80320100799999 meters Centerline goodness [0,1] 0.848198066217404 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.95856104 -0.04448118 -0.28139325 3.85742817] [ 0.05013042 0.9986593 0.01290551 -0.35232901] [ 0.28044193 -0.02647708 0.95950575 -0.09801883] [ 0. 0. 0. 1. ]] SLAMing on 119.83320100799999 meters Centerline goodness [0,1] 0.8439113092444861 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.95859192 -0.04434452 -0.2813096 3.85707303] [ 0.04998407 0.9986667 0.01290014 -0.35156902] [ 0.28036248 -0.02642697 0.95953035 -0.09804267] [ 0. 0. 0. 1. ]] SLAMing on 119.86320100799999 meters Centerline goodness [0,1] 0.8520536708267417 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.95866344 -0.04370898 -0.28116533 3.85552894] [ 0.0494894 0.99868358 0.01348759 -0.35216876] [ 0.28020567 -0.02684476 0.95956456 -0.09706605] [ 0. 0. 0. 1. ]] SLAMing on 119.89320100799999 meters Centerline goodness [0,1] 0.8494714464602929 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96020856 -0.04407918 -0.2757835 3.87054481] [ 0.0473849 0.99886248 0.00533153 -0.34880143] [ 0.27523478 -0.01818736 0.96120499 -0.09736033] [ 0. 0. 0. 1. ]] SLAMing on 119.92320100799999 meters Centerline goodness [0,1] 0.8535521033339152 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96029291 -0.04370583 -0.27554913 3.86949001] [ 0.04699211 0.99888103 0.00533214 -0.34784199] [ 0.27500775 -0.01806905 0.9612722 -0.09740353] [ 0. 0. 0. 1. ]] SLAMing on 119.953201008 meters Centerline goodness [0,1] 0.8499518515276197 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96044018 -0.04321539 -0.27511286 3.86795168] [ 0.04647569 0.99890515 0.00533979 -0.3464717 ] [ 0.2745809 -0.01791461 0.96139711 -0.09765732] [ 0. 0. 0. 1. ]] SLAMing on 119.983201008 meters Centerline goodness [0,1] 0.8498922602061616 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.34, Z:-0.10 [[ 0.96056897 -0.04285217 -0.27471977 3.86673547] [ 0.04608982 0.99892304 0.00533791 -0.34494317] [ 0.27419517 -0.01778921 0.96150952 -0.09792258] [ 0. 0. 0. 1. ]] SLAMing on 120.013201008 meters Centerline goodness [0,1] 0.8481386988287138 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.34, Z:-0.10 [[ 0.96076077 -0.04219829 -0.27414967 3.86514952] [ 0.04537263 0.99895636 0.00524528 -0.34232795] [ 0.27364221 -0.01747835 0.96167273 -0.09874575] [ 0. 0. 0. 1. ]] SLAMing on 120.043201008 meters Centerline goodness [0,1] 0.8463579214487571 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.34, Z:-0.10 [[ 0.96084405 -0.04189328 -0.27390449 3.8644818 ] [ 0.04508211 0.99896893 0.00535512 -0.3415247 ] [ 0.27339773 -0.01749363 0.96174199 -0.09891618] [ 0. 0. 0. 1. ]] SLAMing on 120.073201008 meters Centerline goodness [0,1] 0.8417776491024899 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.34, Z:-0.10 [[ 0.96092886 -0.04144816 -0.27367458 3.86338443] [ 0.04468932 0.99898514 0.00561677 -0.34144708] [ 0.27316403 -0.01762765 0.96180595 -0.09872132] [ 0. 0. 0. 1. ]] SLAMing on 120.10320100799998 meters Centerline goodness [0,1] 0.8507009683480271 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.34, Z:-0.10 [[ 0.96100341 -0.0404866 -0.27355673 3.86128728] [ 0.04403395 0.99900664 0.00683732 -0.34366443] [ 0.27300817 -0.01861647 0.96183157 -0.09684606] [ 0. 0. 0. 1. ]] SLAMing on 120.13320100799999 meters Centerline goodness [0,1] 0.8438375957231614 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.34, Z:-0.10 [[ 0.96097835 -0.04030444 -0.27367162 3.86114234] [ 0.04399765 0.99900446 0.00736824 -0.34473975] [ 0.2731022 -0.01912162 0.96179496 -0.09602273] [ 0. 0. 0. 1. ]] SLAMing on 120.16320100799999 meters Centerline goodness [0,1] 0.8429348140436115 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.96093178 -0.04041424 -0.27381893 3.86169311] [ 0.04416724 0.9989956 0.00755261 -0.34543015] [ 0.27323868 -0.01935137 0.96175161 -0.09579577] [ 0. 0. 0. 1. ]] SLAMing on 120.19320100799999 meters Centerline goodness [0,1] 0.8383499913339881 Centerline is valid? [False, False] Translation: X:3.86, Y:-0.35, Z:-0.10 [[ 0.96085725 -0.04067372 -0.27404196 3.86263587] [ 0.04450444 0.99897894 0.00777337 -0.3462249 ] [ 0.27344598 -0.01966518 0.96168632 -0.09549246] [ 0. 0. 0. 1. ]] SLAMing on 120.22320100799999 meters Centerline goodness [0,1] 0.8323024452280479 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96067957 -0.04218016 -0.27443688 3.86614328] [ 0.04598633 0.99891431 0.00744712 -0.34797053] [ 0.27382481 -0.01977464 0.96157628 -0.09602833] [ 0. 0. 0. 1. ]] SLAMing on 120.25320100799999 meters Centerline goodness [0,1] 0.8284754012864345 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96052323 -0.04261838 -0.27491599 3.8679683 ] [ 0.04647769 0.9988909 0.00753608 -0.34924788] [ 0.27428991 -0.02001604 0.96143872 -0.0958401 ] [ 0. 0. 0. 1. ]] SLAMing on 120.28320100799999 meters Centerline goodness [0,1] 0.8261475076887368 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96040873 -0.04290408 -0.27527135 3.86944317] [ 0.04682286 0.99887371 0.00767726 -0.35032146] [ 0.27463192 -0.0202623 0.96133592 -0.09571629] [ 0. 0. 0. 1. ]] SLAMing on 120.313201008 meters Centerline goodness [0,1] 0.8251030000580282 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.10 [[ 0.96034 -0.04296071 -0.27550219 3.87022033] [ 0.04698392 0.99886348 0.00801682 -0.35174703] [ 0.27484467 -0.02064305 0.96126701 -0.09535481] [ 0. 0. 0. 1. ]] SLAMing on 120.343201008 meters Centerline goodness [0,1] 0.8277981704830157 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.35, Z:-0.09 [[ 0.96025102 -0.04309943 -0.27579055 3.87132944] [ 0.04728384 0.998845 0.00853801 -0.35464916] [ 0.27510403 -0.02123907 0.96117984 -0.09475994] [ 0. 0. 0. 1. ]] SLAMing on 120.373201008 meters Centerline goodness [0,1] 0.8361752895303498 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96025923 -0.04295632 -0.27578429 3.87134298] [ 0.04722073 0.99884538 0.00883814 -0.35551393] [ 0.27508621 -0.02150964 0.96117892 -0.0945683 ] [ 0. 0. 0. 1. ]] SLAMing on 120.403201008 meters Centerline goodness [0,1] 0.829009502710896 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96031117 -0.04274209 -0.27563665 3.87122096] [ 0.04703596 0.9988528 0.00898319 -0.35596958] [ 0.27493648 -0.0215915 0.96121992 -0.09488044] [ 0. 0. 0. 1. ]] SLAMing on 120.433201008 meters Centerline goodness [0,1] 0.8258423691267343 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96042893 -0.04227207 -0.27529865 3.870181 ] [ 0.04667943 0.99886499 0.00947402 -0.35644337] [ 0.27458569 -0.0219499 0.96131207 -0.09473888] [ 0. 0. 0. 1. ]] SLAMing on 120.46320100799998 meters Centerline goodness [0,1] 0.8262466120712266 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96045891 -0.04193678 -0.27524532 3.8697284 ] [ 0.04646224 0.9988706 0.00993897 -0.35739447] [ 0.27451765 -0.02233449 0.96132265 -0.09428388] [ 0. 0. 0. 1. ]] SLAMing on 120.49320100799999 meters Centerline goodness [0,1] 0.8253972882344365 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96044582 -0.04179351 -0.27531277 3.86959197] [ 0.04640404 0.99887015 0.01025116 -0.35822671] [ 0.27457328 -0.02262131 0.96130005 -0.09381738] [ 0. 0. 0. 1. ]] SLAMing on 120.52320100799999 meters Centerline goodness [0,1] 0.8283072795146991 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96045585 -0.04176907 -0.27528151 3.8699615 ] [ 0.04641142 0.99886859 0.0103687 -0.35876759] [ 0.27453697 -0.02273488 0.96130774 -0.09408193] [ 0. 0. 0. 1. ]] SLAMing on 120.55320100799999 meters Centerline goodness [0,1] 0.8308823529411764 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96044695 -0.04201956 -0.27527442 3.8708148 ] [ 0.04658973 0.99886323 0.01008148 -0.35787366] [ 0.27453788 -0.02250769 0.96131283 -0.0948035 ] [ 0. 0. 0. 1. ]] SLAMing on 120.58320100799999 meters Centerline goodness [0,1] 0.8256408765912921 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.10 [[ 0.96048114 -0.04203066 -0.2751534 3.8710619 ] [ 0.04655724 0.99886619 0.00993756 -0.35736706] [ 0.27442375 -0.02235522 0.96134897 -0.09541403] [ 0. 0. 0. 1. ]] SLAMing on 120.61320100799999 meters Centerline goodness [0,1] 0.8233944287913556 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96049666 -0.04166735 -0.2751545 3.87053665] [ 0.04630373 0.99887355 0.01037295 -0.35817442] [ 0.27441234 -0.02270386 0.96134406 -0.094873 ] [ 0. 0. 0. 1. ]] SLAMing on 120.64320100799999 meters Centerline goodness [0,1] 0.8268158047646716 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96046381 -0.0413567 -0.275316 3.87020867] [ 0.0461581 0.9988738 0.01098031 -0.35978432] [ 0.27455183 -0.02325425 0.96129108 -0.0938847 ] [ 0. 0. 0. 1. ]] SLAMing on 120.67320100799999 meters Centerline goodness [0,1] 0.8290558452530078 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.9603876 -0.04131905 -0.27558735 3.87090116] [ 0.04628073 0.99886202 0.01152232 -0.36242138] [ 0.27479764 -0.02382028 0.96120698 -0.09319705] [ 0. 0. 0. 1. ]] SLAMing on 120.703201008 meters Centerline goodness [0,1] 0.8298658596909826 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96036767 -0.0413606 -0.27565058 3.87140505] [ 0.04633245 0.99885934 0.01154638 -0.36261934] [ 0.27485859 -0.02386033 0.96118856 -0.09336263] [ 0. 0. 0. 1. ]] SLAMing on 120.733201008 meters Centerline goodness [0,1] 0.8274381517072174 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96042264 -0.04134957 -0.27546065 3.87165887] [ 0.04621848 0.99886851 0.01120483 -0.36162192] [ 0.27468565 -0.02349274 0.96124705 -0.09440714] [ 0. 0. 0. 1. ]] SLAMing on 120.763201008 meters Centerline goodness [0,1] 0.8243436614782583 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.09 [[ 0.96045047 -0.04130072 -0.27537092 3.87173075] [ 0.04616398 0.99887109 0.01119986 -0.36142411] [ 0.27459749 -0.02346913 0.96127281 -0.094697 ] [ 0. 0. 0. 1. ]] SLAMing on 120.793201008 meters Centerline goodness [0,1] 0.8231627008516991 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.10 [[ 0.9604614 -0.04137844 -0.27532112 3.87215173] [ 0.04620676 0.99887055 0.01107107 -0.36112565] [ 0.27455205 -0.02335503 0.96128857 -0.0951959 ] [ 0. 0. 0. 1. ]] SLAMing on 120.823201008 meters Centerline goodness [0,1] 0.8236736839031796 Centerline is valid? [False, False] Translation: X:3.87, Y:-0.36, Z:-0.10 [[ 0.96038039 -0.04167167 -0.2755594 3.87325824] [ 0.04649913 0.9988577 0.01100591 -0.36142013] [ 0.27478599 -0.02338314 0.96122104 -0.09526775] [ 0. 0. 0. 1. ]] SLAMing on 120.85320100799998 meters Centerline goodness [0,1] 0.8234311829847073 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.10 [[ 0.96020336 -0.04238596 -0.2760669 3.87561925] [ 0.04722637 0.99882467 0.01090595 -0.36302766] [ 0.27528017 -0.02350957 0.96107655 -0.09531333] [ 0. 0. 0. 1. ]] SLAMing on 120.88320100799999 meters Centerline goodness [0,1] 0.8221535745807591 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.96009081 -0.04247042 -0.27644512 3.87634299] [ 0.04744296 0.99880979 0.01132116 -0.36464834] [ 0.27563528 -0.02398471 0.96096302 -0.09445948] [ 0. 0. 0. 1. ]] SLAMing on 120.91320100799999 meters Centerline goodness [0,1] 0.8237109765418308 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95998953 -0.04251353 -0.27679 3.8771757 ] [ 0.04763079 0.99879545 0.0117878 -0.36641602] [ 0.27595545 -0.02449989 0.96085813 -0.09377908] [ 0. 0. 0. 1. ]] SLAMing on 120.94320100799999 meters Centerline goodness [0,1] 0.8223695844385499 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95987436 -0.04281981 -0.27714197 3.87852658] [ 0.04798443 0.99877747 0.01187683 -0.36740806] [ 0.27629459 -0.02469877 0.96075557 -0.09363424] [ 0. 0. 0. 1. ]] SLAMing on 120.97320100799999 meters Centerline goodness [0,1] 0.8223695844385499 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95987436 -0.04281981 -0.27714197 3.87852658] [ 0.04798443 0.99877747 0.01187683 -0.36740806] [ 0.27629459 -0.02469877 0.96075557 -0.09363424] [ 0. 0. 0. 1. ]] SLAMing on 121.00320100799999 meters Centerline goodness [0,1] 0.8239750051581336 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95976132 -0.04311035 -0.27748821 3.87998648] [ 0.04832321 0.99876001 0.01197116 -0.36831829] [ 0.27662805 -0.02489858 0.96065446 -0.09360844] [ 0. 0. 0. 1. ]] SLAMing on 121.03320100799999 meters Centerline goodness [0,1] 0.8288918400472185 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95961756 -0.04392667 -0.27785712 3.88254406] [ 0.04909798 0.9987257 0.01167718 -0.36896853] [ 0.27699011 -0.02484785 0.96055144 -0.09425267] [ 0. 0. 0. 1. ]] SLAMing on 121.063201008 meters Centerline goodness [0,1] 0.8294713227263335 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95954428 -0.0440688 -0.27808762 3.88329946] [ 0.04929522 0.99871423 0.0118265 -0.36948096] [ 0.27720888 -0.02505644 0.9604829 -0.09401249] [ 0. 0. 0. 1. ]] SLAMing on 121.093201008 meters Centerline goodness [0,1] 0.8217321997874601 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95945202 -0.04405378 -0.27840813 3.88373429] [ 0.04942255 0.99870233 0.01229113 -0.37035033] [ 0.27750537 -0.02555239 0.96038422 -0.09304779] [ 0. 0. 0. 1. ]] SLAMing on 121.123201008 meters Centerline goodness [0,1] 0.8254686298858731 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95947921 -0.04356145 -0.27839189 3.88294772] [ 0.0490689 0.99871283 0.01284234 -0.37162212] [ 0.27747412 -0.02598234 0.96038171 -0.09234257] [ 0. 0. 0. 1. ]] SLAMing on 121.153201008 meters Centerline goodness [0,1] 0.8330770595540836 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95949101 -0.04313515 -0.27841761 3.88220639] [ 0.04870898 0.99872671 0.01312991 -0.37199262] [ 0.27749674 -0.02615947 0.96037037 -0.09183523] [ 0. 0. 0. 1. ]] SLAMing on 121.183201008 meters Centerline goodness [0,1] 0.8318555395174831 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95964566 -0.04209028 -0.27804428 3.87983752] [ 0.04771321 0.99877005 0.0134844 -0.37093485] [ 0.27713474 -0.02620663 0.96047361 -0.09149165] [ 0. 0. 0. 1. ]] SLAMing on 121.21320100799998 meters Centerline goodness [0,1] 0.830920859076199 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95974049 -0.04165489 -0.27778239 3.87887228] [ 0.04727976 0.99878939 0.01357838 -0.36975079] [ 0.2768805 -0.02616521 0.96054806 -0.09164458] [ 0. 0. 0. 1. ]] SLAMing on 121.24320100799999 meters Centerline goodness [0,1] 0.8221076377699001 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95971596 -0.03746519 -0.278463 3.88129091] [ 0.04399547 0.99888302 0.01723682 -0.36944161] [ 0.27750618 -0.02879357 0.96029227 -0.09186123] [ 0. 0. 0. 1. ]] SLAMing on 121.27320100799999 meters Centerline goodness [0,1] 0.8207409141452566 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95973883 -0.0373661 -0.27839748 3.88124397] [ 0.04383408 0.99889346 0.01704223 -0.36799851] [ 0.27745262 -0.02855938 0.96031474 -0.09226437] [ 0. 0. 0. 1. ]] SLAMing on 121.30320100799999 meters Centerline goodness [0,1] 0.821660881486451 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95968544 -0.03756177 -0.27855515 3.88190572] [ 0.04391436 0.9988974 0.01659855 -0.36653262] [ 0.27762454 -0.02816196 0.96027679 -0.09266302] [ 0. 0. 0. 1. ]] SLAMing on 121.33320100799999 meters Centerline goodness [0,1] 0.8300029129041655 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.9597216 -0.03721074 -0.27847765 3.88117398] [ 0.04357476 0.99891065 0.0166959 -0.36619323] [ 0.27755303 -0.02815801 0.96029758 -0.09248524] [ 0. 0. 0. 1. ]] SLAMing on 121.36320100799999 meters Centerline goodness [0,1] 0.8272976440401213 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95979824 -0.03659719 -0.27829479 3.87991966] [ 0.0430126 0.99893023 0.01697974 -0.3663014 ] [ 0.27737567 -0.0282673 0.96034561 -0.09221676] [ 0. 0. 0. 1. ]] SLAMing on 121.39320100799999 meters Centerline goodness [0,1] 0.8294801045599768 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.95979107 -0.03584702 -0.27841713 3.87865117] [ 0.04222308 0.99896465 0.01693658 -0.3647178 ] [ 0.27752174 -0.02801121 0.96031092 -0.09174357] [ 0. 0. 0. 1. ]] SLAMing on 121.42320100799999 meters Centerline goodness [0,1] 0.8296518049177469 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.9598565 -0.03556131 -0.27822812 3.87798568] [ 0.04187296 0.99898213 0.0167737 -0.36351419] [ 0.27734842 -0.02775058 0.96036855 -0.09209925] [ 0. 0. 0. 1. ]] SLAMing on 121.453201008 meters Centerline goodness [0,1] 0.8339969194106194 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.9599096 -0.03536327 -0.27807015 3.87765214] [ 0.04161461 0.99899568 0.01660914 -0.36261503] [ 0.27720352 -0.02751506 0.96041716 -0.092563 ] [ 0. 0. 0. 1. ]] SLAMing on 121.483201008 meters Centerline goodness [0,1] 0.833299498274412 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.95993889 -0.03524458 -0.27798409 3.87773706] [ 0.04146765 0.99900299 0.01653679 -0.36191615] [ 0.2771241 -0.02740165 0.96044332 -0.09300762] [ 0. 0. 0. 1. ]] SLAMing on 121.513201008 meters Centerline goodness [0,1] 0.8344701477374974 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.95991578 -0.03537562 -0.27804723 3.87846059] [ 0.04158015 0.99899978 0.01644755 -0.3618672 ] [ 0.27718728 -0.02734951 0.96042658 -0.09335951] [ 0. 0. 0. 1. ]] SLAMing on 121.543201008 meters Centerline goodness [0,1] 0.8355497609734898 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.95988635 -0.03535714 -0.27815117 3.87895733] [ 0.04159866 0.99899703 0.01656764 -0.36222624] [ 0.27728641 -0.02747376 0.96039442 -0.09335285] [ 0. 0. 0. 1. ]] SLAMing on 121.573201008 meters Centerline goodness [0,1] 0.8387575687005123 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.36, Z:-0.09 [[ 0.95982964 -0.03540295 -0.27834098 3.87969272] [ 0.04179357 0.99898065 0.01705764 -0.36424907] [ 0.27745336 -0.02800529 0.96033085 -0.092803 ] [ 0. 0. 0. 1. ]] SLAMing on 121.60320100799998 meters Centerline goodness [0,1] 0.845423294295869 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95965941 -0.03549897 -0.27891512 3.88080461] [ 0.04209587 0.99895685 0.01769628 -0.36685934] [ 0.27799597 -0.02872357 0.96015269 -0.09152485] [ 0. 0. 0. 1. ]] SLAMing on 121.63320100799999 meters Centerline goodness [0,1] 0.8471428571428572 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95941575 -0.03608155 -0.27967757 3.88299511] [ 0.04286096 0.99891598 0.01816036 -0.36969116] [ 0.27871914 -0.02941058 0.95992222 -0.09024327] [ 0. 0. 0. 1. ]] SLAMing on 121.66320100799999 meters Centerline goodness [0,1] 0.8522720592557756 Centerline is valid? [False, False] Translation: X:3.88, Y:-0.37, Z:-0.09 [[ 0.95941434 -0.04096747 -0.27900859 3.88274075] [ 0.04664901 0.99881669 0.0137513 -0.36901121] [ 0.27811508 -0.02620866 0.96019014 -0.09181239] [ 0. 0. 0. 1. ]] SLAMing on 121.69320100799999 meters Centerline goodness [0,1] 0.8501232828460725 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95916948 -0.04285966 -0.27956566 3.88779085] [ 0.04844322 0.99874016 0.01309029 -0.37047508] [ 0.2786524 -0.02609887 0.96003734 -0.09316227] [ 0. 0. 0. 1. ]] SLAMing on 121.72320100799999 meters Centerline goodness [0,1] 0.8504309964402341 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95905484 -0.04316441 -0.27991187 3.8891472 ] [ 0.04884747 0.99871695 0.01335552 -0.3715276 ] [ 0.27897625 -0.02648166 0.9599328 -0.09277309] [ 0. 0. 0. 1. ]] SLAMing on 121.75320100799999 meters Centerline goodness [0,1] 0.8540888640573999 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.9589787 -0.04323136 -0.28016227 3.88974432] [ 0.04903898 0.99870222 0.01374949 -0.37296183] [ 0.27920427 -0.02692434 0.95985418 -0.09209969] [ 0. 0. 0. 1. ]] SLAMing on 121.78320100799999 meters Centerline goodness [0,1] 0.8572102763767218 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.9588864 -0.0430596 -0.28050445 3.88990501] [ 0.04906019 0.99869198 0.01440216 -0.37443869] [ 0.27951739 -0.02757164 0.95974467 -0.09085113] [ 0. 0. 0. 1. ]] SLAMing on 121.813201008 meters Centerline goodness [0,1] 0.8588476762937985 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95878382 -0.04319171 -0.28083457 3.89054349] [ 0.04920753 0.99868474 0.01440165 -0.37388782] [ 0.27984317 -0.02762725 0.95964813 -0.09031367] [ 0. 0. 0. 1. ]] SLAMing on 121.843201008 meters Centerline goodness [0,1] 0.8616466451801934 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95875004 -0.04353965 -0.28089618 3.89125636] [ 0.04943026 0.99868062 0.01391639 -0.37230935] [ 0.27991965 -0.02722711 0.95963726 -0.0908332 ] [ 0. 0. 0. 1. ]] SLAMing on 121.873201008 meters Centerline goodness [0,1] 0.8605667683642337 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95871452 -0.04390932 -0.28095986 3.89206413] [ 0.04970572 0.9986722 0.01353424 -0.37085803] [ 0.27999252 -0.02694078 0.95962408 -0.09129656] [ 0. 0. 0. 1. ]] SLAMing on 121.903201008 meters Centerline goodness [0,1] 0.8603126280662725 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95863104 -0.0446566 -0.28112687 3.89348821] [ 0.05030711 0.99865034 0.01291101 -0.36831662] [ 0.28017088 -0.02651957 0.95958376 -0.0918365 ] [ 0. 0. 0. 1. ]] SLAMing on 121.933201008 meters Centerline goodness [0,1] 0.8599193359831658 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.9585327 -0.04488238 -0.28142609 3.8941189 ] [ 0.05057525 0.99863572 0.01299411 -0.36831413] [ 0.28045894 -0.02668848 0.95949492 -0.09123389] [ 0. 0. 0. 1. ]] SLAMing on 121.96320100799998 meters Centerline goodness [0,1] 0.8614058161625018 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.9584693 -0.0448864 -0.28164129 3.89419111] [ 0.05068193 0.99862597 0.01332315 -0.36830804] [ 0.28065628 -0.02704395 0.95942726 -0.09029377] [ 0. 0. 0. 1. ]] SLAMing on 121.99320100799999 meters Centerline goodness [0,1] 0.8655893591575999 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95841828 -0.04481953 -0.28182548 3.89393757] [ 0.05067855 0.99862335 0.01353115 -0.36763528] [ 0.28083105 -0.027251 0.95937027 -0.08939045] [ 0. 0. 0. 1. ]] SLAMing on 122.02320100799999 meters Centerline goodness [0,1] 0.8597355908616491 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95848175 -0.03989369 -0.28234946 3.89386082] [ 0.04684602 0.99874151 0.01791247 -0.36656276] [ 0.28127953 -0.03039572 0.95914437 -0.08777349] [ 0. 0. 0. 1. ]] SLAMing on 122.05320100799999 meters Centerline goodness [0,1] 0.8591814287368299 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.36, Z:-0.09 [[ 0.95855828 -0.03946234 -0.28215023 3.89278324] [ 0.04635845 0.99876618 0.01780477 -0.36432649] [ 0.28109949 -0.03014696 0.959205 -0.08784938] [ 0. 0. 0. 1. ]] SLAMing on 122.08320100799999 meters Centerline goodness [0,1] 0.8627129373848987 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.37, Z:-0.09 [[ 0.95850224 -0.03455891 -0.28298257 3.89373808] [ 0.04263322 0.99883914 0.02242277 -0.36534667] [ 0.28187916 -0.03355673 0.95886291 -0.08600054] [ 0. 0. 0. 1. ]] SLAMing on 122.11320100799999 meters Centerline goodness [0,1] 0.8639383394207817 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.36, Z:-0.09 [[ 0.95865423 -0.03366617 -0.28257503 3.89150078] [ 0.04167644 0.99888042 0.02238281 -0.36325409] [ 0.28150512 -0.0332341 0.95898403 -0.08611757] [ 0. 0. 0. 1. ]] SLAMing on 122.14320100799999 meters Centerline goodness [0,1] 0.860332649806334 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.36, Z:-0.09 [[ 0.96045667 -0.02810145 -0.27700775 3.90554947] [ 0.03460625 0.99922754 0.01862063 -0.35739961] [ 0.27627051 -0.02747051 0.96068724 -0.08698212] [ 0. 0. 0. 1. ]] SLAMing on 122.17320100799999 meters Centerline goodness [0,1] 0.8634518775012062 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.36, Z:-0.09 [[ 0.96043221 -0.02320554 -0.27754544 3.90611802] [ 0.03074955 0.9992657 0.02285882 -0.35756629] [ 0.27681119 -0.03048875 0.96044053 -0.08594174] [ 0. 0. 0. 1. ]] SLAMing on 122.203201008 meters Centerline goodness [0,1] 0.8627847380410023 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.36, Z:-0.09 [[ 0.96060692 -0.02246627 -0.27700111 3.9042188 ] [ 0.02988757 0.99929778 0.02259817 -0.35551725] [ 0.2762989 -0.02998685 0.96060382 -0.08671595] [ 0. 0. 0. 1. ]] SLAMing on 122.233201008 meters Centerline goodness [0,1] 0.8674340146854534 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.35, Z:-0.09 [[ 0.96074003 -0.02144597 -0.27662008 3.90228638] [ 0.02868363 0.99934322 0.02214456 -0.35259181] [ 0.27596349 -0.02920963 0.96072418 -0.08765429] [ 0. 0. 0. 1. ]] SLAMing on 122.263201008 meters Centerline goodness [0,1] 0.8681160239737645 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.35, Z:-0.09 [[ 0.96072484 -0.02172074 -0.27665139 3.90273139] [ 0.02880573 0.99935225 0.02157123 -0.35100069] [ 0.27600364 -0.02869316 0.96072821 -0.08820266] [ 0. 0. 0. 1. ]] SLAMing on 122.293201008 meters Centerline goodness [0,1] 0.8733159741877052 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.35, Z:-0.09 [[ 0.96072821 -0.02187998 -0.27662715 3.90299645] [ 0.02886178 0.99935874 0.02119232 -0.34999436] [ 0.27598607 -0.02834401 0.96074362 -0.08866275] [ 0. 0. 0. 1. ]] SLAMing on 122.323201008 meters Centerline goodness [0,1] 0.8771796388630666 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.35, Z:-0.09 [[ 0.96063215 -0.02244643 -0.2769152 3.9045527 ] [ 0.02926132 0.99936152 0.02050183 -0.34899683] [ 0.2762782 -0.02779762 0.96067562 -0.08933952] [ 0. 0. 0. 1. ]] SLAMing on 122.35320100799998 meters Centerline goodness [0,1] 0.8821866696817231 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.96057513 -0.02263362 -0.2770977 3.90523857] [ 0.02942906 0.99935891 0.02038885 -0.34903748] [ 0.27645858 -0.02773975 0.9606254 -0.08939251] [ 0. 0. 0. 1. ]] SLAMing on 122.38320100799999 meters Centerline goodness [0,1] 0.8812182741116751 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.96052212 -0.02277352 -0.27726995 3.90586216] [ 0.02957454 0.99935498 0.02037065 -0.34883491] [ 0.2766272 -0.02776659 0.96057608 -0.08931538] [ 0. 0. 0. 1. ]] SLAMing on 122.41320100799999 meters Centerline goodness [0,1] 0.8806821390253543 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.96047843 -0.02307536 -0.27739631 3.90662572] [ 0.02984068 0.99935071 0.02019118 -0.34851745] [ 0.27675028 -0.02767089 0.96054339 -0.0895048 ] [ 0. 0. 0. 1. ]] SLAMing on 122.44320100799999 meters Centerline goodness [0,1] 0.8789693750706294 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.96029255 -0.02391921 -0.2779678 3.90882129] [ 0.03073893 0.99932328 0.02020138 -0.34950203] [ 0.27729649 -0.02794367 0.96037795 -0.08894145] [ 0. 0. 0. 1. ]] SLAMing on 122.47320100799999 meters Centerline goodness [0,1] 0.880219066708071 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.96009178 -0.02469012 -0.2785932 3.91100698] [ 0.03153208 0.99930053 0.02010401 -0.35061297] [ 0.27790197 -0.02808632 0.96019876 -0.08845575] [ 0. 0. 0. 1. ]] SLAMing on 122.50320100799999 meters Centerline goodness [0,1] 0.8796133567662566 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.9601175 -0.02964339 -0.27802097 3.91041672] [ 0.03534696 0.99925452 0.01552379 -0.34897147] [ 0.27735353 -0.02473186 0.96044956 -0.08972045] [ 0. 0. 0. 1. ]] SLAMing on 122.53320100799999 meters Centerline goodness [0,1] 0.8758591429783623 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.95997817 -0.0302108 -0.27844069 3.91204418] [ 0.03597007 0.99923114 0.01559723 -0.34995578] [ 0.2777554 -0.02498853 0.96032677 -0.08926657] [ 0. 0. 0. 1. ]] SLAMing on 122.563201008 meters Centerline goodness [0,1] 0.87815506508206 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.95981242 -0.03068321 -0.27895996 3.91363016] [ 0.03653175 0.99920774 0.01578984 -0.35091188] [ 0.27825447 -0.02534618 0.96017291 -0.0885424 ] [ 0. 0. 0. 1. ]] SLAMing on 122.593201008 meters Centerline goodness [0,1] 0.8777360850531583 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.95973974 -0.03567059 -0.27861666 3.91300892] [ 0.04056704 0.99910683 0.01182655 -0.35078816] [ 0.27794595 -0.02265306 0.96032957 -0.08844537] [ 0. 0. 0. 1. ]] SLAMing on 122.623201008 meters Centerline goodness [0,1] 0.8739491008578186 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.95963374 -0.03582432 -0.27896184 3.91357712] [ 0.04087992 0.99908805 0.01232464 -0.35245418] [ 0.27826592 -0.02323108 0.9602231 -0.08730005] [ 0. 0. 0. 1. ]] SLAMing on 122.653201008 meters Centerline goodness [0,1] 0.8737551008760666 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.35, Z:-0.09 [[ 0.95954591 -0.03617352 -0.27921876 3.91478853] [ 0.04128403 0.99906998 0.01244202 -0.35332519] [ 0.27850901 -0.02346596 0.9601469 -0.08712953] [ 0. 0. 0. 1. ]] SLAMing on 122.683201008 meters Centerline goodness [0,1] 0.8687148445307369 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.35, Z:-0.09 [[ 0.95942584 -0.03671828 -0.27956007 3.91640927] [ 0.04180379 0.99905076 0.01224856 -0.35320546] [ 0.27884495 -0.02343825 0.96005007 -0.08727173] [ 0. 0. 0. 1. ]] SLAMing on 122.71320100799998 meters Centerline goodness [0,1] 0.8689854079214141 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.35, Z:-0.09 [[ 0.95927968 -0.03731795 -0.27998189 3.91847467] [ 0.04238618 0.99902843 0.01206689 -0.35337768] [ 0.27925956 -0.02344288 0.95992944 -0.08748865] [ 0. 0. 0. 1. ]] SLAMing on 122.74320100799999 meters Centerline goodness [0,1] 0.8685924098562864 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.09 [[ 0.9590617 -0.03788823 -0.28065127 3.92064187] [ 0.04306386 0.99899666 0.01229528 -0.35541823] [ 0.27990384 -0.02387786 0.95973105 -0.08670243] [ 0. 0. 0. 1. ]] SLAMing on 122.77320100799999 meters Centerline goodness [0,1] 0.8701586024594874 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.09 [[ 0.9589751 -0.0376513 -0.28097889 3.92071888] [ 0.04301593 0.99899049 0.01294729 -0.35695719] [ 0.28020775 -0.02450269 0.95962661 -0.08546287] [ 0. 0. 0. 1. ]] SLAMing on 122.80320100799999 meters Centerline goodness [0,1] 0.8759721182095743 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.08 [[ 0.95881775 -0.03773759 -0.28150381 3.92196617] [ 0.04314536 0.99898377 0.01303462 -0.35773211] [ 0.28072584 -0.02464341 0.95947158 -0.08497413] [ 0. 0. 0. 1. ]] SLAMing on 122.83320100799999 meters Centerline goodness [0,1] 0.8795558496102178 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.09 [[ 0.95884585 -0.03746589 -0.28144438 3.92187041] [ 0.04282845 0.99899884 0.0129244 -0.35678627] [ 0.28067838 -0.02444634 0.9594905 -0.08543834] [ 0. 0. 0. 1. ]] SLAMing on 122.86320100799999 meters Centerline goodness [0,1] 0.8795558496102178 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.09 [[ 0.95884585 -0.03746589 -0.28144438 3.92187041] [ 0.04282845 0.99899884 0.0129244 -0.35678627] [ 0.28067838 -0.02444634 0.9594905 -0.08543834] [ 0. 0. 0. 1. ]] SLAMing on 122.89320100799999 meters Centerline goodness [0,1] 0.8842340535274228 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.36, Z:-0.09 [[ 0.95872872 -0.03320982 -0.28237624 3.92481848] [ 0.03956309 0.9990754 0.01682562 -0.35758374] [ 0.28155638 -0.02730288 0.95915617 -0.08519176] [ 0. 0. 0. 1. ]] SLAMing on 122.92320100799999 meters Centerline goodness [0,1] 0.8837642073921383 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.09 [[ 0.95879555 -0.03312419 -0.28215933 3.92529826] [ 0.03925243 0.99909973 0.01609265 -0.35582242] [ 0.28137225 -0.026505 0.95923258 -0.08704846] [ 0. 0. 0. 1. ]] SLAMing on 122.953201008 meters Centerline goodness [0,1] 0.8894118997732556 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.35, Z:-0.09 [[ 0.95881283 -0.03243645 -0.28218051 3.92516143] [ 0.03840368 0.9991399 0.01564029 -0.35439814] [ 0.28143049 -0.02583288 0.95923383 -0.08826246] [ 0. 0. 0. 1. ]] SLAMing on 122.983201008 meters Centerline goodness [0,1] 0.8928417607029029 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.35, Z:-0.09 [[ 0.95878021 -0.03230487 -0.28230642 3.92523385] [ 0.03828738 0.99914344 0.0156992 -0.35477257] [ 0.28155744 -0.02586086 0.95919582 -0.08801773] [ 0. 0. 0. 1. ]] SLAMing on 123.013201008 meters Centerline goodness [0,1] 0.8883012359873527 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.09 [[ 0.95857053 -0.03243057 -0.28300318 3.92618216] [ 0.03864691 0.99911819 0.01640905 -0.35632126] [ 0.28222147 -0.02666643 0.95897859 -0.08605953] [ 0. 0. 0. 1. ]] SLAMing on 123.043201008 meters Centerline goodness [0,1] 0.8885658356842651 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.09 [[ 0.95843324 -0.03271166 -0.28343549 3.92703639] [ 0.03900841 0.99910101 0.01659886 -0.35702781] [ 0.2826377 -0.02696527 0.95884764 -0.0850962 ] [ 0. 0. 0. 1. ]] SLAMing on 123.073201008 meters Centerline goodness [0,1] 0.8873880360588693 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95831612 -0.0327527 -0.28382649 3.9275606 ] [ 0.0391521 0.99909031 0.01690181 -0.35774644] [ 0.28301472 -0.02730968 0.95872668 -0.08411797] [ 0. 0. 0. 1. ]] SLAMing on 123.10320100799998 meters Centerline goodness [0,1] 0.887006465019626 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95821199 -0.03314832 -0.28413196 3.92900524] [ 0.03951163 0.99907968 0.01669192 -0.35805361] [ 0.28331716 -0.02722092 0.95863988 -0.08430162] [ 0. 0. 0. 1. ]] SLAMing on 123.13320100799999 meters Centerline goodness [0,1] 0.8875151655208273 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95815759 -0.03337409 -0.28428895 3.92979315] [ 0.0397159 0.9990736 0.01657089 -0.35776499] [ 0.28347255 -0.02716831 0.95859543 -0.08438162] [ 0. 0. 0. 1. ]] SLAMing on 123.16320100799999 meters Centerline goodness [0,1] 0.8856647398843931 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95808174 -0.03362558 -0.28451484 3.93052521] [ 0.03996766 0.99906452 0.01651289 -0.35781383] [ 0.28369343 -0.02719209 0.95852941 -0.08407682] [ 0. 0. 0. 1. ]] SLAMing on 123.19320100799999 meters Centerline goodness [0,1] 0.8879437123331122 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95799905 -0.03382234 -0.28476986 3.93125837] [ 0.04016868 0.99905711 0.01647332 -0.35772882] [ 0.28394419 -0.02722026 0.95845436 -0.08375397] [ 0. 0. 0. 1. ]] SLAMing on 123.22320100799999 meters Centerline goodness [0,1] 0.8876895474013196 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95800784 -0.03348262 -0.28478044 3.93066281] [ 0.03991721 0.99906142 0.0168193 -0.35817858] [ 0.28394999 -0.02748066 0.95844521 -0.0831543 ] [ 0. 0. 0. 1. ]] SLAMing on 123.25320100799999 meters Centerline goodness [0,1] 0.88848660391021 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95801972 -0.03344407 -0.28474499 3.93061422] [ 0.039855 0.9990651 0.01674858 -0.3580747 ] [ 0.28391864 -0.02739398 0.95845698 -0.08323779] [ 0. 0. 0. 1. ]] SLAMing on 123.28320100799999 meters Centerline goodness [0,1] 0.8826356319842511 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95807586 -0.03312257 -0.28459365 3.93008876] [ 0.03958671 0.99907169 0.01699001 -0.35780545] [ 0.2837667 -0.02754385 0.95849768 -0.08309859] [ 0. 0. 0. 1. ]] SLAMing on 123.313201008 meters Centerline goodness [0,1] 0.8822371468272349 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95802674 -0.03325107 -0.28474399 3.93074865] [ 0.03973378 0.99906536 0.01701891 -0.35805967] [ 0.28391196 -0.02761852 0.95845251 -0.08302865] [ 0. 0. 0. 1. ]] SLAMing on 123.343201008 meters Centerline goodness [0,1] 0.8837714848844961 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95791303 -0.03365438 -0.28507895 3.93236893] [ 0.04012317 0.99905216 0.01687964 -0.35878575] [ 0.28424066 -0.0276075 0.9583554 -0.08321208] [ 0. 0. 0. 1. ]] SLAMing on 123.373201008 meters Centerline goodness [0,1] 0.8835429830154774 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.36, Z:-0.08 [[ 0.95776908 -0.03410348 -0.28550892 3.93418919] [ 0.040602 0.99903295 0.01687108 -0.35974341] [ 0.28465746 -0.02775083 0.95822754 -0.08312775] [ 0. 0. 0. 1. ]] SLAMing on 123.403201008 meters Centerline goodness [0,1] 0.8805003936663459 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.36, Z:-0.08 [[ 0.95750354 -0.03977504 -0.28566576 3.93555698] [ 0.04543642 0.99887982 0.01321489 -0.36199515] [ 0.28482014 -0.02563293 0.9582382 -0.08225027] [ 0. 0. 0. 1. ]] SLAMing on 123.433201008 meters Centerline goodness [0,1] 0.8739377187049725 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.36, Z:-0.08 [[ 0.95723394 -0.04535665 -0.28573758 3.93666028] [ 0.05010519 0.99870041 0.00932565 -0.36354789] [ 0.28494325 -0.02324376 0.95826253 -0.08175454] [ 0. 0. 0. 1. ]] SLAMing on 123.46320100799998 meters Centerline goodness [0,1] 0.8766525023607177 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.36, Z:-0.08 [[ 0.95686506 -0.05174886 -0.28588689 3.93988506] [ 0.0552619 0.99846294 0.00422844 -0.3623516 ] [ 0.28522865 -0.0198447 0.95825404 -0.08317992] [ 0. 0. 0. 1. ]] SLAMing on 123.49320100799999 meters Centerline goodness [0,1] 0.8725710900473933 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 9.56517983e-01 -5.36461336e-02 -2.86697471e-01 3.94506061e+00] [ 5.70010737e-02 9.98368456e-01 3.36223562e-03 -3.62598987e-01] [ 2.86049340e-01 -1.95581025e-02 9.58015269e-01 -8.42279213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52320100799999 meters Centerline goodness [0,1] 0.8737927356757718 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.09 [[ 9.56236444e-01 -5.51071492e-02 -2.87358774e-01 3.94945142e+00] [ 5.82820409e-02 9.98297029e-01 2.49899512e-03 -3.62126589e-01] [ 2.86731698e-01 -1.91374860e-02 9.57819758e-01 -8.55302362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55320100799999 meters Centerline goodness [0,1] 0.8747441184323731 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.36, Z:-0.09 [[ 9.55805149e-01 -5.70639357e-02 -2.88409821e-01 3.95545008e+00] [ 5.99691651e-02 9.98199460e-01 1.24006509e-03 -3.60994921e-01] [ 2.87819765e-01 -1.84809568e-02 9.57506260e-01 -8.70484314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58320100799999 meters Centerline goodness [0,1] 0.8766743376408804 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.36, Z:-0.08 [[ 0.95561756 -0.05289555 -0.28982259 3.95860513] [ 0.05719234 0.99834286 0.00636979 -0.36452162] [ 0.28900538 -0.02266272 0.95705919 -0.08419304] [ 0. 0. 0. 1. ]] SLAMing on 123.61320100799999 meters Centerline goodness [0,1] 0.8749406175771972 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.37, Z:-0.08 [[ 0.95562464 -0.05255284 -0.28986161 3.9583278 ] [ 0.05694491 0.99835462 0.00673285 -0.36527217] [ 0.28903084 -0.02294022 0.95704489 -0.08379623] [ 0. 0. 0. 1. ]] SLAMing on 123.64320100799999 meters Centerline goodness [0,1] 0.8779879442943255 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.37, Z:-0.08 [[ 0.95567045 -0.05203338 -0.28980428 3.95747731] [ 0.05655847 0.99837293 0.00725502 -0.36568041] [ 0.28895524 -0.02332429 0.95705843 -0.08316496] [ 0. 0. 0. 1. ]] SLAMing on 123.67320100799999 meters Centerline goodness [0,1] 0.876525654698424 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.37, Z:-0.08 [[ 0.95573339 -0.04620633 -0.29058332 3.95694372] [ 0.05226197 0.99854736 0.01310915 -0.36879448] [ 0.28955548 -0.02771531 0.95675989 -0.07974948] [ 0. 0. 0. 1. ]] SLAMing on 123.703201008 meters Centerline goodness [0,1] 0.8781262052392678 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.37, Z:-0.08 [[ 0.95586042 -0.04531362 -0.29030593 3.95489228] [ 0.05138358 0.99859021 0.01331626 -0.36766578] [ 0.28929325 -0.02764545 0.95684123 -0.07948325] [ 0. 0. 0. 1. ]] SLAMing on 123.733201008 meters Centerline goodness [0,1] 0.881099636019294 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.37, Z:-0.08 [[ 0.95592628 -0.04464936 -0.29019199 3.9532466 ] [ 0.05084041 0.99861108 0.01382649 -0.36745234] [ 0.28917159 -0.02797058 0.95686856 -0.07847584] [ 0. 0. 0. 1. ]] SLAMing on 123.763201008 meters Centerline goodness [0,1] 0.880782970682885 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 0.95608474 -0.04331792 -0.28987157 3.95043947] [ 0.04953073 0.99867268 0.01412746 -0.36492445] [ 0.28887485 -0.0278646 0.95696128 -0.07812829] [ 0. 0. 0. 1. ]] SLAMing on 123.793201008 meters Centerline goodness [0,1] 0.8810061270557885 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 0.95611534 -0.04342272 -0.28975495 3.95042756] [ 0.04949223 0.99868124 0.01364886 -0.36260321] [ 0.28878016 -0.0273905 0.95700354 -0.07875984] [ 0. 0. 0. 1. ]] SLAMing on 123.823201008 meters Centerline goodness [0,1] 0.8774318495261011 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 0.95620056 -0.04322483 -0.2895032 3.94972946] [ 0.04922691 0.99869666 0.01347933 -0.36092317] [ 0.28854323 -0.02714029 0.95708213 -0.07912874] [ 0. 0. 0. 1. ]] SLAMing on 123.85320100799998 meters Centerline goodness [0,1] 0.878859649122807 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 0.95627216 -0.04286137 -0.28932069 3.94855413] [ 0.04887816 0.99871216 0.01359962 -0.35954848] [ 0.28836519 -0.0271464 0.95713562 -0.07880988] [ 0. 0. 0. 1. ]] SLAMing on 123.88320100799999 meters Centerline goodness [0,1] 0.8715935200535148 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.36, Z:-0.08 [[ 0.95645168 -0.04191618 -0.28886539 3.94566483] [ 0.04800139 0.998749 0.0140109 -0.35726811] [ 0.28791674 -0.02726668 0.95726719 -0.07802593] [ 0. 0. 0. 1. ]] SLAMing on 123.91320100799999 meters Centerline goodness [0,1] 0.8703310757782752 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.36, Z:-0.08 [[ 0.95658295 -0.04145097 -0.28849763 3.94402393] [ 0.04753355 0.99877002 0.01410685 -0.35581165] [ 0.28755804 -0.02720768 0.95737668 -0.07791679] [ 0. 0. 0. 1. ]] SLAMing on 123.94320100799999 meters Centerline goodness [0,1] 0.8669222502976969 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95672996 -0.04099583 -0.28807486 3.94247531] [ 0.04705382 0.99879236 0.01413339 -0.35407382] [ 0.28714756 -0.02707686 0.95750359 -0.07807224] [ 0. 0. 0. 1. ]] SLAMing on 123.97320100799999 meters Centerline goodness [0,1] 0.8647443691737595 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95683634 -0.04071963 -0.28776053 3.9414347 ] [ 0.04671112 0.99881057 0.01398281 -0.35192541] [ 0.28684888 -0.02682088 0.95760031 -0.07836619] [ 0. 0. 0. 1. ]] SLAMing on 124.00320100799999 meters Centerline goodness [0,1] 0.8630553864881314 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95705503 -0.03953837 -0.28719748 3.93854622] [ 0.04547054 0.99886741 0.01401203 -0.34940185] [ 0.28631818 -0.0264693 0.9577689 -0.07862274] [ 0. 0. 0. 1. ]] SLAMing on 124.03320100799999 meters Centerline goodness [0,1] 0.8667554963357762 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95714548 -0.0390173 -0.28696721 3.93730771] [ 0.04492865 0.99889152 0.01404064 -0.34866449] [ 0.28610128 -0.02633199 0.9578375 -0.07867012] [ 0. 0. 0. 1. ]] SLAMing on 124.063201008 meters Centerline goodness [0,1] 0.8712017877354383 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95724552 -0.03847009 -0.28670729 3.93589658] [ 0.04439541 0.99891322 0.01419227 -0.34822028] [ 0.28584972 -0.02631398 0.9579131 -0.07851287] [ 0. 0. 0. 1. ]] SLAMing on 124.093201008 meters Centerline goodness [0,1] 0.8702000925283369 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.35, Z:-0.08 [[ 0.95737685 -0.03780926 -0.28635646 3.93418704] [ 0.04380463 0.99893405 0.01455729 -0.34765613] [ 0.28550082 -0.02648056 0.95801256 -0.07805223] [ 0. 0. 0. 1. ]] SLAMing on 124.123201008 meters Centerline goodness [0,1] 0.870432373145529 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.35, Z:-0.08 [[ 0.95741377 -0.03773274 -0.28624309 3.93392014] [ 0.04375143 0.99893491 0.01465771 -0.34702183] [ 0.28538514 -0.02655704 0.95804491 -0.07803157] [ 0. 0. 0. 1. ]] SLAMing on 124.153201008 meters Centerline goodness [0,1] 0.8681125608456465 Centerline is valid? [False, False] Translation: X:3.93, Y:-0.35, Z:-0.08 [[ 0.95741901 -0.03792314 -0.28620042 3.93437776] [ 0.04390548 0.99893028 0.01451209 -0.34618299] [ 0.28534392 -0.02645992 0.95805987 -0.07839979] [ 0. 0. 0. 1. ]] SLAMing on 124.183201008 meters Centerline goodness [0,1] 0.8643475750577367 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95737441 -0.0382899 -0.28630074 3.93535497] [ 0.04423828 0.99891816 0.01433499 -0.34573543] [ 0.28544213 -0.0263894 0.95803256 -0.07871179] [ 0. 0. 0. 1. ]] SLAMing on 124.21320100799998 meters Centerline goodness [0,1] 0.8657979891367156 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.9572357 -0.0387259 -0.28670563 3.93676507] [ 0.04481782 0.99888682 0.01471343 -0.3472428 ] [ 0.28581668 -0.02693374 0.95790574 -0.07788605] [ 0. 0. 0. 1. ]] SLAMing on 124.24320100799999 meters Centerline goodness [0,1] 0.8670021567217829 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95719977 -0.03857091 -0.28684646 3.93649118] [ 0.04484974 0.99887583 0.01534832 -0.34838622] [ 0.285932 -0.0275564 0.95785361 -0.07667919] [ 0. 0. 0. 1. ]] SLAMing on 124.27320100799999 meters Centerline goodness [0,1] 0.8713916786226685 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95715301 -0.03868222 -0.28698747 3.9364196 ] [ 0.04508169 0.99885958 0.01572182 -0.34908235] [ 0.28605203 -0.02798607 0.95780531 -0.07565609] [ 0. 0. 0. 1. ]] SLAMing on 124.30320100799999 meters Centerline goodness [0,1] 0.8730651043910285 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95706573 -0.04365844 -0.28656435 3.93506806] [ 0.04906982 0.99872652 0.01172583 -0.34819439] [ 0.28568748 -0.02528405 0.95798924 -0.07515262] [ 0. 0. 0. 1. ]] SLAMing on 124.33320100799999 meters Centerline goodness [0,1] 0.8727848101265823 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95686231 -0.0496345 -0.28627073 3.93571051] [ 0.05385344 0.99852516 0.00687822 -0.34596968] [ 0.28550713 -0.02199817 0.95812408 -0.07570859] [ 0. 0. 0. 1. ]] SLAMing on 124.36320100799999 meters Centerline goodness [0,1] 0.8726039601115039 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.35, Z:-0.08 [[ 0.95660682 -0.05087504 -0.28690612 3.93872719] [ 0.05499633 0.99846656 0.00631857 -0.34508833] [ 0.28614471 -0.02182317 0.95793787 -0.0758365 ] [ 0. 0. 0. 1. ]] SLAMing on 124.39320100799999 meters Centerline goodness [0,1] 0.8796617457359897 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.34, Z:-0.08 [[ 0.95636504 -0.05209594 -0.28749246 3.9416724 ] [ 0.05605768 0.99841205 0.00555977 -0.3437122 ] [ 0.2867463 -0.02143333 0.95776676 -0.07629568] [ 0. 0. 0. 1. ]] SLAMing on 124.42320100799999 meters Centerline goodness [0,1] 0.8775918775918776 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.34, Z:-0.08 [[ 0.95596995 -0.05393115 -0.28846643 3.95064739] [ 0.05825376 0.9982812 0.00641459 -0.34114949] [ 0.28762466 -0.02293641 0.95746852 -0.07648306] [ 0. 0. 0. 1. ]] SLAMing on 124.453201008 meters Centerline goodness [0,1] 0.8801179636946688 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.34, Z:-0.08 [[ 0.95577106 -0.0547533 -0.28897016 3.9526035 ] [ 0.05903505 0.99823718 0.00611553 -0.34091072] [ 0.28812591 -0.02290441 0.95731857 -0.07622216] [ 0. 0. 0. 1. ]] SLAMing on 124.483201008 meters Centerline goodness [0,1] 0.8876107971658874 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.34, Z:-0.08 [[ 0.95560338 -0.05524621 -0.28943054 3.95369505] [ 0.05964696 0.99819902 0.00639918 -0.34176728] [ 0.28855575 -0.02337873 0.95717763 -0.07505895] [ 0. 0. 0. 1. ]] SLAMing on 124.513201008 meters Centerline goodness [0,1] 0.8829152075320053 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95533284 -0.05577919 -0.29022034 3.95523041] [ 0.06039672 0.99815011 0.00697043 -0.34316375] [ 0.28929466 -0.02418744 0.95693446 -0.07310782] [ 0. 0. 0. 1. ]] SLAMing on 124.543201008 meters Centerline goodness [0,1] 0.889699546159591 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95512207 -0.05633407 -0.29080631 3.95641604] [ 0.06112915 0.99810226 0.00742297 -0.34433529] [ 0.28983627 -0.02486658 0.95675315 -0.07142379] [ 0. 0. 0. 1. ]] SLAMing on 124.573201008 meters Centerline goodness [0,1] 0.8880656788145775 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95482877 -0.05789862 -0.29146142 3.95863692] [ 0.06270024 0.99800677 0.00715285 -0.34334856] [ 0.29046633 -0.02510444 0.95655584 -0.0700261 ] [ 0. 0. 0. 1. ]] SLAMing on 124.60320100799998 meters Centerline goodness [0,1] 0.8897344930189974 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95468054 -0.05869689 -0.29178716 3.96000209] [ 0.0633699 0.99796841 0.00658138 -0.34130876] [ 0.29080806 -0.02477364 0.95646063 -0.07007726] [ 0. 0. 0. 1. ]] SLAMing on 124.63320100799999 meters Centerline goodness [0,1] 0.8893742149137832 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95460037 -0.05915755 -0.29195636 3.96076984] [ 0.06376526 0.99794515 0.00628296 -0.33981215] [ 0.29098475 -0.02461439 0.956411 -0.07004936] [ 0. 0. 0. 1. ]] SLAMing on 124.66320100799999 meters Centerline goodness [0,1] 0.8879703534777651 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95454965 -0.0592322 -0.29210701 3.96070015] [ 0.06386849 0.99793811 0.00635238 -0.33896296] [ 0.29112845 -0.0247201 0.95636454 -0.06938855] [ 0. 0. 0. 1. ]] SLAMing on 124.69320100799999 meters Centerline goodness [0,1] 0.8900179318589361 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.34, Z:-0.07 [[ 0.95458628 -0.058957 -0.29204298 3.95900136] [ 0.06357584 0.99795686 0.00634183 -0.33669736] [ 0.2910724 -0.0246207 0.95638417 -0.06832427] [ 0. 0. 0. 1. ]] SLAMing on 124.72320100799999 meters Centerline goodness [0,1] 0.8841078436948979 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95463785 -0.05881294 -0.29190342 3.95808398] [ 0.0633574 0.99797207 0.00613115 -0.33419519] [ 0.29095087 -0.02434727 0.95642815 -0.0681918 ] [ 0. 0. 0. 1. ]] SLAMing on 124.75320100799999 meters Centerline goodness [0,1] 0.8848556808865519 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95463556 -0.05415836 -0.29281021 3.95911539] [ 0.05980648 0.99815618 0.0103647 -0.33377918] [ 0.29170898 -0.02740646 0.9561144 -0.06668475] [ 0. 0. 0. 1. ]] SLAMing on 124.78320100799999 meters Centerline goodness [0,1] 0.8848556808865519 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95463556 -0.05415836 -0.29281021 3.95911539] [ 0.05980648 0.99815618 0.0103647 -0.33377918] [ 0.29170898 -0.02740646 0.9561144 -0.06668475] [ 0. 0. 0. 1. ]] SLAMing on 124.813201008 meters Centerline goodness [0,1] 0.882389318341532 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95470286 -0.04922887 -0.29346034 3.95955734] [ 0.05596252 0.99832629 0.01458835 -0.33325263] [ 0.292251 -0.03035032 0.95585993 -0.06557077] [ 0. 0. 0. 1. ]] SLAMing on 124.843201008 meters Centerline goodness [0,1] 0.8804381148797413 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95501292 -0.04330026 -0.2933861 3.95754191] [ 0.05090001 0.99853581 0.01831477 -0.32876466] [ 0.2921635 -0.0324242 0.95581858 -0.06574224] [ 0. 0. 0. 1. ]] SLAMing on 124.873201008 meters Centerline goodness [0,1] 0.8736976634345567 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.33, Z:-0.07 [[ 0.95511399 -0.04222496 -0.29321378 3.9558912 ] [ 0.0497242 0.99859777 0.01816603 -0.32507978] [ 0.29203557 -0.03193045 0.9558743 -0.06613403] [ 0. 0. 0. 1. ]] SLAMing on 124.903201008 meters Centerline goodness [0,1] 0.8716814159292036 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.07 [[ 0.95522935 -0.03689869 -0.29355644 3.95525127] [ 0.04544869 0.9987165 0.02235548 -0.32390902] [ 0.29235477 -0.03469637 0.95568031 -0.06518353] [ 0. 0. 0. 1. ]] SLAMing on 124.933201008 meters Centerline goodness [0,1] 0.8646291813380281 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.06 [[ 0.95530841 -0.03166815 -0.29390981 3.95468318] [ 0.04125002 0.99879847 0.02645842 -0.32250262] [ 0.29271878 -0.03739974 0.95546689 -0.06422604] [ 0. 0. 0. 1. ]] SLAMing on 124.96320100799998 meters Centerline goodness [0,1] 0.8617843967755158 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.06 [[ 0.95562287 -0.02542997 -0.29349319 3.95119042] [ 0.03588308 0.99889697 0.03028613 -0.3183775 ] [ 0.29239928 -0.03947356 0.95548129 -0.06395758] [ 0. 0. 0. 1. ]] SLAMing on 124.99320100799999 meters Centerline goodness [0,1] 0.8604467016164263 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.32, Z:-0.06 [[ 0.95581556 -0.02463977 -0.29293257 3.9490009 ] [ 0.03495103 0.99893812 0.03001761 -0.31584832] [ 0.29188189 -0.03892959 0.95566179 -0.06452782] [ 0. 0. 0. 1. ]] SLAMing on 125.02320100799999 meters Centerline goodness [0,1] 0.8637204745836509 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95584026 -0.02464054 -0.2928519 3.9488242 ] [ 0.03470893 0.99896982 0.02923335 -0.31339969] [ 0.29182989 -0.03810699 0.95571082 -0.06533893] [ 0. 0. 0. 1. ]] SLAMing on 125.05320100799999 meters Centerline goodness [0,1] 0.8634376781690332 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95594215 -0.02438108 -0.29254088 3.94801675] [ 0.03427131 0.99899953 0.02872999 -0.3114384 ] [ 0.29154774 -0.03748997 0.95582133 -0.06616121] [ 0. 0. 0. 1. ]] SLAMing on 125.08320100799999 meters Centerline goodness [0,1] 0.8623322284410151 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.9560039 -0.0242262 -0.29235191 3.94751634] [ 0.03399877 0.9990185 0.02839229 -0.30934247] [ 0.29137713 -0.03708275 0.95588924 -0.06664089] [ 0. 0. 0. 1. ]] SLAMing on 125.11320100799999 meters Centerline goodness [0,1] 0.8636105169099131 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95602999 -0.02457461 -0.29223749 3.94849875] [ 0.03397415 0.99905436 0.02713184 -0.30537147] [ 0.29129438 -0.03586737 0.95596083 -0.06865629] [ 0. 0. 0. 1. ]] SLAMing on 125.14320100799999 meters Centerline goodness [0,1] 0.862172466942484 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.30, Z:-0.07 [[ 0.95597738 -0.02476608 -0.29239339 3.94920005] [ 0.03408318 0.99905926 0.02681308 -0.30472518] [ 0.29145427 -0.0355984 0.95592215 -0.06896313] [ 0. 0. 0. 1. ]] SLAMing on 125.17320100799999 meters Centerline goodness [0,1] 0.8631678871711419 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95591933 -0.02477708 -0.29258218 3.94965172] [ 0.03411642 0.99905685 0.02686025 -0.30534182] [ 0.29164071 -0.03565808 0.95586306 -0.06876734] [ 0. 0. 0. 1. ]] SLAMing on 125.203201008 meters Centerline goodness [0,1] 0.8629488324268745 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95584036 -0.02503072 -0.29281848 3.95050952] [ 0.03435892 0.99905134 0.02675605 -0.30576513] [ 0.29187097 -0.03563544 0.95579363 -0.06874217] [ 0. 0. 0. 1. ]] SLAMing on 125.233201008 meters Centerline goodness [0,1] 0.8601916967607048 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95574433 -0.02552746 -0.29308893 3.95175285] [ 0.03489421 0.9990323 0.02677408 -0.30664769] [ 0.29212184 -0.03581628 0.95571022 -0.0685354 ] [ 0. 0. 0. 1. ]] SLAMing on 125.263201008 meters Centerline goodness [0,1] 0.8582188987083617 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.30, Z:-0.07 [[ 0.95572272 -0.03049684 -0.29268418 3.95146332] [ 0.03868929 0.99900373 0.02224166 -0.30432204] [ 0.29171429 -0.03258061 0.95595046 -0.06959447] [ 0. 0. 0. 1. ]] SLAMing on 125.293201008 meters Centerline goodness [0,1] 0.8589211618257262 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.30, Z:-0.07 [[ 0.955716 -0.03542919 -0.29215015 3.95085957] [ 0.04249315 0.99893699 0.01786703 -0.30272722] [ 0.29120657 -0.02949018 0.95620555 -0.07051242] [ 0. 0. 0. 1. ]] SLAMing on 125.323201008 meters Centerline goodness [0,1] 0.8551212569113702 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.30, Z:-0.07 [[ 0.95548834 -0.04048225 -0.29223829 3.95095172] [ 0.04677455 0.99879916 0.01457339 -0.30481402] [ 0.29129739 -0.02759402 0.95623449 -0.06919888] [ 0. 0. 0. 1. ]] SLAMing on 125.35320100799998 meters Centerline goodness [0,1] 0.8546442986189287 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.31, Z:-0.07 [[ 0.95524403 -0.04112626 -0.2929462 3.95295769] [ 0.04757868 0.99875588 0.01493161 -0.30716654] [ 0.29196766 -0.02820132 0.95601233 -0.06809883] [ 0. 0. 0. 1. ]] SLAMing on 125.38320100799999 meters Centerline goodness [0,1] 0.858060425625758 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.31, Z:-0.07 [[ 0.95496635 -0.04223871 -0.29369229 3.95592526] [ 0.04871138 0.99870389 0.01475613 -0.30857372] [ 0.29268835 -0.02839777 0.95578611 -0.06778631] [ 0. 0. 0. 1. ]] SLAMing on 125.41320100799999 meters Centerline goodness [0,1] 0.8621430341750889 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.31, Z:-0.07 [[ 0.95468991 -0.04342842 -0.29441663 3.95915924] [ 0.04987974 0.99865091 0.01443484 -0.30921587] [ 0.29339255 -0.02846622 0.95556815 -0.06776053] [ 0. 0. 0. 1. ]] SLAMing on 125.44320100799999 meters Centerline goodness [0,1] 0.8642693654689353 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.31, Z:-0.07 [[ 0.95435967 -0.04975293 -0.29448645 3.96158787] [ 0.05491129 0.99844822 0.00926832 -0.30665565] [ 0.29356834 -0.02501594 0.95561071 -0.06901163] [ 0. 0. 0. 1. ]] SLAMing on 125.47320100799999 meters Centerline goodness [0,1] 0.8679354571783202 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.31, Z:-0.07 [[ 0.95418575 -0.04999763 -0.29500813 3.96223045] [ 0.05529898 0.99842321 0.0096496 -0.30757417] [ 0.29406051 -0.02552116 0.95544601 -0.06765736] [ 0. 0. 0. 1. ]] SLAMing on 125.50320100799999 meters Centerline goodness [0,1] 0.8654912672791988 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.31, Z:-0.07 [[ 0.9540405 -0.04998812 -0.29547913 3.96254939] [ 0.0554687 0.99840843 0.01018966 -0.30878485] [ 0.29449949 -0.02611119 0.95529485 -0.06621886] [ 0. 0. 0. 1. ]] SLAMing on 125.53320100799999 meters Centerline goodness [0,1] 0.8636751783599151 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95387207 -0.04639443 -0.29660686 3.96542023] [ 0.05302946 0.99848971 0.01435895 -0.310198 ] [ 0.29549272 -0.02942551 0.95489172 -0.064404 ] [ 0. 0. 0. 1. ]] SLAMing on 125.563201008 meters Centerline goodness [0,1] 0.8661750949210367 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95383112 -0.04665293 -0.29669798 3.96580296] [ 0.05317763 0.99848757 0.01395394 -0.30815451] [ 0.29559826 -0.0290874 0.95486941 -0.06459625] [ 0. 0. 0. 1. ]] SLAMing on 125.593201008 meters Centerline goodness [0,1] 0.8694137335052536 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95380318 -0.04666454 -0.29678597 3.96570282] [ 0.05312258 0.99849363 0.01372789 -0.30619229] [ 0.2956983 -0.02885974 0.95484534 -0.06449367] [ 0. 0. 0. 1. ]] SLAMing on 125.623201008 meters Centerline goodness [0,1] 0.860229168375858 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95377721 -0.04189952 -0.29757935 3.96648237] [ 0.0496199 0.99859805 0.01843391 -0.30748892] [ 0.29638979 -0.0323477 0.9545191 -0.06253623] [ 0. 0. 0. 1. ]] SLAMing on 125.653201008 meters Centerline goodness [0,1] 0.8618542686242523 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95362163 -0.03724628 -0.29869465 3.9679161 ] [ 0.04625672 0.99866128 0.02315072 -0.3088689 ] [ 0.2974325 -0.03589366 0.9540679 -0.06016748] [ 0. 0. 0. 1. ]] SLAMing on 125.683201008 meters Centerline goodness [0,1] 0.8633675185848391 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.9536832 -0.03683845 -0.29854864 3.96682372] [ 0.04582533 0.99868107 0.0231553 -0.3073831 ] [ 0.29730186 -0.03576391 0.95411349 -0.05998502] [ 0. 0. 0. 1. ]] SLAMing on 125.71320100799998 meters Centerline goodness [0,1] 0.860803286664144 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95369697 -0.03181092 -0.2990822 3.96657597] [ 0.04187558 0.99874974 0.02730173 -0.30628885] [ 0.29783978 -0.03856181 0.9538367 -0.05862104] [ 0. 0. 0. 1. ]] SLAMing on 125.74320100799999 meters Centerline goodness [0,1] 0.8652841368165903 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95372208 -0.03153757 -0.29903106 3.96580397] [ 0.04152563 0.99876972 0.02710467 -0.30416327] [ 0.29780835 -0.03826778 0.95385836 -0.05857993] [ 0. 0. 0. 1. ]] SLAMing on 125.77320100799999 meters Centerline goodness [0,1] 0.8613326887438563 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95369215 -0.03167061 -0.29911244 3.96578752] [ 0.04151956 0.99878279 0.02662816 -0.30164706] [ 0.29790502 -0.03781409 0.95384626 -0.05868783] [ 0. 0. 0. 1. ]] SLAMing on 125.80320100799999 meters Centerline goodness [0,1] 0.864252667611585 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95357818 -0.03201297 -0.29943918 3.96705071] [ 0.04158086 0.99880625 0.02563404 -0.29782523] [ 0.2982611 -0.036895 0.95377098 -0.05969503] [ 0. 0. 0. 1. ]] SLAMing on 125.83320100799999 meters Centerline goodness [0,1] 0.865835718297804 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.9534882 -0.03242399 -0.2996814 3.96825451] [ 0.04185839 0.99880788 0.0251138 -0.2963784 ] [ 0.29850985 -0.03648989 0.95370874 -0.06018568] [ 0. 0. 0. 1. ]] SLAMing on 125.86320100799999 meters Centerline goodness [0,1] 0.8683110033827878 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95339836 -0.03282554 -0.29992342 3.96945995] [ 0.04215555 0.99880598 0.02468858 -0.29553299] [ 0.29875489 -0.03618149 0.95364376 -0.06057366] [ 0. 0. 0. 1. ]] SLAMing on 125.89320100799999 meters Centerline goodness [0,1] 0.8691651106961856 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95332966 -0.03293721 -0.30012947 3.97000153] [ 0.04225172 0.9988042 0.02459604 -0.29510812] [ 0.29896045 -0.03612912 0.95358132 -0.06048412] [ 0. 0. 0. 1. ]] SLAMing on 125.92320100799999 meters Centerline goodness [0,1] 0.8698254762158135 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:-0.06 [[ 0.95329017 -0.03299603 -0.30024842 3.97022411] [ 0.04227819 0.9988062 0.0244689 -0.29446863] [ 0.29908261 -0.03601992 0.95354714 -0.06042836] [ 0. 0. 0. 1. ]] SLAMing on 125.953201008 meters Centerline goodness [0,1] 0.8697764562204641 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:-0.06 [[ 0.95335743 -0.03232548 -0.30010778 3.96885775] [ 0.04162038 0.99882989 0.02462929 -0.29332118] [ 0.29896046 -0.03597112 0.95358729 -0.06016908] [ 0. 0. 0. 1. ]] SLAMing on 125.983201008 meters Centerline goodness [0,1] 0.8702162176537858 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:-0.06 [[ 0.95345547 -0.03167132 -0.29986596 3.96714635] [ 0.04103689 0.9988452 0.02498484 -0.29258562] [ 0.29872837 -0.0361275 0.95365411 -0.05964279] [ 0. 0. 0. 1. ]] SLAMing on 126.013201008 meters Centerline goodness [0,1] 0.8688176043798337 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.29, Z:-0.06 [[ 0.95360774 -0.03094757 -0.29945706 3.96532226] [ 0.04033062 0.9988685 0.02520241 -0.2914956 ] [ 0.29833827 -0.0361105 0.95377686 -0.05957304] [ 0. 0. 0. 1. ]] SLAMing on 126.043201008 meters Centerline goodness [0,1] 0.8689638758131909 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95381369 -0.0248802 -0.29936669 3.96312258] [ 0.03543033 0.99892582 0.02986458 -0.29151278] [ 0.29830208 -0.03909191 0.95367064 -0.05851928] [ 0. 0. 0. 1. ]] SLAMing on 126.073201008 meters Centerline goodness [0,1] 0.865809795832011 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95398286 -0.02403042 -0.29889669 3.96143393] [ 0.03450899 0.99895916 0.0298283 -0.28991884] [ 0.2978688 -0.03877031 0.95381919 -0.05910177] [ 0. 0. 0. 1. ]] SLAMing on 126.10320100799998 meters Centerline goodness [0,1] 0.8671131383974477 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95413201 -0.02339031 -0.2984711 3.96008504] [ 0.03378341 0.99898752 0.02970874 -0.28847248] [ 0.29747401 -0.03842943 0.95395618 -0.05971112] [ 0. 0. 0. 1. ]] SLAMing on 126.13320100799999 meters Centerline goodness [0,1] 0.86647127165188 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95426083 -0.02276529 -0.29810737 3.95887437] [ 0.03312103 0.99900901 0.02973213 -0.28771175] [ 0.29713508 -0.03824583 0.95406918 -0.06012722] [ 0. 0. 0. 1. ]] SLAMing on 126.16320100799999 meters Centerline goodness [0,1] 0.8688381906897007 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95435877 -0.02254149 -0.29781072 3.95840727] [ 0.03280004 0.99902667 0.02949344 -0.28718751] [ 0.29685603 -0.03791552 0.95416923 -0.06085872] [ 0. 0. 0. 1. ]] SLAMing on 126.19320100799999 meters Centerline goodness [0,1] 0.8706914781137661 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95443326 -0.0217886 -0.29762797 3.95734741] [ 0.03221131 0.99902596 0.03015902 -0.289094 ] [ 0.29668095 -0.03837176 0.95420544 -0.06045194] [ 0. 0. 0. 1. ]] SLAMing on 126.22320100799999 meters Centerline goodness [0,1] 0.8714368973190633 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95435683 -0.0218275 -0.29787012 3.95819687] [ 0.03234297 0.99901384 0.03041849 -0.2907037 ] [ 0.29691241 -0.0386641 0.95412164 -0.06020812] [ 0. 0. 0. 1. ]] SLAMing on 126.25320100799999 meters Centerline goodness [0,1] 0.8684517497348887 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.9542237 -0.02216151 -0.29827168 3.95972067] [ 0.03273146 0.99899906 0.03048832 -0.29249231] [ 0.29729746 -0.03885555 0.95399396 -0.06005989] [ 0. 0. 0. 1. ]] SLAMing on 126.28320100799999 meters Centerline goodness [0,1] 0.8671916569117804 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.29, Z:-0.06 [[ 0.95403177 -0.02270023 -0.29884456 3.96193777] [ 0.03335328 0.99897523 0.03059493 -0.29479689] [ 0.29784381 -0.03915598 0.95381124 -0.05982859] [ 0. 0. 0. 1. ]] SLAMing on 126.313201008 meters Centerline goodness [0,1] 0.866730970179246 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.30, Z:-0.06 [[ 0.95386766 -0.02842968 -0.29887831 3.96462983] [ 0.03799833 0.99893292 0.02625159 -0.29746354] [ 0.29781306 -0.03639742 0.95393009 -0.06130343] [ 0. 0. 0. 1. ]] SLAMing on 126.343201008 meters Centerline goodness [0,1] 0.8664052428018909 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95381541 -0.0334005 -0.29853069 3.96518358] [ 0.04189772 0.9988773 0.02210724 -0.29811908] [ 0.29745713 -0.03359398 0.95414396 -0.06249176] [ 0. 0. 0. 1. ]] SLAMing on 126.373201008 meters Centerline goodness [0,1] 0.8671575767384151 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.9537162 -0.03845599 -0.29823906 3.96583326] [ 0.0458913 0.99878488 0.0179655 -0.29872833] [ 0.29718578 -0.03082057 0.95432212 -0.06350405] [ 0. 0. 0. 1. ]] SLAMing on 126.403201008 meters Centerline goodness [0,1] 0.8665241047018379 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.30, Z:-0.06 [[ 0.95352936 -0.03881815 -0.29878908 3.96811893] [ 0.04644781 0.99874988 0.01847366 -0.30215843] [ 0.29769844 -0.03149328 0.95414035 -0.06312993] [ 0. 0. 0. 1. ]] SLAMing on 126.433201008 meters Centerline goodness [0,1] 0.866786531546257 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.07 [[ 0.95345563 -0.04268385 -0.29849698 3.97171586] [ 0.04969338 0.99863749 0.01592892 -0.30550803] [ 0.29741036 -0.03002084 0.95427765 -0.06525703] [ 0. 0. 0. 1. ]] SLAMing on 126.46320100799998 meters Centerline goodness [0,1] 0.8707732777990902 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95336055 -0.04255994 -0.29881821 3.97282801] [ 0.04973882 0.99862667 0.01645664 -0.30788741] [ 0.29770744 -0.03055197 0.95416815 -0.06497878] [ 0. 0. 0. 1. ]] SLAMing on 126.49320100799999 meters Centerline goodness [0,1] 0.8711067204522378 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.95334772 -0.04225915 -0.29890182 3.97333486] [ 0.04959853 0.99862442 0.01700765 -0.31016181] [ 0.29777193 -0.0310393 0.9541323 -0.06486071] [ 0. 0. 0. 1. ]] SLAMing on 126.52320100799999 meters Centerline goodness [0,1] 0.8707295569759753 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.31, Z:-0.06 [[ 0.953357 -0.04151511 -0.29897646 3.9727952 ] [ 0.04910667 0.99863276 0.0179206 -0.3129409 ] [ 0.29782371 -0.03176647 0.9540922 -0.06406835] [ 0. 0. 0. 1. ]] SLAMing on 126.55320100799999 meters Centerline goodness [0,1] 0.8709650811108056 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.95329236 -0.04109234 -0.29924086 3.97292767] [ 0.04889221 0.99863045 0.01862216 -0.31504551] [ 0.2980658 -0.03238291 0.95399587 -0.06318875] [ 0. 0. 0. 1. ]] SLAMing on 126.58320100799999 meters Centerline goodness [0,1] 0.8675877314175187 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.95350937 -0.0397208 -0.29873424 3.97089643] [ 0.0477811 0.99866309 0.01972329 -0.31735244] [ 0.29755144 -0.03308019 0.95413251 -0.06296763] [ 0. 0. 0. 1. ]] SLAMing on 126.61320100799999 meters Centerline goodness [0,1] 0.8704552989280583 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.95357943 -0.03928389 -0.29856833 3.97043083] [ 0.04738229 0.99867796 0.0199312 -0.31724812] [ 0.29739064 -0.03315283 0.95418012 -0.0631722 ] [ 0. 0. 0. 1. ]] SLAMing on 126.64320100799999 meters Centerline goodness [0,1] 0.868295244148451 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.9536382 -0.03891831 -0.29842846 3.97024997] [ 0.04701999 0.99869344 0.0200135 -0.31732804] [ 0.29725965 -0.03311774 0.95422215 -0.06360567] [ 0. 0. 0. 1. ]] SLAMing on 126.67320100799999 meters Centerline goodness [0,1] 0.868295244148451 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.9536382 -0.03891831 -0.29842846 3.97024997] [ 0.04701999 0.99869344 0.0200135 -0.31732804] [ 0.29725965 -0.03311774 0.95422215 -0.06360567] [ 0. 0. 0. 1. ]] SLAMing on 126.703201008 meters Centerline goodness [0,1] 0.8674072845851987 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.95378492 -0.03816411 -0.29805677 3.96912502] [ 0.04632917 0.99871842 0.02037485 -0.31790281] [ 0.29689719 -0.03324195 0.95433067 -0.06393579] [ 0. 0. 0. 1. ]] SLAMing on 126.733201008 meters Centerline goodness [0,1] 0.8684874532094828 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.32, Z:-0.06 [[ 0.9540934 -0.03652933 -0.29727327 3.96619424] [ 0.04482515 0.99877125 0.02113523 -0.3189461 ] [ 0.29613594 -0.0334903 0.95455849 -0.0643494 ] [ 0. 0. 0. 1. ]] SLAMing on 126.763201008 meters Centerline goodness [0,1] 0.8718618810642498 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.06 [[ 0.9542057 -0.03578589 -0.29700313 3.96491118] [ 0.04418119 0.99878999 0.02160028 -0.31994224] [ 0.29587077 -0.03373306 0.95463216 -0.06419392] [ 0. 0. 0. 1. ]] SLAMing on 126.793201008 meters Centerline goodness [0,1] 0.8725694734206793 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.06 [[ 0.95430176 -0.0351845 -0.29676623 3.96387474] [ 0.04366238 0.99880439 0.02198586 -0.32104122] [ 0.29563785 -0.03393866 0.95469703 -0.06409174] [ 0. 0. 0. 1. ]] SLAMing on 126.823201008 meters Centerline goodness [0,1] 0.8721709974853311 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.06 [[ 0.95436948 -0.03455732 -0.29662213 3.96315296] [ 0.04315377 0.99881548 0.02248064 -0.32257826] [ 0.29549391 -0.0342552 0.95473029 -0.06395534] [ 0. 0. 0. 1. ]] SLAMing on 126.85320100799998 meters Centerline goodness [0,1] 0.8730362833342651 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.32, Z:-0.06 [[ 0.95430604 -0.03464238 -0.29681624 3.96478631] [ 0.04328629 0.99880711 0.02259752 -0.32469015] [ 0.29567934 -0.03441302 0.9546672 -0.06454765] [ 0. 0. 0. 1. ]] SLAMing on 126.88320100799999 meters Centerline goodness [0,1] 0.8720172926842962 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.33, Z:-0.06 [[ 0.95427677 -0.034501 -0.29692682 3.96540536] [ 0.04325654 0.9988 0.02296566 -0.32625499] [ 0.29577817 -0.03475962 0.95462403 -0.06453055] [ 0. 0. 0. 1. ]] SLAMing on 126.91320100799999 meters Centerline goodness [0,1] 0.8708058422150793 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.33, Z:-0.06 [[ 0.95418162 -0.03462928 -0.29721751 3.96669296] [ 0.04348944 0.99878336 0.02324787 -0.32810948] [ 0.29605085 -0.03510851 0.95452673 -0.06442196] [ 0. 0. 0. 1. ]] SLAMing on 126.94320100799999 meters Centerline goodness [0,1] 0.8633107839235973 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.33, Z:-0.07 [[ 0.95402138 -0.04386457 -0.29651155 3.97060969] [ 0.05119371 0.99854413 0.01699491 -0.3314684 ] [ 0.29533439 -0.03139303 0.95487804 -0.06647838] [ 0. 0. 0. 1. ]] SLAMing on 126.97320100799999 meters Centerline goodness [0,1] 0.8633998513351249 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.33, Z:-0.07 [[ 0.95377562 -0.04943712 -0.29642545 3.97240979] [ 0.05572815 0.99836386 0.01280565 -0.33300297] [ 0.29530738 -0.02873296 0.95497014 -0.06730285] [ 0. 0. 0. 1. ]] SLAMing on 127.00320100799999 meters Centerline goodness [0,1] 0.8553572967847599 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.07 [[ 0.95338119 -0.05078409 -0.29746477 3.97624845] [ 0.05738397 0.99826103 0.01349072 -0.33679302] [ 0.29626238 -0.02993151 0.95463748 -0.06546947] [ 0. 0. 0. 1. ]] SLAMing on 127.03320100799999 meters Centerline goodness [0,1] 0.8572665858305907 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95312818 -0.05175504 -0.29810751 3.97885684] [ 0.0586441 0.99817788 0.01420497 -0.34052201] [ 0.29682915 -0.0310214 0.9544266 -0.06400457] [ 0. 0. 0. 1. ]] SLAMing on 127.063201008 meters Centerline goodness [0,1] 0.8575094031547948 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95291508 -0.05668778 -0.29789151 3.97924829] [ 0.06281973 0.9979638 0.01104267 -0.34416925] [ 0.29665895 -0.02923619 0.95453586 -0.06346614] [ 0. 0. 0. 1. ]] SLAMing on 127.093201008 meters Centerline goodness [0,1] 0.8597089785087335 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.35, Z:-0.06 [[ 0.95289306 -0.056314 -0.29803281 3.97888641] [ 0.06266554 0.99796493 0.01179119 -0.34538281] [ 0.29676228 -0.02991213 0.9544828 -0.06236462] [ 0. 0. 0. 1. ]] SLAMing on 127.123201008 meters Centerline goodness [0,1] 0.8573593262814349 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.35, Z:-0.06 [[ 0.95291928 -0.05614103 -0.2979816 3.9788882 ] [ 0.06256585 0.99796799 0.01205864 -0.34569793] [ 0.29669911 -0.03013439 0.95449545 -0.06231862] [ 0. 0. 0. 1. ]] SLAMing on 127.153201008 meters Centerline goodness [0,1] 0.8515004220391769 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95290695 -0.05643654 -0.2979652 3.97963864] [ 0.06275965 0.99796023 0.01168823 -0.34445703] [ 0.29669777 -0.02983799 0.95450517 -0.06300216] [ 0. 0. 0. 1. ]] SLAMing on 127.183201008 meters Centerline goodness [0,1] 0.8526147588611273 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95289112 -0.05676228 -0.29795395 3.98044458] [ 0.06296986 0.99795181 0.01126817 -0.34295963] [ 0.29670408 -0.02949946 0.95451373 -0.06375013] [ 0. 0. 0. 1. ]] SLAMing on 127.21320100799998 meters Centerline goodness [0,1] 0.8505563464164319 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95288821 -0.05693956 -0.29792942 3.98103209] [ 0.06305765 0.99794975 0.01095586 -0.34212578] [ 0.29669476 -0.02922644 0.95452503 -0.06440294] [ 0. 0. 0. 1. ]] SLAMing on 127.24320100799999 meters Centerline goodness [0,1] 0.8542132628460221 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95278438 -0.0571345 -0.29822404 3.98192776] [ 0.06329222 0.99793416 0.01102315 -0.3422736 ] [ 0.29697815 -0.02937794 0.95443225 -0.06402315] [ 0. 0. 0. 1. ]] SLAMing on 127.27320100799999 meters Centerline goodness [0,1] 0.8565585658757324 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95274189 -0.0571096 -0.2983645 3.98224812] [ 0.06334464 0.99792818 0.01126076 -0.34292954] [ 0.29710325 -0.02962839 0.95438557 -0.06365571] [ 0. 0. 0. 1. ]] SLAMing on 127.30320100799999 meters Centerline goodness [0,1] 0.8539760016270084 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95266253 -0.05715193 -0.29860971 3.98271449] [ 0.06344614 0.99791994 0.0114186 -0.34335418] [ 0.29733599 -0.0298237 0.954307 -0.06321869] [ 0. 0. 0. 1. ]] SLAMing on 127.33320100799999 meters Centerline goodness [0,1] 0.8533310181165712 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95248978 -0.05391144 -0.29976119 3.98685645] [ 0.06132812 0.99799913 0.01538168 -0.34436751] [ 0.29833215 -0.03303469 0.95389026 -0.06205899] [ 0. 0. 0. 1. ]] SLAMing on 127.36320100799999 meters Centerline goodness [0,1] 0.8522302949604886 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95244881 -0.05443582 -0.29979661 3.98811196] [ 0.06166792 0.99798836 0.01470739 -0.3424799 ] [ 0.29839292 -0.03249587 0.95388977 -0.06311451] [ 0. 0. 0. 1. ]] SLAMing on 127.39320100799999 meters Centerline goodness [0,1] 0.8530495055247818 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95249384 -0.05451956 -0.29963829 3.98843662] [ 0.06165884 0.99799317 0.01441578 -0.34142116] [ 0.29825103 -0.03220629 0.95394396 -0.06396091] [ 0. 0. 0. 1. ]] SLAMing on 127.42320100799999 meters Centerline goodness [0,1] 0.8494904625032662 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95249036 -0.05436912 -0.29967669 3.98832714] [ 0.0615291 0.99799995 0.01450061 -0.34125705] [ 0.29828893 -0.03225053 0.95393061 -0.06382681] [ 0. 0. 0. 1. ]] SLAMing on 127.453201008 meters Centerline goodness [0,1] 0.8471267047441426 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95255682 -0.0531193 -0.29968958 3.98563832] [ 0.06072711 0.99802419 0.01612227 -0.34390859] [ 0.29824105 -0.03355666 0.95390053 -0.06102765] [ 0. 0. 0. 1. ]] SLAMing on 127.483201008 meters Centerline goodness [0,1] 0.8493949555328765 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95261206 -0.05243361 -0.29963473 3.98395202] [ 0.06023284 0.9980422 0.01684578 -0.34449784] [ 0.29816482 -0.03409535 0.95390526 -0.05968079] [ 0. 0. 0. 1. ]] SLAMing on 127.513201008 meters Centerline goodness [0,1] 0.8426139515870004 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95269209 -0.05190679 -0.29947196 3.98260699] [ 0.05979526 0.99806193 0.01723125 -0.34409126] [ 0.29799715 -0.03432308 0.95394949 -0.05905637] [ 0. 0. 0. 1. ]] SLAMing on 127.543201008 meters Centerline goodness [0,1] 0.8418976950717186 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95281452 -0.05138898 -0.29917163 3.98131077] [ 0.05926473 0.99809228 0.01730562 -0.34301087] [ 0.29771158 -0.03421937 0.95404237 -0.05918139] [ 0. 0. 0. 1. ]] SLAMing on 127.573201008 meters Centerline goodness [0,1] 0.840027963065451 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95275506 -0.04668074 -0.30013114 3.98307969] [ 0.05574286 0.99820937 0.02169763 -0.34411218] [ 0.29858086 -0.0374027 0.95365115 -0.0578614 ] [ 0. 0. 0. 1. ]] SLAMing on 127.60320100799998 meters Centerline goodness [0,1] 0.839878101872007 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95288238 -0.04169887 -0.30046026 3.98364569] [ 0.05169483 0.99834005 0.02539252 -0.34271162] [ 0.29890267 -0.03972832 0.95345627 -0.05818818] [ 0. 0. 0. 1. ]] SLAMing on 127.63320100799999 meters Centerline goodness [0,1] 0.8431179653366512 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95297551 -0.04157953 -0.3001813 3.98322254] [ 0.05139939 0.99836803 0.02488725 -0.3402601 ] [ 0.29865661 -0.03914607 0.95355745 -0.05918331] [ 0. 0. 0. 1. ]] SLAMing on 127.66320100799999 meters Centerline goodness [0,1] 0.8347473577530042 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95317132 -0.04118971 -0.29961282 3.98192228] [ 0.05087103 0.99840267 0.02458137 -0.33800942] [ 0.29812174 -0.03867187 0.95374416 -0.06021882] [ 0. 0. 0. 1. ]] SLAMing on 127.69320100799999 meters Centerline goodness [0,1] 0.8370278673422387 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95324518 -0.0411552 -0.2993825 3.98148658] [ 0.05069512 0.99842178 0.02416517 -0.33578868] [ 0.29791549 -0.03821256 0.95382711 -0.06089252] [ 0. 0. 0. 1. ]] SLAMing on 127.72320100799999 meters Centerline goodness [0,1] 0.8360140559380624 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.95329711 -0.04094192 -0.29924634 3.98077558] [ 0.05034931 0.99844826 0.02379132 -0.33332445] [ 0.29780792 -0.03774704 0.95387924 -0.06132278] [ 0. 0. 0. 1. ]] SLAMing on 127.75320100799999 meters Centerline goodness [0,1] 0.8357136724004695 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.95336143 -0.04083012 -0.29905667 3.98033641] [ 0.05017745 0.99846048 0.02364093 -0.33241158] [ 0.29763101 -0.03754425 0.95394246 -0.06169144] [ 0. 0. 0. 1. ]] SLAMing on 127.78320100799999 meters Centerline goodness [0,1] 0.8313494334439739 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.95336762 -0.04078953 -0.29904247 3.98024263] [ 0.0501751 0.9984575 0.02377155 -0.33233753] [ 0.29761157 -0.03766751 0.95394366 -0.06147658] [ 0. 0. 0. 1. ]] SLAMing on 127.813201008 meters Centerline goodness [0,1] 0.8353674295724091 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.95339541 -0.04510094 -0.29833386 3.97817143] [ 0.0534758 0.99836954 0.01996482 -0.33205533] [ 0.29694701 -0.03498801 0.95425275 -0.06169179] [ 0. 0. 0. 1. ]] SLAMing on 127.843201008 meters Centerline goodness [0,1] 0.8360014945535021 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.95330567 -0.04505326 -0.29862769 3.97849239] [ 0.05360641 0.99835153 0.02050816 -0.33377649] [ 0.29721145 -0.0355589 0.95414932 -0.06063886] [ 0. 0. 0. 1. ]] SLAMing on 127.873201008 meters Centerline goodness [0,1] 0.8388892092969606 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95316273 -0.04521708 -0.2990589 3.97942178] [ 0.05391146 0.99832735 0.02088199 -0.33500378] [ 0.29761446 -0.03602663 0.95400614 -0.05971239] [ 0. 0. 0. 1. ]] SLAMing on 127.903201008 meters Centerline goodness [0,1] 0.8376139664643791 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95304232 -0.04578925 -0.29935545 3.98127461] [ 0.05443686 0.99830454 0.02060766 -0.3351078 ] [ 0.29790429 -0.03593594 0.95391909 -0.06007559] [ 0. 0. 0. 1. ]] SLAMing on 127.933201008 meters Centerline goodness [0,1] 0.8386595266885473 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.33, Z:-0.06 [[ 0.9529266 -0.04634635 -0.29963798 3.98307507] [ 0.0549251 0.99828477 0.02026693 -0.33478773] [ 0.29818474 -0.03577054 0.95383769 -0.06056571] [ 0. 0. 0. 1. ]] SLAMing on 127.96320100799998 meters Centerline goodness [0,1] 0.8411361070094676 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.33, Z:-0.06 [[ 0.95270303 -0.04726857 -0.30020429 3.98586936] [ 0.05581664 0.99824156 0.01995717 -0.33491494] [ 0.29873305 -0.03576965 0.95366614 -0.06073661] [ 0. 0. 0. 1. ]] SLAMing on 127.99320100799999 meters Centerline goodness [0,1] 0.8400777420009863 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95257512 -0.0475004 -0.30057337 3.98695432] [ 0.05614189 0.99821898 0.02017332 -0.33593039] [ 0.2990798 -0.03609136 0.95354532 -0.06022319] [ 0. 0. 0. 1. ]] SLAMing on 128.023201008 meters Centerline goodness [0,1] 0.8470967554535684 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95247439 -0.04759233 -0.30087788 3.98781127] [ 0.05636146 0.99819939 0.0205273 -0.33745178] [ 0.29935917 -0.03650964 0.95344173 -0.05962756] [ 0. 0. 0. 1. ]] SLAMing on 128.053201008 meters Centerline goodness [0,1] 0.8453797155405602 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95234189 -0.04772639 -0.30127582 3.98869253] [ 0.05663777 0.99817584 0.02090839 -0.33887167] [ 0.29972836 -0.03697553 0.95330778 -0.05873204] [ 0. 0. 0. 1. ]] SLAMing on 128.083201008 meters Centerline goodness [0,1] 0.8463731851377695 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.9522576 -0.04765458 -0.3015535 3.98909568] [ 0.05672533 0.99816066 0.02138992 -0.3404721 ] [ 0.29997951 -0.03747443 0.9532093 -0.05787986] [ 0. 0. 0. 1. ]] SLAMing on 128.113201008 meters Centerline goodness [0,1] 0.8492950757465192 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95223412 -0.04763427 -0.30163084 3.98958991] [ 0.05680571 0.99814934 0.02170278 -0.34148545] [ 0.30003883 -0.03780048 0.95317775 -0.05768213] [ 0. 0. 0. 1. ]] SLAMing on 128.143201008 meters Centerline goodness [0,1] 0.8517428304966193 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95224861 -0.04782699 -0.30155459 3.99026755] [ 0.05690975 0.99814992 0.02140153 -0.3407422 ] [ 0.29997312 -0.03754097 0.95320869 -0.05850089] [ 0. 0. 0. 1. ]] SLAMing on 128.173201008 meters Centerline goodness [0,1] 0.850084533317787 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95229758 -0.04781555 -0.30140172 3.99039914] [ 0.05683238 0.99815833 0.02121371 -0.33989432] [ 0.29983229 -0.03733114 0.95326124 -0.05912249] [ 0. 0. 0. 1. ]] SLAMing on 128.203201008 meters Centerline goodness [0,1] 0.8494617398894384 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95241049 -0.04698878 -0.30117489 3.98889628] [ 0.05605166 0.998196 0.02151631 -0.33993669] [ 0.29962054 -0.03737371 0.95332614 -0.05895304] [ 0. 0. 0. 1. ]] SLAMing on 128.233201008 meters Centerline goodness [0,1] 0.8469304862481142 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95257265 -0.04102501 -0.30153324 3.98802864] [ 0.05135595 0.99833113 0.0264108 -0.34164633] [ 0.29994651 -0.04064373 0.9530898 -0.05762451] [ 0. 0. 0. 1. ]] SLAMing on 128.263201008 meters Centerline goodness [0,1] 0.8469304862481142 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95257265 -0.04102501 -0.30153324 3.98802864] [ 0.05135595 0.99833113 0.0264108 -0.34164633] [ 0.29994651 -0.04064373 0.9530898 -0.05762451] [ 0. 0. 0. 1. ]] SLAMing on 128.293201008 meters Centerline goodness [0,1] 0.8406900344438334 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95274587 -0.04054898 -0.30104998 3.98710548] [ 0.05068789 0.99837759 0.02594085 -0.3400758 ] [ 0.29950968 -0.03997462 0.95325547 -0.05911608] [ 0. 0. 0. 1. ]] SLAMing on 128.323201008 meters Centerline goodness [0,1] 0.8446999390297012 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95310552 -0.0389109 -0.30012632 3.98397524] [ 0.04895435 0.99846218 0.0260144 -0.33915216] [ 0.29865253 -0.03948695 0.95354467 -0.06065497] [ 0. 0. 0. 1. ]] SLAMing on 128.353201008 meters Centerline goodness [0,1] 0.8421357928014154 Centerline is valid? [False, False] Translation: X:3.98, Y:-0.34, Z:-0.06 [[ 0.95313611 -0.03887772 -0.30003346 3.98397339] [ 0.04892409 0.99846295 0.02604163 -0.3395188 ] [ 0.29855985 -0.03950008 0.95357315 -0.06085569] [ 0. 0. 0. 1. ]] SLAMing on 128.38320100800001 meters Centerline goodness [0,1] 0.8415196035816743 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95306419 -0.03936072 -0.3001989 3.98530864] [ 0.0493342 0.9984513 0.02571259 -0.33943801] [ 0.29872191 -0.03931582 0.95353001 -0.06131453] [ 0. 0. 0. 1. ]] SLAMing on 128.41320100800002 meters Centerline goodness [0,1] 0.8412785493604366 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95300145 -0.03975739 -0.30034577 3.98672843] [ 0.04968891 0.99843921 0.02549815 -0.33977225] [ 0.29886325 -0.03922363 0.95348952 -0.06181744] [ 0. 0. 0. 1. ]] SLAMing on 128.44320100800002 meters Centerline goodness [0,1] 0.8429665434004019 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95283097 -0.04541173 -0.30008485 3.9881802 ] [ 0.05415975 0.99831366 0.02089389 -0.33965136] [ 0.29862998 -0.03616087 0.95368366 -0.06319081] [ 0. 0. 0. 1. ]] SLAMing on 128.47320100800002 meters Centerline goodness [0,1] 0.8460779477059694 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.9526776 -0.04582986 -0.30050791 3.98969884] [ 0.05462455 0.99828768 0.02092524 -0.3406147 ] [ 0.29903435 -0.03635012 0.95354975 -0.06283483] [ 0. 0. 0. 1. ]] SLAMing on 128.50320100800002 meters Centerline goodness [0,1] 0.8489440121687241 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95222039 -0.05253357 -0.30085969 3.99305675] [ 0.06026353 0.99804672 0.01646351 -0.34235646] [ 0.29940714 -0.03380776 0.9535263 -0.0626974 ] [ 0. 0. 0. 1. ]] SLAMing on 128.533201008 meters Centerline goodness [0,1] 0.8454818213907518 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95209186 -0.0575474 -0.30034876 3.99254971] [ 0.06414191 0.99786702 0.01213368 -0.34156388] [ 0.29900986 -0.03081732 0.95375227 -0.06341136] [ 0. 0. 0. 1. ]] SLAMing on 128.563201008 meters Centerline goodness [0,1] 0.8482205778717407 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95193397 -0.05761413 -0.30083605 3.99360562] [ 0.06438897 0.99784476 0.01264509 -0.34310404] [ 0.29945914 -0.03140781 0.95359204 -0.06240417] [ 0. 0. 0. 1. ]] SLAMing on 128.593201008 meters Centerline goodness [0,1] 0.8482205778717407 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95193397 -0.05761413 -0.30083605 3.99360562] [ 0.06438897 0.99784476 0.01264509 -0.34310404] [ 0.29945914 -0.03140781 0.95359204 -0.06240417] [ 0. 0. 0. 1. ]] SLAMing on 128.623201008 meters Centerline goodness [0,1] 0.8527193214170409 Centerline is valid? [False, False] Translation: X:3.99, Y:-0.34, Z:-0.06 [[ 0.95188297 -0.05800307 -0.30092267 3.99491389] [ 0.06470616 0.99782797 0.01234738 -0.34265956] [ 0.29955287 -0.03122481 0.95356861 -0.06311779] [ 0. 0. 0. 1. ]] SLAMing on 128.653201008 meters Centerline goodness [0,1] 0.8527795639212019 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.34, Z:-0.06 [[ 0.95180903 -0.05867507 -0.30102624 3.99681048] [ 0.06518241 0.99780582 0.01160987 -0.34058905] [ 0.29968453 -0.030672 0.95354518 -0.06441663] [ 0. 0. 0. 1. ]] SLAMing on 128.683201008 meters Centerline goodness [0,1] 0.8423053305652212 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.34, Z:-0.06 [[ 0.95186607 -0.05402795 -0.30171504 3.9985431 ] [ 0.06172878 0.99796406 0.01604022 -0.34127629] [ 0.30023415 -0.03389265 0.95326321 -0.06363605] [ 0. 0. 0. 1. ]] SLAMing on 128.713201008 meters Centerline goodness [0,1] 0.8443363244377112 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.34, Z:-0.06 [[ 0.95182466 -0.05392293 -0.30186443 3.99848174] [ 0.06169623 0.99796238 0.01626869 -0.34136814] [ 0.30037209 -0.03410884 0.95321204 -0.06301214] [ 0. 0. 0. 1. ]] SLAMing on 128.743201008 meters Centerline goodness [0,1] 0.8489384628826048 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.34, Z:-0.06 [[ 0.95181796 -0.05352748 -0.30195591 3.99775342] [ 0.06144273 0.99796974 0.01676896 -0.34224382] [ 0.30044526 -0.03451399 0.9531744 -0.06198815] [ 0. 0. 0. 1. ]] SLAMing on 128.773201008 meters Centerline goodness [0,1] 0.8453922315308454 Centerline is valid? [False, False] Translation: X:4.00, Y:-0.34, Z:-0.06 [[ 0.95193697 -0.05262786 -0.30173882 3.99551751] [ 0.06076681 0.99799604 0.01764366 -0.3437673 ] [ 0.3002056 -0.03513136 0.95322735 -0.06065748] [ 0. 0. 0. 1. ]] SLAMing on 128.803201008 meters Centerline goodness [0,1] 0.8466785724741634 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95386077 -0.05432672 -0.29529347 4.00692906] [ 0.05955111 0.99818716 0.00872093 -0.34040454] [ 0.29428437 -0.0259036 0.95536679 -0.05987184] [ 0. 0. 0. 1. ]] SLAMing on 128.833201008 meters Centerline goodness [0,1] 0.845821283556802 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95391033 -0.05404355 -0.29518533 4.00607764] [ 0.05932223 0.99819876 0.0089499 -0.33984129] [ 0.29416995 -0.02604845 0.9553981 -0.05946947] [ 0. 0. 0. 1. ]] SLAMing on 128.863201008 meters Centerline goodness [0,1] 0.8446259297068689 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95388605 -0.05437121 -0.29520361 4.00670236] [ 0.05955254 0.99818828 0.00858267 -0.33831545] [ 0.29420213 -0.02576701 0.95539582 -0.0599407 ] [ 0. 0. 0. 1. ]] SLAMing on 128.893201008 meters Centerline goodness [0,1] 0.8453289818754006 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95381671 -0.05496629 -0.29531743 4.00827521] [ 0.0599952 0.99816671 0.00798769 -0.33677216] [ 0.29433698 -0.02533642 0.9553658 -0.06090719] [ 0. 0. 0. 1. ]] SLAMing on 128.923201008 meters Centerline goodness [0,1] 0.8475434156558164 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95370214 -0.05571509 -0.29554705 4.01040095] [ 0.06060891 0.99813404 0.00741579 -0.33566308] [ 0.2945824 -0.02498524 0.9552994 -0.06182086] [ 0. 0. 0. 1. ]] SLAMing on 128.953201008 meters Centerline goodness [0,1] 0.8547461625841027 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.34, Z:-0.06 [[ 0.95341068 -0.05730031 -0.29618364 4.01459386] [ 0.06205015 0.99805086 0.00665347 -0.33599563] [ 0.29522509 -0.02472173 0.95510784 -0.06260103] [ 0. 0. 0. 1. ]] SLAMing on 128.983201008 meters Centerline goodness [0,1] 0.8598119927599697 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95322281 -0.0575931 -0.29673104 4.01594467] [ 0.06243809 0.99802521 0.00686833 -0.33695657] [ 0.29574949 -0.02507437 0.95493639 -0.06178976] [ 0. 0. 0. 1. ]] SLAMing on 129.013201008 meters Centerline goodness [0,1] 0.8601455842371444 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95307351 -0.05786885 -0.29715666 4.01712084] [ 0.06277804 0.998003 0.00699564 -0.33777051] [ 0.2961584 -0.02532227 0.95480311 -0.06122267] [ 0. 0. 0. 1. ]] SLAMing on 129.043201008 meters Centerline goodness [0,1] 0.8640419947506561 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95289122 -0.05808614 -0.29769837 4.01796265] [ 0.06310622 0.99798033 0.0072709 -0.33811596] [ 0.29667478 -0.02571499 0.95463229 -0.05996252] [ 0. 0. 0. 1. ]] SLAMing on 129.073201008 meters Centerline goodness [0,1] 0.8692019841615177 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95278312 -0.05813912 -0.29803385 4.01835429] [ 0.06320039 0.99797368 0.00736477 -0.33757511] [ 0.29700176 -0.02585289 0.95452689 -0.05924824] [ 0. 0. 0. 1. ]] SLAMing on 129.103201008 meters Centerline goodness [0,1] 0.8716916661840505 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95278441 -0.05788932 -0.29807834 4.01791412] [ 0.06298508 0.99798621 0.00750963 -0.33692865] [ 0.29704335 -0.02592955 0.95451187 -0.05883881] [ 0. 0. 0. 1. ]] SLAMing on 129.13320100800001 meters Centerline goodness [0,1] 0.8744785631517961 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95282699 -0.05766619 -0.29798546 4.01730591] [ 0.0627697 0.99799928 0.00757703 -0.33594505] [ 0.29695234 -0.02592406 0.95454034 -0.05867736] [ 0. 0. 0. 1. ]] SLAMing on 129.16320100800002 meters Centerline goodness [0,1] 0.872683250223388 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95295697 -0.0523729 -0.29854664 4.0171099 ] [ 0.05874811 0.99819565 0.01241353 -0.33650177] [ 0.29735783 -0.02936861 0.95431431 -0.05690153] [ 0. 0. 0. 1. ]] SLAMing on 129.19320100800002 meters Centerline goodness [0,1] 0.8699229087561846 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.34, Z:-0.06 [[ 0.95307094 -0.05191783 -0.29826216 4.01592505] [ 0.05831071 0.99821936 0.012569 -0.3352158 ] [ 0.29707851 -0.02937103 0.95440123 -0.0568963 ] [ 0. 0. 0. 1. ]] SLAMing on 129.22320100800002 meters Centerline goodness [0,1] 0.8734449966960669 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.33, Z:-0.06 [[ 0.95319221 -0.05139502 -0.29796504 4.01458163] [ 0.05782205 0.99824499 0.0127891 -0.33406156] [ 0.29678481 -0.02941941 0.95449111 -0.05676347] [ 0. 0. 0. 1. ]] SLAMing on 129.25320100800002 meters Centerline goodness [0,1] 0.8684693994718108 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.33, Z:-0.06 [[ 0.95332746 -0.05067998 -0.29765464 4.0127754 ] [ 0.05716149 0.99827893 0.01310534 -0.33333695] [ 0.29647818 -0.02950806 0.95458366 -0.05645447] [ 0. 0. 0. 1. ]] SLAMing on 129.283201008 meters Centerline goodness [0,1] 0.8667010663914689 Centerline is valid? [False, False] Translation: X:4.01, Y:-0.33, Z:-0.06 [[ 0.95346649 -0.05010687 -0.29730615 4.01128745] [ 0.05659572 0.99830922 0.01325224 -0.33261617] [ 0.29613944 -0.02946182 0.95469023 -0.05647154] [ 0. 0. 0. 1. ]] SLAMing on 129.313201008 meters Centerline goodness [0,1] 0.8635570181714123 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.33, Z:-0.06 [[ 0.95540758 -0.04868565 -0.29124913 4.02425413] [ 0.05293181 0.99857557 0.00671298 -0.32940981] [ 0.29050744 -0.02182997 0.95662369 -0.05649047] [ 0. 0. 0. 1. ]] SLAMing on 129.343201008 meters Centerline goodness [0,1] 0.8711350545892197 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.33, Z:-0.06 [[ 0.9553544 -0.04830579 -0.29148674 4.023745 ] [ 0.05276428 0.99857921 0.00744949 -0.33087004] [ 0.29071274 -0.02249699 0.95654586 -0.05504998] [ 0. 0. 0. 1. ]] SLAMing on 129.373201008 meters Centerline goodness [0,1] 0.8687080296160248 Centerline is valid? [False, False] Translation: X:4.02, Y:-0.33, Z:-0.05 [[ 0.95530591 -0.04821691 -0.29166034 4.02397435] [ 0.05275556 0.99857767 0.00771227 -0.33143647] [ 0.29087364 -0.02275428 0.95649086 -0.05458303] [ 0. 0. 0. 1. ]] SLAMing on 129.403201008 meters Centerline goodness [0,1] 0.866611027972833 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.05 [[ 0.95519706 -0.04843689 -0.2919802 4.02506402] [ 0.0530497 0.99856065 0.00789693 -0.33233207] [ 0.29117743 -0.02303258 0.95639176 -0.05421974] [ 0. 0. 0. 1. ]] SLAMing on 129.433201008 meters Centerline goodness [0,1] 0.8688924613882988 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95490628 -0.04993383 -0.29267833 4.0298741 ] [ 0.05427898 0.99850307 0.00673864 -0.33104606] [ 0.29190373 -0.02232105 0.95618721 -0.05602409] [ 0. 0. 0. 1. ]] SLAMing on 129.463201008 meters Centerline goodness [0,1] 0.8769981345960683 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95483181 -0.05058508 -0.29280943 4.03206986] [ 0.05470286 0.99848533 0.00588633 -0.32953724] [ 0.29206816 -0.02163797 0.9561527 -0.05767374] [ 0. 0. 0. 1. ]] SLAMing on 129.493201008 meters Centerline goodness [0,1] 0.8737641495916321 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95477144 -0.050919 -0.29294838 4.03356924] [ 0.05499917 0.99847012 0.00570249 -0.32974273] [ 0.29220984 -0.02155649 0.95611125 -0.05833251] [ 0. 0. 0. 1. ]] SLAMing on 129.523201008 meters Centerline goodness [0,1] 0.875165049658419 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95465347 -0.05115845 -0.29329093 4.03477745] [ 0.0552793 0.99845424 0.00577312 -0.33010881] [ 0.29254223 -0.02172425 0.95600581 -0.05810264] [ 0. 0. 0. 1. ]] SLAMing on 129.553201008 meters Centerline goodness [0,1] 0.8753135180326923 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95457382 -0.05082822 -0.29360741 4.03489309] [ 0.05527223 0.9984478 0.00685302 -0.33282905] [ 0.29280334 -0.02277005 0.95590153 -0.05649233] [ 0. 0. 0. 1. ]] SLAMing on 129.583201008 meters Centerline goodness [0,1] 0.8751227685019354 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.33, Z:-0.06 [[ 0.95451525 -0.05055442 -0.29384502 4.03491073] [ 0.05517738 0.99844871 0.00745857 -0.33458489] [ 0.29301212 -0.02333292 0.95582398 -0.05549561] [ 0. 0. 0. 1. ]] SLAMing on 129.613201008 meters Centerline goodness [0,1] 0.8793358254368425 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.34, Z:-0.05 [[ 0.95441719 -0.05024024 -0.29421719 4.03482275] [ 0.05511813 0.9984453 0.00830529 -0.33627946] [ 0.29334251 -0.02414341 0.9557025 -0.05388179] [ 0. 0. 0. 1. ]] SLAMing on 129.643201008 meters Centerline goodness [0,1] 0.8783983751632091 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.05 [[ 0.95416464 -0.05057918 -0.29497726 4.03641029] [ 0.05566724 0.99840996 0.00887173 -0.33760727] [ 0.29405951 -0.02488566 0.95546309 -0.05218821] [ 0. 0. 0. 1. ]] SLAMing on 129.673201008 meters Centerline goodness [0,1] 0.8757581913689526 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.05 [[ 0.95405094 -0.05088269 -0.29529267 4.03755083] [ 0.05600805 0.99839048 0.00891905 -0.33805739] [ 0.29436357 -0.025048 0.95536521 -0.05190279] [ 0. 0. 0. 1. ]] SLAMing on 129.703201008 meters Centerline goodness [0,1] 0.8788380537400146 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.05 [[ 0.9538974 -0.05128237 -0.29571923 4.0390691 ] [ 0.05645503 0.99836481 0.00897403 -0.3384717 ] [ 0.29477547 -0.02525514 0.95523275 -0.05158067] [ 0. 0. 0. 1. ]] SLAMing on 129.733201008 meters Centerline goodness [0,1] 0.8837581937363438 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.05 [[ 0.95371426 -0.05185903 -0.29620896 4.0408796 ] [ 0.05707093 0.99832983 0.00896983 -0.33890129] [ 0.29524907 -0.02545957 0.95508104 -0.05117957] [ 0. 0. 0. 1. ]] SLAMing on 129.763201008 meters Centerline goodness [0,1] 0.8813628421665696 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.05 [[ 0.9534966 -0.0534342 -0.29662944 4.04395521] [ 0.05867888 0.99823813 0.00879904 -0.34025173] [ 0.29563665 -0.02579574 0.95495212 -0.05080525] [ 0. 0. 0. 1. ]] SLAMing on 129.793201008 meters Centerline goodness [0,1] 0.8793832162532428 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95326178 -0.05400777 -0.29727956 4.04600563] [ 0.05939012 0.9981934 0.00909626 -0.34153254] [ 0.29625122 -0.02632658 0.95474715 -0.0498072 ] [ 0. 0. 0. 1. ]] SLAMing on 129.823201008 meters Centerline goodness [0,1] 0.8788703541117939 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95304004 -0.05453976 -0.29789278 4.04787411] [ 0.05999351 0.99815648 0.00918786 -0.34257017] [ 0.2968425 -0.02662803 0.95455512 -0.04908073] [ 0. 0. 0. 1. ]] SLAMing on 129.853201008 meters Centerline goodness [0,1] 0.8804427182197821 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95278647 -0.05505526 -0.29860821 4.04980692] [ 0.06063853 0.99811499 0.00945753 -0.34335562] [ 0.29752465 -0.02711817 0.95432892 -0.04790665] [ 0. 0. 0. 1. ]] SLAMing on 129.88320100800001 meters Centerline goodness [0,1] 0.8885113363407346 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95273235 -0.0548607 -0.29881663 4.04960932] [ 0.06058379 0.99811387 0.00991548 -0.34402232] [ 0.29770905 -0.02755024 0.95425904 -0.04687014] [ 0. 0. 0. 1. ]] SLAMing on 129.91320100800002 meters Centerline goodness [0,1] 0.887506950338006 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95278667 -0.05443415 -0.29872142 4.04878112] [ 0.06022689 0.99813246 0.01021315 -0.343286 ] [ 0.2976076 -0.02772202 0.9542857 -0.04650623] [ 0. 0. 0. 1. ]] SLAMing on 129.94320100800002 meters Centerline goodness [0,1] 0.8850232232056787 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95286272 -0.05417806 -0.29852534 4.04790368] [ 0.0599351 0.9981506 0.0101568 -0.34175786] [ 0.29742297 -0.02757019 0.95434766 -0.04652155] [ 0. 0. 0. 1. ]] SLAMing on 129.97320100800002 meters Centerline goodness [0,1] 0.8807682204255568 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95286804 -0.04898299 -0.29940468 4.04817959] [ 0.05599345 0.99832032 0.01487505 -0.34168056] [ 0.29817315 -0.03093866 0.95401026 -0.04430758] [ 0. 0. 0. 1. ]] SLAMing on 130.00320100800002 meters Centerline goodness [0,1] 0.8828393408257148 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95294056 -0.0487453 -0.29921259 4.04761916] [ 0.05564981 0.9983437 0.01459296 -0.33970507] [ 0.29800567 -0.03055735 0.95407488 -0.04482327] [ 0. 0. 0. 1. ]] SLAMing on 130.033201008 meters Centerline goodness [0,1] 0.8844447022652783 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95303366 -0.04830115 -0.29898803 4.04675292] [ 0.05514335 0.99837337 0.01448516 -0.33800556] [ 0.29780204 -0.03029205 0.95414692 -0.04522316] [ 0. 0. 0. 1. ]] SLAMing on 130.063201008 meters Centerline goodness [0,1] 0.8829200301991985 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.05 [[ 0.95313306 -0.0478418 -0.29874494 4.0456044 ] [ 0.05465018 0.99840067 0.01447258 -0.33658153] [ 0.29757476 -0.03012076 0.95422325 -0.04530124] [ 0. 0. 0. 1. ]] SLAMing on 130.093201008 meters Centerline goodness [0,1] 0.8818538612489899 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95317932 -0.04256733 -0.29939472 4.04577393] [ 0.05055263 0.99854116 0.01897327 -0.33688568] [ 0.29815031 -0.03322012 0.95394068 -0.04376309] [ 0. 0. 0. 1. ]] SLAMing on 130.123201008 meters Centerline goodness [0,1] 0.8832462395704016 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95324604 -0.04237314 -0.29920981 4.04524518] [ 0.05024453 0.99856262 0.01865968 -0.33554274] [ 0.29798906 -0.03282092 0.95400488 -0.04424924] [ 0. 0. 0. 1. ]] SLAMing on 130.153201008 meters Centerline goodness [0,1] 0.8794410027373577 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.04 [[ 0.95327987 -0.04217482 -0.29913004 4.04474004] [ 0.04999869 0.99857706 0.01854689 -0.33482107] [ 0.29792218 -0.03263649 0.95403209 -0.04427159] [ 0. 0. 0. 1. ]] SLAMing on 130.183201008 meters Centerline goodness [0,1] 0.8816332419564277 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.34, Z:-0.04 [[ 0.95337214 -0.04140128 -0.29894397 4.04288456] [ 0.04935193 0.99859896 0.01909214 -0.33509336] [ 0.2977347 -0.03295538 0.95407966 -0.04341786] [ 0. 0. 0. 1. ]] SLAMing on 130.213201008 meters Centerline goodness [0,1] 0.8833827636845288 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.04 [[ 0.9534449 -0.04089301 -0.29878184 4.04190258] [ 0.04888663 0.99861735 0.01932592 -0.33453339] [ 0.29757843 -0.03303264 0.95412574 -0.04317558] [ 0. 0. 0. 1. ]] SLAMing on 130.243201008 meters Centerline goodness [0,1] 0.88198793450158 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.04 [[ 0.95343233 -0.04120042 -0.29877971 4.04279236] [ 0.04904386 0.99861971 0.01879799 -0.33325729] [ 0.29759283 -0.03257592 0.95413695 -0.04406983] [ 0. 0. 0. 1. ]] SLAMing on 130.273201008 meters Centerline goodness [0,1] 0.8808317014168875 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.04 [[ 0.95340665 -0.04160535 -0.29880553 4.04378091] [ 0.04928245 0.99861904 0.0182002 -0.33150142] [ 0.29763567 -0.03207806 0.95414045 -0.04495701] [ 0. 0. 0. 1. ]] SLAMing on 130.303201008 meters Centerline goodness [0,1] 0.879880655248587 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.05 [[ 0.95340229 -0.04191737 -0.29877586 4.04463074] [ 0.04946619 0.99861815 0.01774487 -0.33009088] [ 0.29761918 -0.0316973 0.95415832 -0.04577306] [ 0. 0. 0. 1. ]] SLAMing on 130.333201008 meters Centerline goodness [0,1] 0.8800598836874532 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.05 [[ 0.95341132 -0.04182863 -0.29875948 4.04463897] [ 0.0493136 0.99862905 0.01755543 -0.32908244] [ 0.29761557 -0.03147045 0.95416696 -0.04607102] [ 0. 0. 0. 1. ]] SLAMing on 130.363201008 meters Centerline goodness [0,1] 0.8820470087925981 Centerline is valid? [False, False] Translation: X:4.04, Y:-0.33, Z:-0.05 [[ 0.95334439 -0.04176499 -0.29898187 4.04476564] [ 0.0493156 0.9986255 0.01775081 -0.3291547 ] [ 0.29782956 -0.03166711 0.95409368 -0.04543087] [ 0. 0. 0. 1. ]] SLAMing on 130.393201008 meters Centerline goodness [0,1] 0.8739828014082068 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.95329074 -0.0417852 -0.29915005 4.04503302] [ 0.04940728 0.99861726 0.01795782 -0.32961335] [ 0.29798603 -0.03189922 0.95403709 -0.04495413] [ 0. 0. 0. 1. ]] SLAMing on 130.423201008 meters Centerline goodness [0,1] 0.8777919222312233 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.9530822 -0.04226039 -0.29974719 4.04676281] [ 0.05011432 0.99857103 0.01855918 -0.3314852 ] [ 0.29853455 -0.03271005 0.95383813 -0.04348568] [ 0. 0. 0. 1. ]] SLAMing on 130.453201008 meters Centerline goodness [0,1] 0.8732672118786613 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.95301017 -0.04239393 -0.29995729 4.04740949] [ 0.05036433 0.99855232 0.01888655 -0.33254187] [ 0.29872238 -0.03310622 0.95376565 -0.042934 ] [ 0. 0. 0. 1. ]] SLAMing on 130.483201008 meters Centerline goodness [0,1] 0.8723725029717897 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.9528752 -0.04296617 -0.30030444 4.04897016] [ 0.05100715 0.99851784 0.01898393 -0.33363914] [ 0.29904368 -0.03340699 0.95365447 -0.04252884] [ 0. 0. 0. 1. ]] SLAMing on 130.513201008 meters Centerline goodness [0,1] 0.8723725029717897 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.9528752 -0.04296617 -0.30030444 4.04897016] [ 0.05100715 0.99851784 0.01898393 -0.33363914] [ 0.29904368 -0.03340699 0.95365447 -0.04252884] [ 0. 0. 0. 1. ]] SLAMing on 130.543201008 meters Centerline goodness [0,1] 0.8711529494054558 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.95285204 -0.04801077 -0.299613 4.04853331] [ 0.05486055 0.99838892 0.01448724 -0.33219209] [ 0.29843476 -0.03024113 0.95395082 -0.04391672] [ 0. 0. 0. 1. ]] SLAMing on 130.573201008 meters Centerline goodness [0,1] 0.8727600127791816 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.95256756 -0.04870777 -0.30040407 4.05078047] [ 0.05573603 0.99833487 0.01486554 -0.33364854] [ 0.29917979 -0.03090376 0.95369618 -0.04249292] [ 0. 0. 0. 1. ]] SLAMing on 130.603201008 meters Centerline goodness [0,1] 0.8733851639679664 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.33, Z:-0.04 [[ 0.95237806 -0.05392829 -0.30011293 4.05113003] [ 0.05994808 0.9981422 0.01087967 -0.33439668] [ 0.29896866 -0.02835275 0.95384163 -0.04265954] [ 0. 0. 0. 1. ]] SLAMing on 130.63320100800001 meters Centerline goodness [0,1] 0.8784218530650445 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95226128 -0.05408904 -0.30045437 4.05203027] [ 0.06025456 0.99811924 0.01128546 -0.33610168] [ 0.29927887 -0.02885046 0.95372942 -0.04184684] [ 0. 0. 0. 1. ]] SLAMing on 130.66320100800002 meters Centerline goodness [0,1] 0.8721901091843288 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.34, Z:-0.04 [[ 0.95202903 -0.05471895 -0.30107568 4.05430959] [ 0.06092551 0.99807884 0.0112564 -0.33649965] [ 0.29988133 -0.02905961 0.95353381 -0.04139621] [ 0. 0. 0. 1. ]] SLAMing on 130.69320100800002 meters Centerline goodness [0,1] 0.8762250241348039 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.34, Z:-0.04 [[ 0.95189943 -0.0554319 -0.3013549 4.05651206] [ 0.06150622 0.99804936 0.0106982 -0.33589641] [ 0.30017404 -0.02871881 0.95345203 -0.0422001 ] [ 0. 0. 0. 1. ]] SLAMing on 130.72320100800002 meters Centerline goodness [0,1] 0.8778091934590608 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.04 [[ 0.9516872 -0.05687437 -0.30175617 4.06044015] [ 0.06258528 0.99799645 0.00928295 -0.3334057 ] [ 0.30062362 -0.02771995 0.95333994 -0.04431747] [ 0. 0. 0. 1. ]] SLAMing on 130.75320100800002 meters Centerline goodness [0,1] 0.8780224272865319 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.04 [[ 0.95161474 -0.05726464 -0.30191084 4.06158837] [ 0.06291018 0.99797861 0.00900055 -0.33290621] [ 0.30078514 -0.02755832 0.95329368 -0.04470126] [ 0. 0. 0. 1. ]] SLAMing on 130.783201008 meters Centerline goodness [0,1] 0.8753574972275725 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.04 [[ 0.95145777 -0.05761177 -0.30233919 4.06283536] [ 0.06329587 0.99795397 0.00902779 -0.33310951] [ 0.30120049 -0.02772638 0.95315765 -0.04419419] [ 0. 0. 0. 1. ]] SLAMing on 130.813201008 meters Centerline goodness [0,1] 0.8774674660038018 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95117718 -0.0588359 -0.30298566 4.06565988] [ 0.06455368 0.99787471 0.00888203 -0.33420585] [ 0.30181914 -0.02800722 0.95295372 -0.04347841] [ 0. 0. 0. 1. ]] SLAMing on 130.843201008 meters Centerline goodness [0,1] 0.8773054628491129 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95102204 -0.0592286 -0.30339587 4.06675999] [ 0.06503331 0.99784201 0.00905525 -0.33465438] [ 0.30220481 -0.02834257 0.95282157 -0.04266402] [ 0. 0. 0. 1. ]] SLAMing on 130.873201008 meters Centerline goodness [0,1] 0.8804506450294787 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.9508495 -0.06005036 -0.3037749 4.06871883] [ 0.06579093 0.9977956 0.00868829 -0.33374442] [ 0.30258352 -0.02824689 0.95270422 -0.04268457] [ 0. 0. 0. 1. ]] SLAMing on 130.903201008 meters Centerline goodness [0,1] 0.8799146423455816 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95076032 -0.06036118 -0.30399234 4.06943991] [ 0.06609822 0.99777599 0.00860756 -0.3329187 ] [ 0.3027967 -0.02827708 0.95263559 -0.04243695] [ 0. 0. 0. 1. ]] SLAMing on 130.933201008 meters Centerline goodness [0,1] 0.8814538241642844 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95064558 -0.06072152 -0.30427927 4.06994722] [ 0.06642217 0.99775618 0.00840893 -0.33117081] [ 0.30308592 -0.0282048 0.95254576 -0.04189779] [ 0. 0. 0. 1. ]] SLAMing on 130.963201008 meters Centerline goodness [0,1] 0.886268221574344 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95060823 -0.06083508 -0.30437326 4.07008685] [ 0.06647388 0.99775457 0.00818776 -0.32969361] [ 0.30319171 -0.02801622 0.95251765 -0.0418544 ] [ 0. 0. 0. 1. ]] SLAMing on 130.993201008 meters Centerline goodness [0,1] 0.8838118969663605 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.9506615 -0.06072997 -0.30422784 4.06948851] [ 0.06632079 0.99776574 0.00806741 -0.32804045] [ 0.30305818 -0.02784601 0.95256514 -0.04187048] [ 0. 0. 0. 1. ]] SLAMing on 131.023201008 meters Centerline goodness [0,1] 0.8825520833333333 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.9507496 -0.06005453 -0.30408658 4.06766395] [ 0.06574527 0.99780023 0.00850043 -0.32707682] [ 0.30290717 -0.02807403 0.95260647 -0.04098944] [ 0. 0. 0. 1. ]] SLAMing on 131.053201008 meters Centerline goodness [0,1] 0.876653640179476 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.04 [[ 0.95107035 -0.05821311 -0.30344099 4.06283996] [ 0.06417896 0.9978911 0.00971644 -0.32587684] [ 0.30223544 -0.02871555 0.95280069 -0.03928293] [ 0. 0. 0. 1. ]] SLAMing on 131.083201008 meters Centerline goodness [0,1] 0.8724241722620977 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.33, Z:-0.04 [[ 0.95125195 -0.05731078 -0.30304324 4.06059444] [ 0.06337335 0.99793775 0.01020128 -0.32513983] [ 0.30183365 -0.02890885 0.9529222 -0.03884286] [ 0. 0. 0. 1. ]] SLAMing on 131.113201008 meters Centerline goodness [0,1] 0.8710695465863687 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95144965 -0.05649685 -0.30257506 4.05849392] [ 0.06259488 0.99798393 0.01048642 -0.32385787] [ 0.3013726 -0.02891695 0.95306787 -0.03880161] [ 0. 0. 0. 1. ]] SLAMing on 131.143201008 meters Centerline goodness [0,1] 0.8613130264220608 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95166907 -0.05082684 -0.30289042 4.05744673] [ 0.05806838 0.99820075 0.0149443 -0.32295689] [ 0.30158587 -0.03181039 0.95290821 -0.03771737] [ 0. 0. 0. 1. ]] SLAMing on 131.173201008 meters Centerline goodness [0,1] 0.8589245081943604 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95186925 -0.04970392 -0.30244743 4.05526947] [ 0.05690152 0.99826669 0.01502751 -0.32090096] [ 0.30117627 -0.03151394 0.9530476 -0.03817071] [ 0. 0. 0. 1. ]] SLAMing on 131.203201008 meters Centerline goodness [0,1] 0.8573600275355668 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95202873 -0.04873058 -0.30210366 4.05347777] [ 0.05584009 0.998328 0.01493614 -0.31839652] [ 0.3008707 -0.03108913 0.95315806 -0.03873824] [ 0. 0. 0. 1. ]] SLAMing on 131.233201008 meters Centerline goodness [0,1] 0.8572040676416819 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95238373 -0.04266713 -0.30190189 4.05129425] [ 0.05083996 0.99852105 0.01926164 -0.31733091] [ 0.30063356 -0.03369315 0.95314439 -0.03850497] [ 0. 0. 0. 1. ]] SLAMing on 131.263201008 meters Centerline goodness [0,1] 0.8558504566210046 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95251524 -0.04201366 -0.30157847 4.04979833] [ 0.05017287 0.99855295 0.01935666 -0.31653595] [ 0.30032882 -0.03356857 0.95324485 -0.03863058] [ 0. 0. 0. 1. ]] SLAMing on 131.293201008 meters Centerline goodness [0,1] 0.8529176430245184 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95260423 -0.04167711 -0.30134399 4.04914939] [ 0.04978062 0.99857448 0.01925882 -0.31602024] [ 0.30011177 -0.03334713 0.95332098 -0.03908228] [ 0. 0. 0. 1. ]] SLAMing on 131.323201008 meters Centerline goodness [0,1] 0.8547210667274489 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95265507 -0.04155825 -0.30119964 4.04906066] [ 0.04959786 0.9985868 0.01909077 -0.31538925] [ 0.29998061 -0.03312578 0.95336998 -0.0396043 ] [ 0. 0. 0. 1. ]] SLAMing on 131.353201008 meters Centerline goodness [0,1] 0.8565252019569917 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.31, Z:-0.04 [[ 0.9526666 -0.04174055 -0.30113798 4.04978564] [ 0.04965689 0.99859167 0.01867812 -0.3141417 ] [ 0.29993424 -0.03274759 0.95339763 -0.04054073] [ 0. 0. 0. 1. ]] SLAMing on 131.38320100800001 meters Centerline goodness [0,1] 0.8570453381876102 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.31, Z:-0.04 [[ 0.95260795 -0.0420787 -0.30127642 4.0510034 ] [ 0.04995173 0.99858078 0.01847283 -0.31423816] [ 0.30007153 -0.03264664 0.95335789 -0.04101128] [ 0. 0. 0. 1. ]] SLAMing on 131.41320100800002 meters Centerline goodness [0,1] 0.8570292756339268 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.31, Z:-0.04 [[ 0.95246489 -0.04272398 -0.30163768 4.05300266] [ 0.05057638 0.99855312 0.01826715 -0.31475661] [ 0.30042081 -0.03265456 0.95324762 -0.04118916] [ 0. 0. 0. 1. ]] SLAMing on 131.44320100800002 meters Centerline goodness [0,1] 0.8578751032263576 Centerline is valid? [False, False] Translation: X:4.05, Y:-0.32, Z:-0.04 [[ 0.95228219 -0.04329131 -0.30213323 4.05489973] [ 0.05119019 0.99852178 0.01827071 -0.31587064] [ 0.30089564 -0.03286513 0.9530906 -0.04087861] [ 0. 0. 0. 1. ]] SLAMing on 131.47320100800002 meters Centerline goodness [0,1] 0.8571061130004858 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95208948 -0.04856303 -0.30193915 4.05547265] [ 0.05545419 0.998359 0.01428769 -0.31653491] [ 0.30074981 -0.03034695 0.95322013 -0.04105903] [ 0. 0. 0. 1. ]] SLAMing on 131.50320100800002 meters Centerline goodness [0,1] 0.8557907416967819 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95190448 -0.04900992 -0.30244981 4.05729986] [ 0.05602742 0.998323 0.01456447 -0.31814384] [ 0.3012288 -0.03080946 0.95305403 -0.04046857] [ 0. 0. 0. 1. ]] SLAMing on 131.533201008 meters Centerline goodness [0,1] 0.8587289323833234 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95168028 -0.04957666 -0.30306236 4.05946606] [ 0.05672853 0.99827941 0.01483543 -0.31994298] [ 0.30180542 -0.03131087 0.95285524 -0.03976324] [ 0. 0. 0. 1. ]] SLAMing on 131.563201008 meters Centerline goodness [0,1] 0.8612666705155592 Centerline is valid? [False, False] Translation: X:4.06, Y:-0.32, Z:-0.04 [[ 0.95129096 -0.05548744 -0.30326003 4.06206853] [ 0.06158325 0.99804601 0.01056708 -0.32171504] [ 0.30208113 -0.02872811 0.95284925 -0.04019564] [ 0. 0. 0. 1. ]] SLAMing on 131.593201008 meters Centerline goodness [0,1] 0.8676496097137901 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.04 [[ 0.95093167 -0.05644879 -0.30420799 4.06542553] [ 0.06272752 0.99797119 0.01089821 -0.32450412] [ 0.30297562 -0.02944566 0.95254329 -0.03913026] [ 0. 0. 0. 1. ]] SLAMing on 131.623201008 meters Centerline goodness [0,1] 0.869013020227854 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95058693 -0.05786888 -0.3050175 4.06941234] [ 0.06423623 0.9978755 0.01087212 -0.32691654] [ 0.30374033 -0.02992807 0.95228469 -0.03871315] [ 0. 0. 0. 1. ]] SLAMing on 131.653201008 meters Centerline goodness [0,1] 0.8772312343740916 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.33, Z:-0.04 [[ 0.95028334 -0.0592295 -0.30570157 4.07332261] [ 0.06568628 0.99778113 0.01086845 -0.3292224 ] [ 0.30437952 -0.0304085 0.95206535 -0.03855089] [ 0. 0. 0. 1. ]] SLAMing on 131.683201008 meters Centerline goodness [0,1] 0.8781360963967635 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.04 [[ 0.9499699 -0.0605397 -0.30641824 4.07714166] [ 0.06701426 0.99769525 0.01064351 -0.33053287] [ 0.30506767 -0.0306454 0.95183748 -0.0385882 ] [ 0. 0. 0. 1. ]] SLAMing on 131.713201008 meters Centerline goodness [0,1] 0.8831274999270095 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.04 [[ 0.94974566 -0.06138931 -0.30694387 4.07877904] [ 0.06793518 0.99763261 0.01067675 -0.33053472] [ 0.30556178 -0.03099248 0.95166773 -0.03755424] [ 0. 0. 0. 1. ]] SLAMing on 131.743201008 meters Centerline goodness [0,1] 0.8849128746971775 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.04 [[ 0.94957804 -0.06171243 -0.30739734 4.07964476] [ 0.06842306 0.99759476 0.01109003 -0.33149208] [ 0.30597358 -0.03156392 0.95151663 -0.0362454 ] [ 0. 0. 0. 1. ]] SLAMing on 131.773201008 meters Centerline goodness [0,1] 0.8843368568591953 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94936333 -0.06181367 -0.3080395 4.0802465 ] [ 0.06882301 0.99755753 0.01193141 -0.33313878] [ 0.3065496 -0.03252745 0.95129875 -0.03406595] [ 0. 0. 0. 1. ]] SLAMing on 131.803201008 meters Centerline goodness [0,1] 0.8865892106492294 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94921613 -0.06175932 -0.30850368 4.08025696] [ 0.06904215 0.99753245 0.01273564 -0.33418273] [ 0.30695589 -0.03338864 0.95113789 -0.03200119] [ 0. 0. 0. 1. ]] SLAMing on 131.833201008 meters Centerline goodness [0,1] 0.8820942896246469 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94913221 -0.06166252 -0.30878114 4.07943282] [ 0.06920416 0.99751089 0.01352045 -0.33449532] [ 0.30717884 -0.03420164 0.95103702 -0.02978127] [ 0. 0. 0. 1. ]] SLAMing on 131.863201008 meters Centerline goodness [0,1] 0.8795605548432218 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94903208 -0.06192832 -0.30903559 4.08015334] [ 0.06945822 0.99749469 0.01341238 -0.33367266] [ 0.30743075 -0.03419384 0.95095589 -0.02952868] [ 0. 0. 0. 1. ]] SLAMing on 131.893201008 meters Centerline goodness [0,1] 0.8862303269643999 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94897143 -0.06213855 -0.30917959 4.08092223] [ 0.0695985 0.99748846 0.01314608 -0.33219079] [ 0.30758619 -0.03399369 0.95091281 -0.02984786] [ 0. 0. 0. 1. ]] SLAMing on 131.923201008 meters Centerline goodness [0,1] 0.8812189772596098 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94909676 -0.05750463 -0.30969107 4.08254689] [ 0.06586502 0.99769048 0.01659864 -0.32989518] [ 0.30802133 -0.03615153 0.95069234 -0.03059526] [ 0. 0. 0. 1. ]] SLAMing on 131.953201008 meters Centerline goodness [0,1] 0.8855793051794665 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94920621 -0.05687909 -0.30947108 4.08156684] [ 0.06513853 0.99774124 0.0164128 -0.32761771] [ 0.30783851 -0.03573763 0.9507672 -0.03125286] [ 0. 0. 0. 1. ]] SLAMing on 131.983201008 meters Centerline goodness [0,1] 0.8848570035282981 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.94938707 -0.05562722 -0.30914365 4.07907672] [ 0.06395066 0.99781083 0.01684809 -0.32616157] [ 0.30752967 -0.0357653 0.9508661 -0.03091716] [ 0. 0. 0. 1. ]] SLAMing on 132.013201008 meters Centerline goodness [0,1] 0.8783206763146583 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.03 [[ 0.94957741 -0.05424417 -0.30880465 4.07621329] [ 0.06263692 0.99788605 0.01732196 -0.32497019] [ 0.30721224 -0.03579112 0.95096774 -0.03044998] [ 0. 0. 0. 1. ]] SLAMing on 132.043201008 meters Centerline goodness [0,1] 0.8778588946557919 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95005045 -0.04711661 -0.30851932 4.07169411] [ 0.05676477 0.99813701 0.02236673 -0.32477963] [ 0.3068907 -0.03876255 0.95095508 -0.0290055 ] [ 0. 0. 0. 1. ]] SLAMing on 132.073201008 meters Centerline goodness [0,1] 0.8751341580523075 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.03 [[ 0.95183825 -0.04522528 -0.3032468 4.08701632] [ 0.05252701 0.99849194 0.01596104 -0.32044279] [ 0.30206764 -0.03112097 0.95277837 -0.02993873] [ 0. 0. 0. 1. ]] SLAMing on 132.103201008 meters Centerline goodness [0,1] 0.8758341816536591 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.03 [[ 0.95200679 -0.04377471 -0.30293042 4.08454706] [ 0.05108711 0.99856194 0.01625296 -0.31824077] [ 0.30178332 -0.03094877 0.95287408 -0.03002402] [ 0. 0. 0. 1. ]] SLAMing on 132.13320100800001 meters Centerline goodness [0,1] 0.8712208892025406 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.03 [[ 0.95217932 -0.04265343 -0.3025479 4.08270691] [ 0.04993274 0.99861854 0.01636242 -0.31606158] [ 0.30143203 -0.03068701 0.95299372 -0.03055934] [ 0. 0. 0. 1. ]] SLAMing on 132.16320100800002 meters Centerline goodness [0,1] 0.8724508401357682 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.03 [[ 0.95235195 -0.03680016 -0.30277303 4.08190019] [ 0.0450905 0.99877389 0.02043441 -0.31475892] [ 0.30164981 -0.03311293 0.9528436 -0.03048466] [ 0. 0. 0. 1. ]] SLAMing on 132.19320100800002 meters Centerline goodness [0,1] 0.8750701065619741 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.03 [[ 0.95253492 -0.03584112 -0.30231216 4.07991724] [ 0.04411071 0.99881487 0.0205693 -0.31346686] [ 0.30121666 -0.03292818 0.95298702 -0.03085669] [ 0. 0. 0. 1. ]] SLAMing on 132.22320100800002 meters Centerline goodness [0,1] 0.8775573118098762 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.03 [[ 0.95264403 -0.03526466 -0.30203601 4.07906008] [ 0.04347633 0.99884399 0.02050608 -0.31266485] [ 0.30096371 -0.03266641 0.95307594 -0.03148938] [ 0. 0. 0. 1. ]] SLAMing on 132.25320100800002 meters Centerline goodness [0,1] 0.8808796750245133 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.03 [[ 0.95276548 -0.03446595 -0.301745 4.077836 ] [ 0.04271278 0.99887141 0.02077321 -0.31244038] [ 0.30068848 -0.03268036 0.95316233 -0.03172578] [ 0. 0. 0. 1. ]] SLAMing on 132.283201008 meters Centerline goodness [0,1] 0.8807542517721554 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.03 [[ 0.95298762 -0.03301786 -0.30120495 4.07526492] [ 0.04137598 0.99891423 0.02140999 -0.3133356 ] [ 0.300171 -0.0328661 0.95331904 -0.03174984] [ 0. 0. 0. 1. ]] SLAMing on 132.313201008 meters Centerline goodness [0,1] 0.8802095003360968 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.03 [[ 0.95304563 -0.03255356 -0.3010719 4.07450672] [ 0.04102856 0.99891865 0.02186765 -0.31449121] [ 0.30003446 -0.03319342 0.95335068 -0.03136853] [ 0. 0. 0. 1. ]] SLAMing on 132.343201008 meters Centerline goodness [0,1] 0.8816206364783401 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95311176 -0.03201677 -0.30092008 4.07375792] [ 0.04067186 0.99891829 0.02253986 -0.31621492] [ 0.29987292 -0.03372198 0.95338296 -0.03089081] [ 0. 0. 0. 1. ]] SLAMing on 132.373201008 meters Centerline goodness [0,1] 0.8776349904182167 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95308944 -0.0316871 -0.30102566 4.0739424 ] [ 0.04065651 0.99889498 0.02357677 -0.31928382] [ 0.29994594 -0.03470942 0.95332455 -0.02993623] [ 0. 0. 0. 1. ]] SLAMing on 132.403201008 meters Centerline goodness [0,1] 0.8776349904182167 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95308944 -0.0316871 -0.30102566 4.0739424 ] [ 0.04065651 0.99889498 0.02357677 -0.31928382] [ 0.29994594 -0.03470942 0.95332455 -0.02993623] [ 0. 0. 0. 1. ]] SLAMing on 132.433201008 meters Centerline goodness [0,1] 0.8744280630401626 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95311219 -0.03654382 -0.30040258 4.07386459] [ 0.0443549 0.99883091 0.0192212 -0.31861062] [ 0.29934896 -0.03164428 0.95361881 -0.03156947] [ 0. 0. 0. 1. ]] SLAMing on 132.463201008 meters Centerline goodness [0,1] 0.8738444033565638 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.03 [[ 0.95309081 -0.04140833 -0.29983874 4.07389338] [ 0.04810971 0.99872944 0.01499876 -0.31849089] [ 0.2988367 -0.02872034 0.95387199 -0.03295163] [ 0. 0. 0. 1. ]] SLAMing on 132.493201008 meters Centerline goodness [0,1] 0.8767439869896431 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.03 [[ 0.95275203 -0.04697603 -0.30009468 4.07670728] [ 0.05268539 0.99855105 0.01095704 -0.32137294] [ 0.29914514 -0.02624995 0.95384649 -0.03361546] [ 0. 0. 0. 1. ]] SLAMing on 132.523201008 meters Centerline goodness [0,1] 0.8756776914030004 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.03 [[ 0.95250967 -0.04734025 -0.30080595 4.07891512] [ 0.05328608 0.99851205 0.01158786 -0.32451656] [ 0.2998098 -0.02706632 0.95361496 -0.03252759] [ 0. 0. 0. 1. ]] SLAMing on 132.553201008 meters Centerline goodness [0,1] 0.876098317349107 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.95224453 -0.04785635 -0.30156282 4.08113074] [ 0.05408702 0.99845997 0.01234045 -0.32779883] [ 0.30050783 -0.02806176 0.95336645 -0.03097752] [ 0. 0. 0. 1. ]] SLAMing on 132.583201008 meters Centerline goodness [0,1] 0.8751526074065461 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.03 [[ 0.95195351 -0.05343549 -0.30154464 4.08303706] [ 0.05884999 0.99822722 0.00889319 -0.33223446] [ 0.30053486 -0.0262118 0.95341058 -0.03069761] [ 0. 0. 0. 1. ]] SLAMing on 132.613201008 meters Centerline goodness [0,1] 0.8761746337477383 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 0.95167363 -0.0546021 -0.30221832 4.08617213] [ 0.06017198 0.99814615 0.00914307 -0.33514165] [ 0.30115882 -0.02688629 0.95319489 -0.02987062] [ 0. 0. 0. 1. ]] SLAMing on 132.643201008 meters Centerline goodness [0,1] 0.8802775663172688 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 0.95139709 -0.05579142 -0.30287109 4.08936964] [ 0.06148954 0.99806437 0.00930277 -0.33762002] [ 0.30176583 -0.02747403 0.95298613 -0.02922599] [ 0. 0. 0. 1. ]] SLAMing on 132.673201008 meters Centerline goodness [0,1] 0.8824237089201878 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 0.95118967 -0.05636785 -0.30341536 4.09164961] [ 0.06221181 0.9980166 0.0096211 -0.3395014 ] [ 0.30227125 -0.02802751 0.95280982 -0.02866037] [ 0. 0. 0. 1. ]] SLAMing on 132.703201008 meters Centerline goodness [0,1] 0.8790666235636406 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 0.95108506 -0.0565797 -0.3037037 4.09251897] [ 0.0624676 0.99799987 0.00969847 -0.33951653] [ 0.30254752 -0.02819571 0.95271717 -0.02827871] [ 0. 0. 0. 1. ]] SLAMing on 132.733201008 meters Centerline goodness [0,1] 0.8849331177421725 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.03 [[ 0.95083721 -0.05711702 -0.30437847 4.09467876] [ 0.06315744 0.99795319 0.01002807 -0.34124806] [ 0.30318269 -0.02875883 0.95249839 -0.02727526] [ 0. 0. 0. 1. ]] SLAMing on 132.763201008 meters Centerline goodness [0,1] 0.8837113158516419 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.03 [[ 0.9506817 -0.0574224 -0.30480645 4.09593283] [ 0.06355554 0.99792588 0.01022872 -0.34205948] [ 0.30358688 -0.0290964 0.95235939 -0.02664532] [ 0. 0. 0. 1. ]] SLAMing on 132.793201008 meters Centerline goodness [0,1] 0.8871476124547089 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.03 [[ 0.95055909 -0.05764925 -0.30514582 4.09698092] [ 0.06384431 0.99790617 0.01035323 -0.34233702] [ 0.30391004 -0.02932318 0.95224936 -0.02618798] [ 0. 0. 0. 1. ]] SLAMing on 132.823201008 meters Centerline goodness [0,1] 0.8838546119152197 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.03 [[ 0.95044232 -0.0577514 -0.30549004 4.0977268 ] [ 0.06408714 0.99788648 0.01074271 -0.34313579] [ 0.30422398 -0.02978831 0.95213467 -0.02531545] [ 0. 0. 0. 1. ]] SLAMing on 132.853201008 meters Centerline goodness [0,1] 0.8917765481516364 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.02 [[ 0.95036848 -0.05766381 -0.30573621 4.09811736] [ 0.06412715 0.99787967 0.01113011 -0.34381618] [ 0.30444614 -0.0301837 0.9520512 -0.0246167 ] [ 0. 0. 0. 1. ]] SLAMing on 132.88320100800001 meters Centerline goodness [0,1] 0.8836131849971965 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.02 [[ 0.95026821 -0.05753596 -0.30607178 4.09836014] [ 0.06418435 0.99786955 0.01169322 -0.34446296] [ 0.30474693 -0.03075671 0.95193662 -0.02338997] [ 0. 0. 0. 1. ]] SLAMing on 132.91320100800002 meters Centerline goodness [0,1] 0.8843615579518002 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.02 [[ 0.9502059 -0.05736879 -0.30629655 4.0982861 ] [ 0.06417856 0.99786386 0.0121993 -0.3446751 ] [ 0.3049424 -0.03124952 0.95185797 -0.02226246] [ 0. 0. 0. 1. ]] SLAMing on 132.94320100800002 meters Centerline goodness [0,1] 0.8860510228074301 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.02 [[ 0.95032858 -0.05639577 -0.30609656 4.09593688] [ 0.06336982 0.99790692 0.0128862 -0.34364638] [ 0.30472915 -0.0316434 0.95191325 -0.0211076 ] [ 0. 0. 0. 1. ]] SLAMing on 132.97320100800002 meters Centerline goodness [0,1] 0.8802068033605546 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.34, Z:-0.02 [[ 0.95037131 -0.05617258 -0.30600492 4.09524344] [ 0.0631556 0.99791955 0.01295912 -0.34235272] [ 0.30464035 -0.0316419 0.95194173 -0.02087693] [ 0. 0. 0. 1. ]] SLAMing on 133.00320100800002 meters Centerline goodness [0,1] 0.8845082808148909 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95041572 -0.05585629 -0.30592488 4.09435233] [ 0.06287778 0.99793476 0.01313752 -0.34130526] [ 0.30455926 -0.03172199 0.95196501 -0.02042157] [ 0. 0. 0. 1. ]] SLAMing on 133.033201008 meters Centerline goodness [0,1] 0.8853923400280242 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95047146 -0.05545616 -0.3058245 4.0933106 ] [ 0.06256063 0.99795026 0.01347049 -0.34078691] [ 0.30445061 -0.03193589 0.95199261 -0.0198089 ] [ 0. 0. 0. 1. ]] SLAMing on 133.063201008 meters Centerline goodness [0,1] 0.8855189340813464 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95062873 -0.0546696 -0.3054771 4.09086839] [ 0.06192786 0.99798084 0.01411296 -0.33997327] [ 0.30408874 -0.03233372 0.95209483 -0.01874523] [ 0. 0. 0. 1. ]] SLAMing on 133.093201008 meters Centerline goodness [0,1] 0.8843656270929793 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95061505 -0.05475407 -0.30550453 4.09089334] [ 0.06199735 0.99797742 0.01404984 -0.33883702] [ 0.30411733 -0.03229646 0.95208696 -0.01858512] [ 0. 0. 0. 1. ]] SLAMing on 133.123201008 meters Centerline goodness [0,1] 0.8808894056096498 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95063444 -0.05459259 -0.30547308 4.09038987] [ 0.0618801 0.99798233 0.01421701 -0.33792879] [ 0.30408059 -0.03241788 0.95209457 -0.01814712] [ 0. 0. 0. 1. ]] SLAMing on 133.153201008 meters Centerline goodness [0,1] 0.8753430593673263 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.34, Z:-0.02 [[ 0.95069577 -0.05436825 -0.30532219 4.08925176] [ 0.06167306 0.99799363 0.01432307 -0.33559005] [ 0.30393088 -0.03244704 0.95214138 -0.01759746] [ 0. 0. 0. 1. ]] SLAMing on 133.183201008 meters Centerline goodness [0,1] 0.8765860284979334 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.02 [[ 0.95072996 -0.05439613 -0.30521074 4.08898967] [ 0.06166169 0.99799597 0.01420821 -0.33408451] [ 0.30382622 -0.03232798 0.95217883 -0.0176416 ] [ 0. 0. 0. 1. ]] SLAMing on 133.213201008 meters Centerline goodness [0,1] 0.8793506156463566 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.02 [[ 0.95071256 -0.05441667 -0.3052613 4.08873572] [ 0.06164735 0.99799853 0.01409006 -0.33253574] [ 0.30388359 -0.03221415 0.95216438 -0.01735824] [ 0. 0. 0. 1. ]] SLAMing on 133.243201008 meters Centerline goodness [0,1] 0.8791278333908641 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.33, Z:-0.02 [[ 0.95089391 -0.05338518 -0.30487832 4.08593033] [ 0.06059746 0.99806077 0.01423551 -0.32986192] [ 0.30352712 -0.03201131 0.95228492 -0.01694456] [ 0. 0. 0. 1. ]] SLAMing on 133.273201008 meters Centerline goodness [0,1] 0.8726527335798859 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.02 [[ 0.95102132 -0.05294747 -0.30455708 4.08465209] [ 0.0601035 0.99809168 0.01416246 -0.32764337] [ 0.30322602 -0.03177375 0.95238879 -0.0171213 ] [ 0. 0. 0. 1. ]] SLAMing on 133.303201008 meters Centerline goodness [0,1] 0.8731189563426217 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.33, Z:-0.02 [[ 0.95118661 -0.05250682 -0.30411685 4.08311702] [ 0.05956614 0.99812653 0.01397512 -0.32515261] [ 0.30281331 -0.03140801 0.95253222 -0.01752995] [ 0. 0. 0. 1. ]] SLAMing on 133.333201008 meters Centerline goodness [0,1] 0.8744311717861206 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.02 [[ 0.95135243 -0.05183512 -0.30371315 4.08120834] [ 0.05886786 0.99816705 0.0140395 -0.32271072] [ 0.30242872 -0.03123545 0.95266007 -0.01754514] [ 0. 0. 0. 1. ]] SLAMing on 133.363201008 meters Centerline goodness [0,1] 0.8743535829971018 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.02 [[ 0.95159024 -0.05102016 -0.30310551 4.0789024 ] [ 0.05801908 0.99821555 0.01412467 -0.32029662] [ 0.30184399 -0.0310268 0.95285232 -0.01781904] [ 0. 0. 0. 1. ]] SLAMing on 133.393201008 meters Centerline goodness [0,1] 0.870022857465361 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.32, Z:-0.02 [[ 0.95197578 -0.04500663 -0.30284734 4.07622042] [ 0.05308218 0.99841908 0.01848282 -0.3181398 ] [ 0.30153672 -0.033671 0.95285984 -0.01723373] [ 0. 0. 0. 1. ]] SLAMing on 133.423201008 meters Centerline goodness [0,1] 0.8692110381373848 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.32, Z:-0.02 [[ 0.95217319 -0.04431668 -0.30232805 4.07450021] [ 0.05230327 0.99846231 0.01836825 -0.31598314] [ 0.30104914 -0.0333025 0.95302694 -0.01782828] [ 0. 0. 0. 1. ]] SLAMing on 133.453201008 meters Centerline goodness [0,1] 0.8783563186039967 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.95244497 -0.03864054 -0.30225072 4.07336976] [ 0.04761433 0.99861515 0.02237547 -0.31489089] [ 0.30096754 -0.03570286 0.95296581 -0.01803772] [ 0. 0. 0. 1. ]] SLAMing on 133.483201008 meters Centerline goodness [0,1] 0.8785924575914762 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.95262979 -0.0379224 -0.30175882 4.0718608 ] [ 0.04680764 0.99865573 0.02226589 -0.31349233] [ 0.3005088 -0.03533577 0.95312426 -0.01876638] [ 0. 0. 0. 1. ]] SLAMing on 133.513201008 meters Centerline goodness [0,1] 0.8793975465951323 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.95278774 -0.0373604 -0.30132992 4.07082142] [ 0.04615348 0.9986896 0.02211207 -0.31231351] [ 0.30010894 -0.03497553 0.95326352 -0.01961755] [ 0. 0. 0. 1. ]] SLAMing on 133.543201008 meters Centerline goodness [0,1] 0.8863795371225478 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.95288497 -0.03712898 -0.30105096 4.0706334 ] [ 0.04581438 0.99871122 0.02183916 -0.31133446] [ 0.29985211 -0.03460267 0.95335794 -0.0205704 ] [ 0. 0. 0. 1. ]] SLAMing on 133.573201008 meters Centerline goodness [0,1] 0.8788166341054982 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.95291575 -0.03734909 -0.30092627 4.07121999] [ 0.0459709 0.99870883 0.02161835 -0.31146454] [ 0.2997303 -0.03443432 0.95340234 -0.02115877] [ 0. 0. 0. 1. ]] SLAMing on 133.603201008 meters Centerline goodness [0,1] 0.879587732528909 Centerline is valid? [False, False] Translation: X:4.07, Y:-0.31, Z:-0.02 [[ 0.9527227 -0.03814378 -0.3014374 4.07353577] [ 0.04674739 0.99867797 0.02137741 -0.31197349] [ 0.30022348 -0.03445816 0.95324629 -0.02111137] [ 0. 0. 0. 1. ]] SLAMing on 133.63320100800001 meters Centerline goodness [0,1] 0.869571308489773 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.02 [[ 0.95250019 -0.03914079 -0.30201224 4.076487 ] [ 0.04770854 0.99863965 0.0210417 -0.3125175 ] [ 0.30077781 -0.03445078 0.9530718 -0.02132849] [ 0. 0. 0. 1. ]] SLAMing on 133.66320100800002 meters Centerline goodness [0,1] 0.8693272265199542 Centerline is valid? [False, False] Translation: X:4.08, Y:-0.31, Z:-0.02 [[ 0.95220545 -0.0404367 -0.30276998 4.08015807] [ 0.04897622 0.9985862 0.02066219 -0.31320926] [ 0.30150641 -0.03450318 0.95283966 -0.0213837 ] [ 0. 0. 0. 1. ]] SLAMing on 133.69320100800002 meters Centerline goodness [0,1] 0.8680686189179324 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.31, Z:-0.02 [[ 0.951831 -0.04208696 -0.303721 4.08513087] [ 0.05052708 0.99852281 0.01998033 -0.31418494] [ 0.30243143 -0.03436403 0.95255149 -0.02197778] [ 0. 0. 0. 1. ]] SLAMing on 133.72320100800002 meters Centerline goodness [0,1] 0.8660668816839246 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.02 [[ 0.95131179 -0.05011765 -0.30412841 4.09148742] [ 0.05727934 0.99825045 0.01466666 -0.3158271 ] [ 0.30286126 -0.03137284 0.95251814 -0.02355268] [ 0. 0. 0. 1. ]] SLAMing on 133.75320100800002 meters Centerline goodness [0,1] 0.864990504265994 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.32, Z:-0.02 [[ 0.95093008 -0.05155748 -0.30507999 4.09493965] [ 0.05907557 0.99813385 0.0154565 -0.31936231] [ 0.30371377 -0.03272083 0.95220129 -0.02117834] [ 0. 0. 0. 1. ]] SLAMing on 133.783201008 meters Centerline goodness [0,1] 0.8638807848521252 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.02 [[ 0.95050859 -0.05707529 -0.30541093 4.09598543] [ 0.06419161 0.99784895 0.01330062 -0.32386333] [ 0.30399484 -0.03224718 0.95212775 -0.01760558] [ 0. 0. 0. 1. ]] SLAMing on 133.813201008 meters Centerline goodness [0,1] 0.8685280641466209 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.02 [[ 0.95035986 -0.0574948 -0.30579485 4.09714815] [ 0.06482935 0.9977999 0.013875 -0.32568324] [ 0.30432433 -0.03301073 0.95199632 -0.01638416] [ 0. 0. 0. 1. ]] SLAMing on 133.843201008 meters Centerline goodness [0,1] 0.8691511268733554 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.02 [[ 0.95026368 -0.05769776 -0.3060554 4.09780335] [ 0.06528453 0.99775985 0.01460198 -0.32739436] [ 0.30452729 -0.03385642 0.95190171 -0.01507624] [ 0. 0. 0. 1. ]] SLAMing on 133.873201008 meters Centerline goodness [0,1] 0.8739649886829213 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.95020241 -0.05766992 -0.3062508 4.09796614] [ 0.065491 0.99773562 0.01531546 -0.32903449] [ 0.30467409 -0.03460946 0.95182765 -0.0138555 ] [ 0. 0. 0. 1. ]] SLAMing on 133.903201008 meters Centerline goodness [0,1] 0.8737393994957598 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.95016721 -0.05774304 -0.30634624 4.09795453] [ 0.06587459 0.99769538 0.01626237 -0.33106961] [ 0.30470119 -0.0356324 0.95178123 -0.01215499] [ 0. 0. 0. 1. ]] SLAMing on 133.933201008 meters Centerline goodness [0,1] 0.8715514769142529 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.95010716 -0.05790407 -0.30650203 4.09851503] [ 0.06609446 0.99767856 0.01640173 -0.33089586] [ 0.30484078 -0.03584149 0.95172868 -0.01174259] [ 0. 0. 0. 1. ]] SLAMing on 133.963201008 meters Centerline goodness [0,1] 0.8699956952216961 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.950056 -0.05806363 -0.3066304 4.09905031] [ 0.0662437 0.99766986 0.01632876 -0.33029339] [ 0.3049678 -0.03582557 0.95168859 -0.01167928] [ 0. 0. 0. 1. ]] SLAMing on 133.993201008 meters Centerline goodness [0,1] 0.8673600962778303 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.95001639 -0.05818149 -0.30673079 4.09939955] [ 0.06632898 0.99766635 0.01619631 -0.32941302] [ 0.30507266 -0.0357319 0.9516585 -0.01165333] [ 0. 0. 0. 1. ]] SLAMing on 134.023201008 meters Centerline goodness [0,1] 0.8652070769142824 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.94998146 -0.05830657 -0.30681521 4.09975026] [ 0.06629038 0.99767754 0.01565595 -0.32696321] [ 0.3051898 -0.03521176 0.95164033 -0.0121181 ] [ 0. 0. 0. 1. ]] SLAMing on 134.053201008 meters Centerline goodness [0,1] 0.865098729005901 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.94975084 -0.05460219 -0.30820764 4.10358426] [ 0.06372988 0.99777431 0.01961939 -0.32751919] [ 0.30645041 -0.03827557 0.95111678 -0.01066481] [ 0. 0. 0. 1. ]] SLAMing on 134.083201008 meters Centerline goodness [0,1] 0.8636286007059091 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.33, Z:-0.01 [[ 0.94976674 -0.05489346 -0.30810688 4.10416076] [ 0.06385145 0.99777738 0.01906004 -0.32545486] [ 0.30637581 -0.03777567 0.9511608 -0.01159828] [ 0. 0. 0. 1. ]] SLAMing on 134.113201008 meters Centerline goodness [0,1] 0.8625685310911002 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.01 [[ 0.94975961 -0.05515985 -0.30808129 4.10418829] [ 0.06401804 0.9977733 0.01871168 -0.32295881] [ 0.30636315 -0.03749436 0.951176 -0.01170333] [ 0. 0. 0. 1. ]] SLAMing on 134.143201008 meters Centerline goodness [0,1] 0.8635256119673618 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.01 [[ 0.94977644 -0.05500244 -0.30805754 4.10361767] [ 0.06391656 0.99777601 0.01891313 -0.3222704 ] [ 0.30633215 -0.03765322 0.95117971 -0.01110995] [ 0. 0. 0. 1. ]] SLAMing on 134.173201008 meters Centerline goodness [0,1] 0.8603900699181929 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.01 [[ 0.9497762 -0.05480774 -0.30809298 4.10300778] [ 0.06378529 0.99778016 0.01913603 -0.32140188] [ 0.30636026 -0.03782675 0.95116377 -0.01037608] [ 0. 0. 0. 1. ]] SLAMing on 134.203201008 meters Centerline goodness [0,1] 0.8591218130311615 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.01 [[ 0.94987807 -0.05446663 -0.30783932 4.10176752] [ 0.06345646 0.99779873 0.01926058 -0.32013036] [ 0.30611262 -0.0378296 0.95124339 -0.01014918] [ 0. 0. 0. 1. ]] SLAMing on 134.233201008 meters Centerline goodness [0,1] 0.8601557886448638 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.32, Z:-0.01 [[ 0.94998535 -0.0540552 -0.30758067 4.10001722] [ 0.06295746 0.99783369 0.01908625 -0.31638983] [ 0.30588264 -0.03749615 0.95133057 -0.00988494] [ 0. 0. 0. 1. ]] SLAMing on 134.263201008 meters Centerline goodness [0,1] 0.8551857998818533 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.01 [[ 0.9500815 -0.05384334 -0.30732074 4.0992085 ] [ 0.06268422 0.99785326 0.01896183 -0.31447324] [ 0.30564004 -0.03727945 0.95141705 -0.01011559] [ 0. 0. 0. 1. ]] SLAMing on 134.293201008 meters Centerline goodness [0,1] 0.8579943208974107 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.01 [[ 0.95018078 -0.05357144 -0.3070612 4.09840515] [ 0.06230187 0.99788227 0.01869353 -0.31229821] [ 0.30540949 -0.03689272 0.95150616 -0.01061078] [ 0. 0. 0. 1. ]] SLAMing on 134.323201008 meters Centerline goodness [0,1] 0.8579943208974107 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.01 [[ 0.95018078 -0.05357144 -0.3070612 4.09840515] [ 0.06230187 0.99788227 0.01869353 -0.31229821] [ 0.30540949 -0.03689272 0.95150616 -0.01061078] [ 0. 0. 0. 1. ]] SLAMing on 134.353201008 meters Centerline goodness [0,1] 0.8533274105333296 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.01 [[ 0.95034616 -0.04835827 -0.30741447 4.09815704] [ 0.05798009 0.99807003 0.02223778 -0.30889046] [ 0.30574579 -0.03895751 0.95131584 -0.01059011] [ 0. 0. 0. 1. ]] SLAMing on 134.38320100800001 meters Centerline goodness [0,1] 0.8526602243696546 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.31, Z:-0.01 [[ 0.95042672 -0.04732812 -0.30732571 4.09671053] [ 0.05681869 0.99814204 0.02200214 -0.3055248 ] [ 0.30571339 -0.03837327 0.95135 -0.01108825] [ 0. 0. 0. 1. ]] SLAMing on 134.41320100800002 meters Centerline goodness [0,1] 0.8498739018374304 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.30, Z:-0.01 [[ 0.95058589 -0.04615285 -0.30701203 4.09458638] [ 0.05557374 0.99821196 0.02200984 -0.30231284] [ 0.30544727 -0.03798405 0.95145109 -0.01135241] [ 0. 0. 0. 1. ]] SLAMing on 134.44320100800002 meters Centerline goodness [0,1] 0.8492207720689465 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.30, Z:-0.01 [[ 0.95098177 -0.03930749 -0.30673864 4.0908418 ] [ 0.04984448 0.99840295 0.02659098 -0.29963768] [ 0.30520354 -0.04057677 0.95142226 -0.01060874] [ 0. 0. 0. 1. ]] SLAMing on 134.47320100800002 meters Centerline goodness [0,1] 0.8492207720689465 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.30, Z:-0.01 [[ 0.95098177 -0.03930749 -0.30673864 4.0908418 ] [ 0.04984448 0.99840295 0.02659098 -0.29963768] [ 0.30520354 -0.04057677 0.95142226 -0.01060874] [ 0. 0. 0. 1. ]] SLAMing on 134.50320100800002 meters Centerline goodness [0,1] 0.8545996499671844 Centerline is valid? [False, False] Translation: X:4.09, Y:-0.30, Z:-0.01 [[ 0.95128713 -0.03339926 -0.30649191 4.0890898 ] [ 0.04481019 0.99853687 0.03026821 -0.29631713] [ 0.30503254 -0.04252772 0.9513919 -0.01125614] [ 0. 0. 0. 1. ]] SLAMing on 134.533201008 meters Centerline goodness [0,1] 0.8536319843235446 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.29, Z:-0.01 [[ 0.95348372 -0.03200584 -0.29974058 4.10341218] [ 0.04110946 0.99886364 0.02411328 -0.29178405] [ 0.2986282 -0.03531379 0.95371596 -0.01341433] [ 0. 0. 0. 1. ]] SLAMing on 134.563201008 meters Centerline goodness [0,1] 0.8550361865375198 Centerline is valid? [False, False] Translation: X:4.10, Y:-0.29, Z:-0.01 [[ 0.95367772 -0.03132832 -0.2991945 4.10189845] [ 0.04032247 0.99890004 0.02393354 -0.28986949] [ 0.2981156 -0.03488914 0.95389194 -0.01429921] [ 0. 0. 0. 1. ]] SLAMing on 134.593201008 meters Centerline goodness [0,1] 0.8614480770276887 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.29, Z:-0.02 [[ 0.95541846 -0.02949112 -0.29377856 4.11675838] [ 0.03610862 0.99920111 0.01712614 -0.28676594] [ 0.29303879 -0.02697057 0.95572007 -0.01560816] [ 0. 0. 0. 1. ]] SLAMing on 134.623201008 meters Centerline goodness [0,1] 0.8622369817894766 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.29, Z:-0.02 [[ 0.95551726 -0.02876142 -0.29352945 4.11542999] [ 0.0355298 0.99921095 0.01775157 -0.28783475] [ 0.29278728 -0.02739098 0.9557852 -0.01506568] [ 0. 0. 0. 1. ]] SLAMing on 134.653201008 meters Centerline goodness [0,1] 0.8619271925286573 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.29, Z:-0.01 [[ 0.95553967 -0.02835428 -0.29349613 4.11493727] [ 0.03526023 0.99921125 0.01826476 -0.28903083] [ 0.29274675 -0.02780145 0.95578576 -0.01451281] [ 0. 0. 0. 1. ]] SLAMing on 134.683201008 meters Centerline goodness [0,1] 0.8657184119458295 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.29, Z:-0.01 [[ 0.95556944 -0.02797466 -0.29343562 4.11437541] [ 0.03501989 0.99921011 0.01878223 -0.29019243] [ 0.29267841 -0.02822381 0.95579431 -0.01395201] [ 0. 0. 0. 1. ]] SLAMing on 134.713201008 meters Centerline goodness [0,1] 0.8599175021170814 Centerline is valid? [False, False] Translation: X:4.11, Y:-0.29, Z:-0.01 [[ 0.95557253 -0.02765775 -0.29345559 4.11401096] [ 0.03489769 0.99920135 0.01946328 -0.29190805] [ 0.29268291 -0.0288395 0.95577455 -0.01313066] [ 0. 0. 0. 1. ]] SLAMing on 134.743201008 meters Centerline goodness [0,1] 0.8638103570842675 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.29, Z:-0.01 [[ 0.95548131 -0.02791746 -0.2937279 4.11544179] [ 0.03519523 0.99918981 0.0195199 -0.29287273] [ 0.29294498 -0.02898872 0.95568975 -0.01329435] [ 0. 0. 0. 1. ]] SLAMing on 134.773201008 meters Centerline goodness [0,1] 0.8616919502528358 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.29, Z:-0.01 [[ 0.95530352 -0.02862846 -0.2942373 4.11819652] [ 0.03587303 0.99917088 0.01925285 -0.29372919] [ 0.29344216 -0.0289475 0.95553846 -0.01382277] [ 0. 0. 0. 1. ]] SLAMing on 134.803201008 meters Centerline goodness [0,1] 0.8610217934976777 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.29, Z:-0.01 [[ 0.95513831 -0.02929021 -0.29470814 4.12084693] [ 0.03653251 0.99914996 0.01909784 -0.29497162] [ 0.29389825 -0.02900751 0.95539645 -0.01431805] [ 0. 0. 0. 1. ]] SLAMing on 134.833201008 meters Centerline goodness [0,1] 0.8584450992812096 Centerline is valid? [False, False] Translation: X:4.12, Y:-0.30, Z:-0.01 [[ 0.95493271 -0.03054214 -0.29524684 4.12458134] [ 0.0377934 0.99910714 0.01888349 -0.29755805] [ 0.29440648 -0.02919085 0.95523438 -0.014804 ] [ 0. 0. 0. 1. ]] SLAMing on 134.863201008 meters Centerline goodness [0,1] 0.8561208706220307 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.30, Z:-0.01 [[ 0.95475322 -0.03088406 -0.29579124 4.12625638] [ 0.03828168 0.99908156 0.01924961 -0.29954035] [ 0.29492506 -0.02970201 0.95505864 -0.01408666] [ 0. 0. 0. 1. ]] SLAMing on 134.893201008 meters Centerline goodness [0,1] 0.8553796767766216 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.30, Z:-0.01 [[ 0.95461745 -0.03099156 -0.29621791 4.12741669] [ 0.03861041 0.99905609 0.01990381 -0.30235713] [ 0.29532145 -0.03043762 0.95491298 -0.01317854] [ 0. 0. 0. 1. ]] SLAMing on 134.923201008 meters Centerline goodness [0,1] 0.8531379243345268 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.31, Z:-0.01 [[ 0.95440619 -0.03613832 -0.29631546 4.12861565] [ 0.04293919 0.99894187 0.01647348 -0.30510445] [ 0.2954066 -0.02844594 0.95494805 -0.01273673] [ 0. 0. 0. 1. ]] SLAMing on 134.953201008 meters Centerline goodness [0,1] 0.8512173380132598 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.31, Z:-0.01 [[ 0.9542439 -0.03672376 -0.29676582 4.13080339] [ 0.04361401 0.99891007 0.01662815 -0.30681892] [ 0.29583171 -0.02881046 0.95480551 -0.01257967] [ 0. 0. 0. 1. ]] SLAMing on 134.983201008 meters Centerline goodness [0,1] 0.8455993294216262 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.31, Z:-0.01 [[ 0.95406809 -0.03847279 -0.29710928 4.1347888 ] [ 0.0453258 0.99884076 0.01620855 -0.30829874] [ 0.29614127 -0.02893078 0.9547059 -0.01332755] [ 0. 0. 0. 1. ]] SLAMing on 135.013201008 meters Centerline goodness [0,1] 0.8461409349036283 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.31, Z:-0.01 [[ 0.95393572 -0.038623 -0.29751456 4.13609542] [ 0.04560474 0.99882231 0.01655878 -0.30985989] [ 0.29652463 -0.02936408 0.95457367 -0.01286153] [ 0. 0. 0. 1. ]] SLAMing on 135.043201008 meters Centerline goodness [0,1] 0.8469516468114926 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.31, Z:-0.01 [[ 0.95383309 -0.03846871 -0.29786339 4.13671136] [ 0.04564014 0.99881062 0.01715592 -0.31196198] [ 0.29684915 -0.02995841 0.95445433 -0.0120116 ] [ 0. 0. 0. 1. ]] SLAMing on 135.073201008 meters Centerline goodness [0,1] 0.8468599983156003 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.31, Z:-0.01 [[ 0.95383296 -0.03795424 -0.29792978 4.13627636] [ 0.04534125 0.99881082 0.01791989 -0.31398569] [ 0.29689535 -0.03060109 0.95441957 -0.01115669] [ 0. 0. 0. 1. ]] SLAMing on 135.103201008 meters Centerline goodness [0,1] 0.8459676965501717 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.01 [[ 0.95394525 -0.037141 -0.29767264 4.13501617] [ 0.04470434 0.99882638 0.01863822 -0.315245 ] [ 0.29663104 -0.0310871 0.95448605 -0.01071263] [ 0. 0. 0. 1. ]] SLAMing on 135.13320100800001 meters Centerline goodness [0,1] 0.8462100353992246 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.01 [[ 0.95393397 -0.03679583 -0.29775166 4.13490844] [ 0.04446796 0.99882951 0.01903174 -0.31516468] [ 0.29670286 -0.03139543 0.95445364 -0.01026071] [ 0. 0. 0. 1. ]] SLAMing on 135.16320100800002 meters Centerline goodness [0,1] 0.8465063967383664 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.01 [[ 0.95402704 -0.03625737 -0.29751941 4.13413397] [ 0.04402161 0.99884151 0.01943552 -0.31541279] [ 0.29647006 -0.0316393 0.95451792 -0.0102095 ] [ 0. 0. 0. 1. ]] SLAMing on 135.19320100800002 meters Centerline goodness [0,1] 0.8478729660850813 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.01 [[ 0.95393369 -0.03114693 -0.29839636 4.13528366] [ 0.04042394 0.99887064 0.02496679 -0.3186445 ] [ 0.29728173 -0.03587901 0.95411544 -0.00742451] [ 0. 0. 0. 1. ]] SLAMing on 135.22320100800002 meters Centerline goodness [0,1] 0.84663624401579 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.01 [[ 0.95398508 -0.03094613 -0.29825291 4.13517538] [ 0.04021578 0.99887843 0.02499164 -0.31852512] [ 0.297145 -0.03583613 0.95415964 -0.00779594] [ 0. 0. 0. 1. ]] SLAMing on 135.25320100800002 meters Centerline goodness [0,1] 0.8466715271156974 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.01 [[ 0.95402647 -0.03057303 -0.29815899 4.13460419] [ 0.03992853 0.99888128 0.02533561 -0.31893317] [ 0.29705084 -0.03607589 0.95417992 -0.00751708] [ 0. 0. 0. 1. ]] SLAMing on 135.283201008 meters Centerline goodness [0,1] 0.8472486831783033 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.01 [[ 0.95401914 -0.0302615 -0.29821424 4.1340901 ] [ 0.03974883 0.99887659 0.02579905 -0.31970316] [ 0.2970985 -0.03646646 0.95415024 -0.00664575] [ 0. 0. 0. 1. ]] SLAMing on 135.313201008 meters Centerline goodness [0,1] 0.8449209868919639 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.01 [[ 0.9539739 -0.03011563 -0.29837366 4.13404907] [ 0.03974976 0.99886423 0.02627178 -0.32100599] [ 0.29724359 -0.03692288 0.9540875 -0.00572096] [ 0. 0. 0. 1. ]] SLAMing on 135.343201008 meters Centerline goodness [0,1] 0.84764177428411 Centerline is valid? [False, False] Translation: X:4.13, Y:-0.32, Z:-0.00 [[ 0.95390895 -0.02994815 -0.29859809 4.13405813] [ 0.0397454 0.99885061 0.02679106 -0.32245959] [ 0.29745254 -0.03742413 0.95400284 -0.00473227] [ 0. 0. 0. 1. ]] SLAMing on 135.373201008 meters Centerline goodness [0,1] 0.8497766038160002 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.95380818 -0.0306072 -0.29885305 4.13550175] [ 0.04051324 0.99881396 0.02700647 -0.32414843] [ 0.29767201 -0.0378665 0.95391693 -0.00415383] [ 0. 0. 0. 1. ]] SLAMing on 135.403201008 meters Centerline goodness [0,1] 0.8457656743346865 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.95370192 -0.031207 -0.29913002 4.1372307 ] [ 0.04110073 0.99879446 0.02683937 -0.32433857] [ 0.29793183 -0.03789122 0.95383483 -0.00436189] [ 0. 0. 0. 1. ]] SLAMing on 135.433201008 meters Centerline goodness [0,1] 0.8433734939759037 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.95363259 -0.03162142 -0.2993075 4.13855624] [ 0.04151088 0.99878018 0.02673931 -0.32447284] [ 0.29809686 -0.03792399 0.95378196 -0.00461386] [ 0. 0. 0. 1. ]] SLAMing on 135.463201008 meters Centerline goodness [0,1] 0.8424247533934744 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.95359756 -0.03189595 -0.29938995 4.13921161] [ 0.04184336 0.99876275 0.02687212 -0.32463961] [ 0.29816242 -0.03815267 0.95375235 -0.00437846] [ 0. 0. 0. 1. ]] SLAMing on 135.493201008 meters Centerline goodness [0,1] 0.8459026546181347 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.9536988 -0.03630835 -0.29856373 4.13710236] [ 0.04518218 0.99871692 0.02287089 -0.32264506] [ 0.29735025 -0.0353017 0.95411562 -0.004894 ] [ 0. 0. 0. 1. ]] SLAMing on 135.523201008 meters Centerline goodness [0,1] 0.8462382842185256 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 0.95365309 -0.03641764 -0.29869639 4.13715474] [ 0.04536182 0.99870435 0.02306349 -0.32299658] [ 0.29746947 -0.03554398 0.95406946 -0.00421063] [ 0. 0. 0. 1. ]] SLAMing on 135.553201008 meters Centerline goodness [0,1] 0.8452120190957596 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 9.53567414e-01 -3.66132484e-02 -2.98945910e-01 4.13756955e+00] [ 4.56138555e-02 9.98690094e-01 2.31834506e-02 -3.23079489e-01] [ 2.97705497e-01 -3.57430586e-02 9.53988402e-01 -3.50264149e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.583201008 meters Centerline goodness [0,1] 0.8493027440395862 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 9.53528797e-01 -3.68236354e-02 -2.99043229e-01 4.13781531e+00] [ 4.58136311e-02 9.98682760e-01 2.31053105e-02 -3.22507259e-01] [ 2.97798496e-01 -3.57318351e-02 9.53959796e-01 -3.25052108e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.613201008 meters Centerline goodness [0,1] 0.8469270614587708 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.00 [[ 9.53434910e-01 -3.77199861e-02 -2.99230804e-01 4.13958869e+00] [ 4.64823143e-02 9.98672021e-01 2.22168517e-02 -3.19555070e-01] [ 2.97995413e-01 -3.50912623e-02 9.53922081e-01 -4.13394759e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.643201008 meters Centerline goodness [0,1] 0.8531282396122272 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.01 [[ 0.95335542 -0.03836827 -0.2994016 4.14122803] [ 0.04693561 0.99866708 0.02147347 -0.31764195] [ 0.29817862 -0.03452445 0.95388551 -0.00510345] [ 0. 0. 0. 1. ]] SLAMing on 135.673201008 meters Centerline goodness [0,1] 0.848584760680656 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.32, Z:-0.01 [[ 0.95323413 -0.03913318 -0.29968864 4.14342891] [ 0.04745085 0.99866269 0.02052439 -0.31543892] [ 0.29848468 -0.03378503 0.95381627 -0.00636546] [ 0. 0. 0. 1. ]] SLAMing on 135.703201008 meters Centerline goodness [0,1] 0.85340607077913 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.31, Z:-0.01 [[ 0.95306615 -0.04020853 -0.30008031 4.14647685] [ 0.04808208 0.99866462 0.01889682 -0.3113094 ] [ 0.29891977 -0.0324384 0.95372675 -0.00858253] [ 0. 0. 0. 1. ]] SLAMing on 135.733201008 meters Centerline goodness [0,1] 0.851386591144884 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.31, Z:-0.01 [[ 0.9530189 -0.04051116 -0.30018965 4.1473856 ] [ 0.04826667 0.99866385 0.0184617 -0.31007357] [ 0.29904065 -0.0320835 0.95370087 -0.00913098] [ 0. 0. 0. 1. ]] SLAMing on 135.763201008 meters Centerline goodness [0,1] 0.8528565442100853 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.31, Z:-0.01 [[ 0.95297238 -0.04063406 -0.30032067 4.14779719] [ 0.0483256 0.99866537 0.01822428 -0.30857979] [ 0.29917933 -0.03188041 0.95366418 -0.00920585] [ 0. 0. 0. 1. ]] SLAMing on 135.793201008 meters Centerline goodness [0,1] 0.8564306801091739 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.31, Z:-0.01 [[ 0.95294428 -0.04084755 -0.30038089 4.148118 ] [ 0.0484393 0.99866631 0.01786692 -0.30678563] [ 0.29925045 -0.03157642 0.95365198 -0.00936674] [ 0. 0. 0. 1. ]] SLAMing on 135.823201008 meters Centerline goodness [0,1] 0.863372818819874 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95293759 -0.04075851 -0.30041421 4.14720534] [ 0.04831788 0.99867386 0.01777367 -0.30440455] [ 0.29929139 -0.03145257 0.95364322 -0.00865599] [ 0. 0. 0. 1. ]] SLAMing on 135.853201008 meters Centerline goodness [0,1] 0.8615119893428064 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.9528838 -0.04096972 -0.30055607 4.14745082] [ 0.04847863 0.99866976 0.01756505 -0.30301587] [ 0.29943662 -0.03130799 0.95360239 -0.00845211] [ 0. 0. 0. 1. ]] SLAMing on 135.88320100800001 meters Centerline goodness [0,1] 0.8624688624411846 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95275497 -0.04200541 -0.3008214 4.14891763] [ 0.04926455 0.9986481 0.01658268 -0.2991298 ] [ 0.29971816 -0.03061906 0.95353631 -0.00890639] [ 0. 0. 0. 1. ]] SLAMing on 135.91320100800002 meters Centerline goodness [0,1] 0.8627142935891076 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95258395 -0.04278846 -0.30125234 4.15053512] [ 0.04992119 0.99862475 0.01601486 -0.29691843] [ 0.30015279 -0.03029438 0.95340996 -0.00892327] [ 0. 0. 0. 1. ]] SLAMing on 135.94320100800002 meters Centerline goodness [0,1] 0.8626676540771826 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95246818 -0.04321581 -0.30155722 4.15132733] [ 0.05033375 0.99860636 0.01586999 -0.29577239] [ 0.30045113 -0.03029416 0.95331599 -0.00846971] [ 0. 0. 0. 1. ]] SLAMing on 135.97320100800002 meters Centerline goodness [0,1] 0.864184309525771 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95242849 -0.04323505 -0.30167979 4.15099628] [ 0.0504095 0.99859993 0.01603329 -0.29520864] [ 0.30056422 -0.03047809 0.95327448 -0.00764615] [ 0. 0. 0. 1. ]] SLAMing on 136.00320100800002 meters Centerline goodness [0,1] 0.8637593984962406 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95253143 -0.04278707 -0.30141856 4.14854785] [ 0.05007854 0.99860895 0.01650141 -0.29330836] [ 0.30029323 -0.03081271 0.95334912 -0.00603606] [ 0. 0. 0. 1. ]] SLAMing on 136.033201008 meters Centerline goodness [0,1] 0.8649032681167341 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95254872 -0.04253 -0.3014003 4.14764906] [ 0.04979409 0.99862393 0.0164559 -0.29155036] [ 0.30028568 -0.030683 0.95335569 -0.0055981 ] [ 0. 0. 0. 1. ]] SLAMing on 136.063201008 meters Centerline goodness [0,1] 0.8636759108210984 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95258497 -0.04227844 -0.3013211 4.1467798 ] [ 0.04946065 0.99864398 0.01624302 -0.28907699] [ 0.30022577 -0.03037639 0.95338437 -0.00549328] [ 0. 0. 0. 1. ]] SLAMing on 136.093201008 meters Centerline goodness [0,1] 0.8660784579883263 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95266249 -0.04198531 -0.30111694 4.14584153] [ 0.04903325 0.99867085 0.01588299 -0.28627481] [ 0.30004986 -0.02989587 0.95345494 -0.00585178] [ 0. 0. 0. 1. ]] SLAMing on 136.123201008 meters Centerline goodness [0,1] 0.8614247311827957 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.95277156 -0.03703367 -0.30142139 4.14644337] [ 0.04488696 0.99880817 0.01916748 -0.2829957 ] [ 0.30035231 -0.03179212 0.95329835 -0.00660663] [ 0. 0. 0. 1. ]] SLAMing on 136.153201008 meters Centerline goodness [0,1] 0.8603377453217709 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.95281004 -0.03203721 -0.3018719 4.14703222] [ 0.04094381 0.99889156 0.02322171 -0.28231978] [ 0.30079334 -0.03448566 0.95306564 -0.00614327] [ 0. 0. 0. 1. ]] SLAMing on 136.183201008 meters Centerline goodness [0,1] 0.8619834049251621 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.95279065 -0.02731123 -0.30239722 4.14820858] [ 0.03716702 0.99894735 0.02688487 -0.28123126] [ 0.30134464 -0.03685486 0.95280277 -0.00606708] [ 0. 0. 0. 1. ]] SLAMing on 136.213201008 meters Centerline goodness [0,1] 0.8619834049251621 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.95279065 -0.02731123 -0.30239722 4.14820858] [ 0.03716702 0.99894735 0.02688487 -0.28123126] [ 0.30134464 -0.03685486 0.95280277 -0.00606708] [ 0. 0. 0. 1. ]] SLAMing on 136.243201008 meters Centerline goodness [0,1] 0.8624727813479207 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.28, Z:-0.01 [[ 0.95298576 -0.02078538 -0.30230134 4.14636452] [ 0.03151783 0.9990326 0.0306673 -0.27818621] [ 0.30137146 -0.03875338 0.95271896 -0.00678351] [ 0. 0. 0. 1. ]] SLAMing on 136.273201008 meters Centerline goodness [0,1] 0.8654560900499098 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.28, Z:-0.01 [[ 0.95307169 -0.0196799 -0.30210438 4.14490958] [ 0.03031691 0.99907303 0.03056074 -0.27621355] [ 0.30122291 -0.03828545 0.95278486 -0.00730953] [ 0. 0. 0. 1. ]] SLAMing on 136.303201008 meters Centerline goodness [0,1] 0.8682636315510852 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.27, Z:-0.01 [[ 0.95309166 -0.01914627 -0.30207566 4.14462479] [ 0.02959348 0.99911035 0.03004564 -0.27438968] [ 0.30123166 -0.03757572 0.95281034 -0.00819262] [ 0. 0. 0. 1. ]] SLAMing on 136.333201008 meters Centerline goodness [0,1] 0.8712732467395042 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.27, Z:-0.01 [[ 0.95315226 -0.01864741 -0.30191561 4.1440462 ] [ 0.02894271 0.99914087 0.029662 -0.27285838] [ 0.30110311 -0.03701066 0.95287309 -0.00899283] [ 0. 0. 0. 1. ]] SLAMing on 136.363201008 meters Centerline goodness [0,1] 0.8733425267847672 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.27, Z:-0.01 [[ 0.95338431 -0.01674169 -0.30129401 4.14151292] [ 0.02709947 0.99917552 0.03023069 -0.27274574] [ 0.30053949 -0.03698638 0.95305195 -0.00979205] [ 0. 0. 0. 1. ]] SLAMing on 136.393201008 meters Centerline goodness [0,1] 0.8757832949948441 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.27, Z:-0.01 [[ 0.95332461 -0.01688045 -0.30147509 4.14257978] [ 0.02721643 0.99917577 0.03011708 -0.27318959] [ 0.30071822 -0.03691642 0.95299828 -0.01015881] [ 0. 0. 0. 1. ]] SLAMing on 136.423201008 meters Centerline goodness [0,1] 0.8768320631029153 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.28, Z:-0.01 [[ 0.9533057 -0.01654053 -0.30155372 4.14285072] [ 0.02703782 0.99916381 0.03066986 -0.27531214] [ 0.30079426 -0.03739111 0.95295578 -0.00995293] [ 0. 0. 0. 1. ]] SLAMing on 136.453201008 meters Centerline goodness [0,1] 0.8783664518199567 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.28, Z:-0.01 [[ 0.95343759 -0.02075532 -0.30087536 4.14161128] [ 0.03021059 0.99918402 0.02680687 -0.27541061] [ 0.30007347 -0.0346483 0.95328664 -0.01104831] [ 0. 0. 0. 1. ]] SLAMing on 136.483201008 meters Centerline goodness [0,1] 0.871007768666379 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.28, Z:-0.01 [[ 0.95349155 -0.02494345 -0.3003859 4.14103214] [ 0.03358498 0.99915629 0.02363824 -0.27892149] [ 0.29954284 -0.03262732 0.9535248 -0.0115525 ] [ 0. 0. 0. 1. ]] SLAMing on 136.513201008 meters Centerline goodness [0,1] 0.8777906757012122 Centerline is valid? [False, False] Translation: X:4.14, Y:-0.28, Z:-0.01 [[ 0.95336054 -0.02509408 -0.30078891 4.142764 ] [ 0.03387029 0.99913809 0.02399739 -0.2815437 ] [ 0.29992746 -0.03306597 0.95338878 -0.01146478] [ 0. 0. 0. 1. ]] SLAMing on 136.543201008 meters Centerline goodness [0,1] 0.8711176326730252 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.9532054 -0.02551752 -0.30124464 4.14554033] [ 0.03446449 0.99910748 0.02442198 -0.28610279] [ 0.30035258 -0.03366141 0.95323409 -0.01170105] [ 0. 0. 0. 1. ]] SLAMing on 136.573201008 meters Centerline goodness [0,1] 0.8746565840655006 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95302233 -0.0258905 -0.30179153 4.1475367 ] [ 0.03496959 0.99908262 0.0247192 -0.28879297] [ 0.30087468 -0.03411147 0.95305343 -0.01124943] [ 0. 0. 0. 1. ]] SLAMing on 136.603201008 meters Centerline goodness [0,1] 0.8798216337473327 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.9530766 -0.03017075 -0.30122204 4.14641099] [ 0.03826762 0.99904654 0.02101438 -0.28958066] [ 0.30030082 -0.03155536 0.95332244 -0.01189034] [ 0. 0. 0. 1. ]] SLAMing on 136.63320100800001 meters Centerline goodness [0,1] 0.8754181977732682 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.29, Z:-0.01 [[ 0.95288905 -0.03057543 -0.3017741 4.14839753] [ 0.03887366 0.99901217 0.02152957 -0.29298682] [ 0.30081772 -0.03224636 0.95313633 -0.01116559] [ 0. 0. 0. 1. ]] SLAMing on 136.66320100800002 meters Centerline goodness [0,1] 0.8756911396583501 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95270011 -0.03109372 -0.30231717 4.15049598] [ 0.03959634 0.99897276 0.02203533 -0.29635939] [ 0.30132146 -0.03296371 0.95295266 -0.01045107] [ 0. 0. 0. 1. ]] SLAMing on 136.69320100800002 meters Centerline goodness [0,1] 0.8718319655028516 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.30, Z:-0.01 [[ 0.95242142 -0.03751109 -0.30246711 4.15434766] [ 0.04503632 0.99882423 0.01794105 -0.30014522] [ 0.3014385 -0.03070945 0.95299096 -0.01147809] [ 0. 0. 0. 1. ]] SLAMing on 136.72320100800002 meters Centerline goodness [0,1] 0.8645313288831548 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.30, Z:-0.01 [[ 0.95229121 -0.04274743 -0.30218225 4.15538499] [ 0.04919098 0.99869485 0.01374171 -0.3010576 ] [ 0.30120044 -0.02795075 0.95315112 -0.01261334] [ 0. 0. 0. 1. ]] SLAMing on 136.75320100800002 meters Centerline goodness [0,1] 0.867625130124075 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.30, Z:-0.01 [[ 0.95207258 -0.04323674 -0.30280091 4.1575599 ] [ 0.04992823 0.99864915 0.01438887 -0.30499745] [ 0.30176975 -0.02881756 0.95294521 -0.01165395] [ 0. 0. 0. 1. ]] SLAMing on 136.783201008 meters Centerline goodness [0,1] 0.8676628439071239 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.01 [[ 0.95193632 -0.04332266 -0.30321674 4.15856914] [ 0.05033515 0.99861447 0.01534619 -0.30886087] [ 0.30213179 -0.02987106 0.95279804 -0.01028679] [ 0. 0. 0. 1. ]] SLAMing on 136.813201008 meters Centerline goodness [0,1] 0.8683019834381491 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.01 [[ 0.95187283 -0.0475826 -0.30277716 4.15750771] [ 0.05385542 0.99847178 0.01239734 -0.31164427] [ 0.30172455 -0.02810688 0.95298074 -0.00973455] [ 0. 0. 0. 1. ]] SLAMing on 136.843201008 meters Centerline goodness [0,1] 0.8719116475008539 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.31, Z:-0.01 [[ 0.95185504 -0.04696647 -0.30292924 4.1573063 ] [ 0.05351887 0.99847746 0.01336035 -0.31413909] [ 0.30184053 -0.02892955 0.9529194 -0.00878899] [ 0. 0. 0. 1. ]] SLAMing on 136.873201008 meters Centerline goodness [0,1] 0.8718753566944413 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.01 [[ 0.95190528 -0.04627134 -0.30287837 4.15655575] [ 0.05303987 0.99849206 0.0141554 -0.31592689] [ 0.30176666 -0.02953924 0.95292409 -0.00814134] [ 0. 0. 0. 1. ]] SLAMing on 136.903201008 meters Centerline goodness [0,1] 0.87070586224577 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.01 [[ 0.95191997 -0.04575503 -0.30291063 4.15636233] [ 0.05263946 0.99850688 0.01459785 -0.3166099 ] [ 0.30179042 -0.02984104 0.95290716 -0.00794515] [ 0. 0. 0. 1. ]] SLAMing on 136.933201008 meters Centerline goodness [0,1] 0.865001995325238 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.01 [[ 0.9519851 -0.04522181 -0.30278598 4.15604852] [ 0.05215605 0.99852852 0.01485049 -0.31690549] [ 0.30166887 -0.02992957 0.95294287 -0.00825779] [ 0. 0. 0. 1. ]] SLAMing on 136.963201008 meters Centerline goodness [0,1] 0.8658960195888616 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.32, Z:-0.01 [[ 0.95205151 -0.04418699 -0.30272996 4.15533217] [ 0.0512644 0.99856532 0.01546843 -0.31787268] [ 0.30161213 -0.03024602 0.95295084 -0.00825551] [ 0. 0. 0. 1. ]] SLAMing on 136.993201008 meters Centerline goodness [0,1] 0.8664134129273657 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.32, Z:-0.01 [[ 0.95212323 -0.04355833 -0.30259548 4.15466558] [ 0.0507458 0.99858459 0.01592746 -0.31869326] [ 0.30147341 -0.03052035 0.95298599 -0.00817165] [ 0. 0. 0. 1. ]] SLAMing on 137.023201008 meters Centerline goodness [0,1] 0.8642877533542678 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.32, Z:-0.01 [[ 0.95209841 -0.04317608 -0.30272835 4.15465522] [ 0.05050076 0.99858927 0.01640587 -0.31949075] [ 0.30159294 -0.03090801 0.95293567 -0.00769525] [ 0. 0. 0. 1. ]] SLAMing on 137.053201008 meters Centerline goodness [0,1] 0.8650211888672545 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.32, Z:-0.01 [[ 0.95213715 -0.04258122 -0.30269074 4.15435715] [ 0.05008434 0.99859918 0.01706557 -0.32131455] [ 0.30154005 -0.03140883 0.95293603 -0.0074334 ] [ 0. 0. 0. 1. ]] SLAMing on 137.083201008 meters Centerline goodness [0,1] 0.8655426101394097 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.32, Z:-0.01 [[ 0.95207318 -0.04252617 -0.30289964 4.15482193] [ 0.05016112 0.99858838 0.01746756 -0.32220406] [ 0.30172923 -0.03182418 0.95286237 -0.00682887] [ 0. 0. 0. 1. ]] SLAMing on 137.113201008 meters Centerline goodness [0,1] 0.8640704095720202 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52021683e-01 -4.13693896e-02 -3.03221518e-01 4.15343595e+00] [ 4.95604675e-02 9.98583377e-01 1.93649018e-02 -3.26586656e-01] [ 3.01990853e-01 -3.34636066e-02 9.52723313e-01 -3.96636868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.143201008 meters Centerline goodness [0,1] 0.8636389833438995 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52083368e-01 -4.05201682e-02 -3.03142501e-01 4.15183971e+00] [ 4.89770212e-02 9.98592701e-01 2.03437759e-02 -3.28387629e-01] [ 3.01891556e-01 -3.42159874e-02 9.52728059e-01 -2.64602727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.173201008 meters Centerline goodness [0,1] 0.8614687373708215 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52042280e-01 -4.01481383e-02 -3.03320992e-01 4.15142637e+00] [ 4.87808904e-02 9.98590087e-01 2.09347108e-02 -3.29066339e-01] [ 3.02052846e-01 -3.47269978e-02 9.52658445e-01 -1.56156131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.203201008 meters Centerline goodness [0,1] 0.8594362462531704 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52031454e-01 -4.01067224e-02 -3.03360448e-01 4.15156347e+00] [ 4.87475586e-02 9.98591146e-01 2.09618333e-02 -3.28877019e-01] [ 3.02092347e-01 -3.47444059e-02 9.52645285e-01 -1.53639347e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.233201008 meters Centerline goodness [0,1] 0.8589184033297685 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52061634e-01 -4.00219484e-02 -3.03276916e-01 4.15179412e+00] [ 4.86222489e-02 9.98599448e-01 2.08571174e-02 -3.28400118e-01] [ 3.02017419e-01 -3.46032670e-02 9.52674180e-01 -2.10306066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.263201008 meters Centerline goodness [0,1] 0.8571140029431283 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.52020403e-01 -4.02819977e-02 -3.03371904e-01 4.15301604e+00] [ 4.87836608e-02 9.98599082e-01 2.04945630e-02 -3.27671280e-01] [ 3.02121343e-01 -3.43108342e-02 9.52651805e-01 -2.93637611e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.293201008 meters Centerline goodness [0,1] 0.8527671423599026 Centerline is valid? [False, False] Translation: X:4.15, Y:-0.33, Z:-0.00 [[ 9.51966857e-01 -4.02500462e-02 -3.03544128e-01 4.15404409e+00] [ 4.88965808e-02 9.98584412e-01 2.09355250e-02 -3.30004833e-01] [ 3.02271779e-01 -3.47721959e-02 9.52587354e-01 -2.83348768e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.323201008 meters Centerline goodness [0,1] 0.8529445928679289 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:-0.00 [[ 9.51740128e-01 -4.06910734e-02 -3.04195603e-01 4.15581047e+00] [ 4.95187264e-02 9.98544801e-01 2.13582944e-02 -3.31928330e-01] [ 3.02883846e-01 -3.53909246e-02 9.52370127e-01 -1.62329180e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.353201008 meters Centerline goodness [0,1] 0.850182136092088 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.33, Z:-0.00 [[ 9.51636011e-01 -4.06381024e-02 -3.04528238e-01 4.15644697e+00] [ 4.96649283e-02 9.98524680e-01 2.19512847e-02 -3.33960033e-01] [ 3.03186903e-01 -3.60140061e-02 9.52250331e-01 -6.49660143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.38320100800001 meters Centerline goodness [0,1] 0.854832128701329 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.34, Z:-0.00 [[ 9.51505278e-01 -4.09492504e-02 -3.04894843e-01 4.15782985e+00] [ 5.00303176e-02 9.98504759e-01 2.20275612e-02 -3.35321003e-01] [ 3.03536940e-01 -3.62133266e-02 9.52131252e-01 -4.05332716e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.41320100800002 meters Centerline goodness [0,1] 0.8521361036535543 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.34, Z:-0.00 [[ 9.51283666e-01 -4.18282102e-02 -3.05466508e-01 4.16073535e+00] [ 5.08953310e-02 9.98466561e-01 2.17759648e-02 -3.36813753e-01] [ 3.04087244e-01 -3.62619386e-02 9.51953791e-01 -5.87416512e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.44320100800002 meters Centerline goodness [0,1] 0.8521004954413532 Centerline is valid? [False, False] Translation: X:4.16, Y:-0.34, Z:-0.00 [[ 9.51183072e-01 -4.21089743e-02 -3.05741064e-01 4.16208603e+00] [ 5.12021783e-02 9.98450794e-01 2.17795618e-02 -3.37611836e-01] [ 3.04350293e-01 -3.63709590e-02 9.51865564e-01 -6.55894132e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.47320100800002 meters Centerline goodness [0,1] 0.8590899744440854 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50776376e-01 -4.36208949e-02 -3.06792277e-01 4.16633743e+00] [ 5.27499291e-02 9.98375766e-01 2.15238213e-02 -3.39452475e-01] [ 3.05355086e-01 -3.66476116e-02 9.51533091e-01 8.39505101e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.50320100800002 meters Centerline goodness [0,1] 0.8564762861024157 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50579842e-01 -4.41924536e-02 -3.07319039e-01 4.16842535e+00] [ 5.33890862e-02 9.98340611e-01 2.15784484e-02 -3.40618319e-01] [ 3.05855472e-01 -3.69195207e-02 9.51361855e-01 3.59405635e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.533201008 meters Centerline goodness [0,1] 0.8593496653990154 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50418046e-01 -4.48025761e-02 -3.07730836e-01 4.17040495e+00] [ 5.40088955e-02 9.98309806e-01 2.14608909e-02 -3.41241367e-01] [ 3.06249208e-01 -3.70170205e-02 9.51231393e-01 3.94452994e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.563201008 meters Centerline goodness [0,1] 0.8566914717694307 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50239758e-01 -4.53850490e-02 -3.08195718e-01 4.17245156e+00] [ 5.45722917e-02 9.98283647e-01 2.12514600e-02 -3.41763433e-01] [ 3.06702247e-01 -3.70129288e-02 9.51085577e-01 3.36090774e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.593201008 meters Centerline goodness [0,1] 0.8632754636487527 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50093496e-01 -4.54357896e-02 -3.08638847e-01 4.17319292e+00] [ 5.47669140e-02 9.98264797e-01 2.16328553e-02 -3.43123806e-01] [ 3.07120390e-01 -3.74564323e-02 9.50933269e-01 1.34699847e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.623201008 meters Centerline goodness [0,1] 0.8623845060412225 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50135263e-01 -4.52449382e-02 -3.08538293e-01 4.17273751e+00] [ 5.45860480e-02 9.98273102e-01 2.17066225e-02 -3.42877159e-01] [ 3.07023364e-01 -3.74661135e-02 9.50964218e-01 1.37693890e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.653201008 meters Centerline goodness [0,1] 0.8576829916701129 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50094485e-01 -4.54758646e-02 -3.08629902e-01 4.17310259e+00] [ 5.47234262e-02 9.98272865e-01 2.13689718e-02 -3.41491260e-01] [ 3.07125084e-01 -3.71918279e-02 9.50942139e-01 1.24560318e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.683201008 meters Centerline goodness [0,1] 0.8558901682905226 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50100113e-01 -4.56069828e-02 -3.08593225e-01 4.17324780e+00] [ 5.47466473e-02 9.98279024e-01 2.10189368e-02 -3.39817237e-01] [ 3.07103533e-01 -3.68645387e-02 9.50961842e-01 8.86185100e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.713201008 meters Centerline goodness [0,1] 0.8539137591487611 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50108244e-01 -4.06348737e-02 -3.09262236e-01 4.17358603e+00] [ 5.09719532e-02 9.98376646e-01 2.54152080e-02 -3.39443245e-01] [ 3.07727450e-01 -3.99108989e-02 9.50637121e-01 2.54097488e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.743201008 meters Centerline goodness [0,1] 0.8556001053586584 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50158022e-01 -4.07135519e-02 -3.09098915e-01 4.17324126e+00] [ 5.08697430e-02 9.98395688e-01 2.48660197e-02 -3.37037684e-01] [ 3.07590640e-01 -3.93504305e-02 9.50704761e-01 1.93010194e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.773201008 meters Centerline goodness [0,1] 0.8531728601130341 Centerline is valid? [False, False] Translation: X:4.17, Y:-0.34, Z:0.00 [[ 9.50259021e-01 -4.05615291e-02 -3.08808282e-01 4.17227974e+00] [ 5.06134222e-02 9.98415151e-01 2.46062566e-02 -3.35190313e-01] [ 3.07320801e-01 -3.90121612e-02 9.50805962e-01 1.60648820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.803201008 meters Centerline goodness [0,1] 0.8531588763259121 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:0.00 [[ 9.52020640e-01 -3.98264051e-02 -3.03431309e-01 4.18728941e+00] [ 4.71878285e-02 9.98741970e-01 1.69642492e-02 -3.29901274e-01] [ 3.02373958e-01 -3.04685799e-02 9.52702291e-01 4.60099985e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.833201008 meters Centerline goodness [0,1] 0.8564901047729918 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:-0.00 [[ 9.52096823e-01 -3.95966676e-02 -3.03222266e-01 4.18676405e+00] [ 4.68691174e-02 9.98760739e-01 1.67413195e-02 -3.28379881e-01] [ 3.02183594e-01 -3.01511171e-02 9.52772788e-01 -4.35923727e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.863201008 meters Centerline goodness [0,1] 0.851452330416073 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:-0.00 [[ 9.52117737e-01 -3.97035914e-02 -3.03142606e-01 4.18708016e+00] [ 4.68370081e-02 9.98769633e-01 1.62946572e-02 -3.26774150e-01] [ 3.02122673e-01 -2.97127248e-02 9.52805880e-01 -8.17375917e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.893201008 meters Centerline goodness [0,1] 0.8498543123543123 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:-0.00 [[ 9.52116558e-01 -3.98370855e-02 -3.03128794e-01 4.18746829e+00] [ 4.68851134e-02 9.98772041e-01 1.60061522e-02 -3.25733573e-01] [ 3.02118926e-01 -2.94519504e-02 9.52815164e-01 -1.30139500e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.923201008 meters Centerline goodness [0,1] 0.8480227299083846 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:-0.00 [[ 9.51913747e-01 -4.05270648e-02 -3.03673798e-01 4.18954021e+00] [ 4.75835263e-02 9.98741180e-01 1.58702012e-02 -3.25480628e-01] [ 3.02648355e-01 -2.95569329e-02 9.52643879e-01 -9.05781100e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.953201008 meters Centerline goodness [0,1] 0.846717877094972 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:-0.00 [[ 9.51773424e-01 -4.07971234e-02 -3.04077200e-01 4.19066580e+00] [ 4.80064954e-02 9.98714544e-01 1.62676651e-02 -3.27210789e-01] [ 3.03022648e-01 -3.00808120e-02 9.52508488e-01 -1.38835004e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.983201008 meters Centerline goodness [0,1] 0.8431446687220057 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.33, Z:0.00 [[ 9.51525707e-01 -4.18168490e-02 -3.04713276e-01 4.19304835e+00] [ 4.91162581e-02 9.98659638e-01 1.63254551e-02 -3.28941298e-01] [ 3.03622171e-01 -3.05004661e-02 9.52304205e-01 9.14229270e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.013201008 meters Centerline goodness [0,1] 0.8427012198680908 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51310125e-01 -4.25553692e-02 -3.05283617e-01 4.19506575e+00] [ 4.99774244e-02 9.98613475e-01 1.65343451e-02 -3.30461441e-01] [ 3.04156709e-01 -3.09865789e-02 9.52117917e-01 1.83217602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.043201008 meters Centerline goodness [0,1] 0.8452245469666462 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51012201e-01 -4.48130570e-02 -3.05888188e-01 4.19942639e+00] [ 5.22306389e-02 9.98505200e-01 1.61036111e-02 -3.32148754e-01] [ 3.04709294e-01 -3.12914661e-02 9.51931242e-01 2.21312033e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.073201008 meters Centerline goodness [0,1] 0.8464539215111163 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50949896e-01 -4.99667180e-02 -3.05282856e-01 4.19936150e+00] [ 5.60916504e-02 9.98361461e-01 1.13190227e-02 -3.30132544e-01] [ 3.04217064e-01 -2.78876427e-02 9.52194443e-01 4.81892509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.103201008 meters Centerline goodness [0,1] 0.8481883951846754 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50830412e-01 -5.02497180e-02 -3.05608397e-01 4.20039348e+00] [ 5.64659440e-02 9.98337959e-01 1.15289236e-02 -3.30969157e-01] [ 3.04521139e-01 -2.82185178e-02 9.52087491e-01 1.07197359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.13320100800001 meters Centerline goodness [0,1] 0.8481883951846754 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50830412e-01 -5.02497180e-02 -3.05608397e-01 4.20039348e+00] [ 5.64659440e-02 9.98337959e-01 1.15289236e-02 -3.30969157e-01] [ 3.04521139e-01 -2.82185178e-02 9.52087491e-01 1.07197359e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.16320100800002 meters Centerline goodness [0,1] 0.8512478812321 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50805850e-01 -5.01739020e-02 -3.05697260e-01 4.20058569e+00] [ 5.64975236e-02 9.98332202e-01 1.18677997e-02 -3.31685887e-01] [ 3.04591964e-01 -2.85551115e-02 9.52054799e-01 1.50384458e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.19320100800002 meters Centerline goodness [0,1] 0.8480611045828437 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50762622e-01 -5.02907639e-02 -3.05812483e-01 4.20103090e+00] [ 5.66475179e-02 9.98322821e-01 1.19417144e-02 -3.31698898e-01] [ 3.04699023e-01 -2.86772538e-02 9.52016870e-01 1.68130567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.22320100800002 meters Centerline goodness [0,1] 0.8454130466794286 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50786212e-01 -5.03414053e-02 -3.05730799e-01 4.20113705e+00] [ 5.67430789e-02 9.98315702e-01 1.20822689e-02 -3.31598852e-01] [ 3.04607619e-01 -2.88357615e-02 9.52041332e-01 1.70594560e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.25320100800002 meters Centerline goodness [0,1] 0.846535234407088 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50739084e-01 -4.63172252e-02 -3.06512495e-01 4.20328854e+00] [ 5.39553517e-02 9.98407202e-01 1.64887583e-02 -3.33738600e-01] [ 3.05260569e-01 -3.22144964e-02 9.51723811e-01 3.31518407e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.283201008 meters Centerline goodness [0,1] 0.8445547170919341 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50805372e-01 -4.61221540e-02 -3.06336240e-01 4.20264366e+00] [ 5.37892943e-02 9.98413831e-01 1.66292877e-02 -3.33212062e-01] [ 3.05083361e-01 -3.22888262e-02 9.51778112e-01 3.45884188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.313201008 meters Centerline goodness [0,1] 0.8466367449910528 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50936151e-01 -4.57443550e-02 -3.05986749e-01 4.20118562e+00] [ 5.34759176e-02 9.98425640e-01 1.69283354e-02 -3.32280502e-01] [ 3.04730639e-01 -3.24606883e-02 9.51885256e-01 3.89015025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.343201008 meters Centerline goodness [0,1] 0.8477124566864391 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 0.95097729 -0.04544992 -0.30590277 4.20037134] [ 0.05327268 0.99843068 0.01726861 -0.33258118] [ 0.30463785 -0.03271832 0.95190613 0.00446351] [ 0. 0. 0. 1. ]] SLAMing on 138.373201008 meters Centerline goodness [0,1] 0.8473893219591117 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95097242 -0.04525967 -0.30594609 4.19995616] [ 0.05317632 0.99843026 0.01758671 -0.33310452] [ 0.30466987 -0.03299356 0.95188639 0.00510209] [ 0. 0. 0. 1. ]] SLAMing on 138.403201008 meters Centerline goodness [0,1] 0.8487615232821841 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95092877 -0.04520507 -0.30608983 4.20001104] [ 0.05322457 0.99842212 0.01790008 -0.3337043 ] [ 0.30479768 -0.03331321 0.95183434 0.00575964] [ 0. 0. 0. 1. ]] SLAMing on 138.433201008 meters Centerline goodness [0,1] 0.8453242724183779 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95085773 -0.04600964 -0.3061906 4.20151214] [ 0.05394714 0.99839031 0.01750701 -0.33313302] [ 0.30489224 -0.03316478 0.95180924 0.00538799] [ 0. 0. 0. 1. ]] SLAMing on 138.463201008 meters Centerline goodness [0,1] 0.8433005522577597 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95075755 -0.04646254 -0.30643322 4.20272457] [ 0.05436233 0.99837155 0.01729094 -0.33279515] [ 0.30513083 -0.03309791 0.9517351 0.00531832] [ 0. 0. 0. 1. ]] SLAMing on 138.493201008 meters Centerline goodness [0,1] 0.8448782224331781 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95070074 -0.04652781 -0.30659953 4.20325954] [ 0.05446657 0.99836427 0.01738329 -0.33305969] [ 0.3052892 -0.03322573 0.95167986 0.00551855] [ 0. 0. 0. 1. ]] SLAMing on 138.523201008 meters Centerline goodness [0,1] 0.8408168104087016 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.95066644 -0.04646915 -0.30671476 4.20360136] [ 0.05443873 0.99836418 0.01747531 -0.33334736] [ 0.30540097 -0.03331035 0.95164104 0.00565127] [ 0. 0. 0. 1. ]] SLAMing on 138.553201008 meters Centerline goodness [0,1] 0.8442285477325908 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.01 [[ 0.9507028 -0.04618043 -0.30664564 4.20331411] [ 0.05410095 0.99838429 0.01737545 -0.33242753] [ 0.30534778 -0.03310871 0.95166514 0.00536561] [ 0. 0. 0. 1. ]] SLAMing on 138.583201008 meters Centerline goodness [0,1] 0.8418314563565961 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 0.95075593 -0.0461672 -0.30648287 4.20338162] [ 0.05397428 0.99839688 0.01704233 -0.33096121] [ 0.30520475 -0.03274529 0.9517236 0.00458913] [ 0. 0. 0. 1. ]] SLAMing on 138.613201008 meters Centerline goodness [0,1] 0.8395529008220475 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50812491e-01 -4.62288237e-02 -3.06298062e-01 4.20358882e+00] [ 5.38865384e-02 9.98409283e-01 1.65874606e-02 -3.29315982e-01] [ 3.05044010e-01 -3.22769070e-02 9.51791129e-01 3.59131413e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.643201008 meters Centerline goodness [0,1] 0.8436094204816089 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50858901e-01 -4.63043762e-02 -3.06142540e-01 4.20384803e+00] [ 5.37978100e-02 9.98422369e-01 1.60800964e-02 -3.27522627e-01] [ 3.04914981e-01 -3.17597010e-02 9.51849870e-01 2.57785463e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.673201008 meters Centerline goodness [0,1] 0.8452520860265601 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.50978204e-01 -4.58598233e-02 -3.05838736e-01 4.20293261e+00] [ 5.32981046e-02 9.98450290e-01 1.60103394e-02 -3.26230253e-01] [ 3.04630543e-01 -3.15261087e-02 9.51948705e-01 2.04875167e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.703201008 meters Centerline goodness [0,1] 0.8376887682869278 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51095021e-01 -4.48756617e-02 -3.05621394e-01 4.20049752e+00] [ 5.25061450e-02 9.98479471e-01 1.67884390e-02 -3.26590321e-01] [ 3.04403295e-01 -3.20144020e-02 9.52005101e-01 3.33505051e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.733201008 meters Centerline goodness [0,1] 0.8411214953271028 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51194701e-01 -4.43548156e-02 -3.05387115e-01 4.19904580e+00] [ 5.20540012e-02 9.98497678e-01 1.71104458e-02 -3.26608881e-01] [ 3.04169395e-01 -3.21719866e-02 9.52074547e-01 3.78740388e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.763201008 meters Centerline goodness [0,1] 0.8421207571609408 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51270121e-01 -4.40598692e-02 -3.05194831e-01 4.19815698e+00] [ 5.17876561e-02 9.98508828e-01 1.72672699e-02 -3.26151323e-01] [ 3.03978940e-01 -3.22311629e-02 9.52133371e-01 3.95273131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.793201008 meters Centerline goodness [0,1] 0.8354556657473153 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.33, Z:0.00 [[ 9.51331338e-01 -4.39979721e-02 -3.05012890e-01 4.19784831e+00] [ 5.16789146e-02 9.98516478e-01 1.71503273e-02 -3.25525425e-01] [ 3.03805817e-01 -3.20783789e-02 9.52193785e-01 3.59978585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.823201008 meters Centerline goodness [0,1] 0.8312227648933992 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51429826e-01 -4.37220224e-02 -3.04745255e-01 4.19677759e+00] [ 5.14764697e-02 9.98521682e-01 1.74534671e-02 -3.24773472e-01] [ 3.03531643e-01 -3.22929591e-02 9.52273966e-01 3.94980708e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.853201008 meters Centerline goodness [0,1] 0.8320890060020495 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51488314e-01 -4.35877888e-02 -3.04581832e-01 4.19639129e+00] [ 5.13583456e-02 9.98526194e-01 1.75431239e-02 -3.24359572e-01] [ 3.03368272e-01 -3.23348964e-02 9.52324601e-01 3.88222673e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.88320100800001 meters Centerline goodness [0,1] 0.8271060774125751 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51589062e-01 -4.32414864e-02 -3.04316335e-01 4.19536441e+00] [ 5.10382165e-02 9.98539684e-01 1.77087713e-02 -3.23773995e-01] [ 3.03106183e-01 -3.23832361e-02 9.52406409e-01 3.91894049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.91320100800002 meters Centerline goodness [0,1] 0.8274846983386768 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 0.9516604 -0.04297227 -0.30413132 4.19428141] [ 0.05078604 0.99855048 0.01782481 -0.32278931] [ 0.30292451 -0.03240879 0.95246334 0.00422754] [ 0. 0. 0. 1. ]] SLAMing on 138.94320100800002 meters Centerline goodness [0,1] 0.8259141033081834 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51787378e-01 -4.24095120e-02 -3.03812803e-01 4.19270394e+00] [ 5.01451465e-02 9.98585055e-01 1.77017315e-02 -3.21074149e-01] [ 3.02632203e-01 -3.20830222e-02 9.52567283e-01 3.99141669e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.97320100800002 meters Centerline goodness [0,1] 0.8231028080761198 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51855297e-01 -4.22321256e-02 -3.03624673e-01 4.19233942e+00] [ 4.98757112e-02 9.98602802e-01 1.74601785e-02 -3.20006727e-01] [ 3.02463068e-01 -3.17630599e-02 9.52631723e-01 3.42315525e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.003201008 meters Centerline goodness [0,1] 0.8244774907963011 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51899818e-01 -4.20435833e-02 -3.03511243e-01 4.19192148e+00] [ 4.96409900e-02 9.98616308e-01 1.73563304e-02 -3.19252760e-01] [ 3.02361554e-01 -3.15880863e-02 9.52669766e-01 3.23853981e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.033201008 meters Centerline goodness [0,1] 0.8237639783858757 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51932756e-01 -4.18908286e-02 -3.03429048e-01 4.19145895e+00] [ 4.94298481e-02 9.98629401e-01 1.72049396e-02 -3.18140626e-01] [ 3.02292439e-01 -3.13763973e-02 9.52698695e-01 3.12134852e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.063201008 meters Centerline goodness [0,1] 0.8235074197630277 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51922366e-01 -3.71930557e-02 -3.04073159e-01 4.19286701e+00] [ 4.57897130e-02 9.98726384e-01 2.11875522e-02 -3.17920580e-01] [ 3.02897857e-01 -3.40923275e-02 9.52413041e-01 3.69428375e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.093201008 meters Centerline goodness [0,1] 0.8264230901385866 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51946719e-01 -3.74584793e-02 -3.03964319e-01 4.19360867e+00] [ 4.58494627e-02 9.98737737e-01 2.05124361e-02 -3.15608976e-01] [ 3.02812272e-01 -3.34633470e-02 9.52462562e-01 2.46998566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.123201008 meters Centerline goodness [0,1] 0.8218499427262314 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:0.00 [[ 9.51983760e-01 -3.76568606e-02 -3.03823767e-01 4.19407703e+00] [ 4.58616831e-02 9.98749322e-01 1.99122459e-02 -3.13582380e-01] [ 3.02693948e-01 -3.28900040e-02 9.52520142e-01 1.33778841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.153201008 meters Centerline goodness [0,1] 0.8247051768938637 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.31, Z:0.00 [[ 9.51965948e-01 -3.77528299e-02 -3.03867666e-01 4.19449237e+00] [ 4.58786075e-02 9.98753863e-01 1.96437069e-02 -3.12565429e-01] [ 3.02747400e-01 -3.26411655e-02 9.52511715e-01 9.41871864e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.183201008 meters Centerline goodness [0,1] 0.8232071002539882 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.00 [[ 9.51891561e-01 -3.78686080e-02 -3.04086213e-01 4.19518472e+00] [ 4.59848728e-02 9.98750400e-01 1.95711766e-02 -3.12556536e-01] [ 3.02965094e-01 -3.26130037e-02 9.52443460e-01 1.00241406e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.213201008 meters Centerline goodness [0,1] 0.830062749572162 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.00 [[ 9.51763331e-01 -3.80742097e-02 -3.04461682e-01 4.19629270e+00] [ 4.62450911e-02 9.98736474e-01 1.96684192e-02 -3.13699118e-01] [ 3.03328127e-01 -3.27995384e-02 9.52321499e-01 1.42641724e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.243201008 meters Centerline goodness [0,1] 0.8305476986371818 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.00 [[ 9.51697187e-01 -3.82481740e-02 -3.04646584e-01 4.19701673e+00] [ 4.64427934e-02 9.98726777e-01 1.96949534e-02 -3.14242204e-01] [ 3.03505405e-01 -3.28922701e-02 9.52261817e-01 1.55896440e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.273201008 meters Centerline goodness [0,1] 0.8282614296756463 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.00 [[ 9.51601951e-01 -3.85466439e-02 -3.04906353e-01 4.19803307e+00] [ 4.67438424e-02 9.98714066e-01 1.96271941e-02 -3.14450609e-01] [ 3.03757701e-01 -3.29297707e-02 9.52180072e-01 1.66820433e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.303201008 meters Centerline goodness [0,1] 0.8324929811493726 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.00 [[ 9.51511561e-01 -3.86931121e-02 -3.05169777e-01 4.19883293e+00] [ 4.69418362e-02 9.98702638e-01 1.97358557e-02 -3.14974805e-01] [ 3.04010220e-01 -3.31041245e-02 9.52093432e-01 1.94373723e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.333201008 meters Centerline goodness [0,1] 0.831213839720456 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51532150e-01 -3.84000858e-02 -3.05142590e-01 4.19819619e+00] [ 4.68822234e-02 9.98689726e-01 2.05155618e-02 -3.16574855e-01] [ 3.03954970e-01 -3.38269797e-02 9.52085664e-01 3.09498543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.363201008 meters Centerline goodness [0,1] 0.833233061166022 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51506876e-01 -3.84026784e-02 -3.05221065e-01 4.19842541e+00] [ 4.69453020e-02 9.98683052e-01 2.06954051e-02 -3.16991371e-01] [ 3.04024346e-01 -3.40205153e-02 9.52056617e-01 3.34900409e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.393201008 meters Centerline goodness [0,1] 0.8371698709658879 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51517280e-01 -3.82542262e-02 -3.05207274e-01 4.19848239e+00] [ 4.68441581e-02 9.98684205e-01 2.08682261e-02 -3.17544702e-01] [ 3.04007387e-01 -3.41536556e-02 9.52057265e-01 3.31849726e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.423201008 meters Centerline goodness [0,1] 0.8380176666284272 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51526255e-01 -3.78201521e-02 -3.05233388e-01 4.19812935e+00] [ 4.64749715e-02 9.98695829e-01 2.11357198e-02 -3.18375362e-01] [ 3.04035955e-01 -3.42969054e-02 9.52042993e-01 3.58160523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.453201008 meters Centerline goodness [0,1] 0.8435315439716924 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51611840e-01 -3.72333303e-02 -3.05038663e-01 4.19715853e+00] [ 4.59285859e-02 9.98715980e-01 2.13765168e-02 -3.18513535e-01] [ 3.03851068e-01 -3.43521409e-02 9.52100026e-01 3.55796610e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.483201008 meters Centerline goodness [0,1] 0.8386662079247663 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51649141e-01 -3.71350122e-02 -3.04934262e-01 4.19731477e+00] [ 4.57135739e-02 9.98733025e-01 2.10383713e-02 -3.17768282e-01] [ 3.03766658e-01 -3.39607829e-02 9.52140999e-01 2.78518504e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.513201008 meters Centerline goodness [0,1] 0.8421325051759834 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51781148e-01 -3.60704634e-02 -3.04649910e-01 4.19510674e+00] [ 4.47638928e-02 9.98764117e-01 2.15970677e-02 -3.17925038e-01] [ 3.03494382e-01 -3.41929978e-02 9.52219512e-01 3.30322203e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.543201008 meters Centerline goodness [0,1] 0.8381946045653678 Centerline is valid? [False, False] Translation: X:4.19, Y:-0.32, Z:0.00 [[ 9.51798536e-01 -4.06293718e-02 -3.04021054e-01 4.19352388e+00] [ 4.81988136e-02 9.98685642e-01 1.74316543e-02 -3.16442449e-01] [ 3.02913224e-01 -3.12448772e-02 9.52505820e-01 2.70281188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.573201008 meters Centerline goodness [0,1] 0.8430588708981622 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51630577e-01 -4.10789806e-02 -3.04486061e-01 4.19506793e+00] [ 4.87184930e-02 9.98658676e-01 1.75315979e-02 -3.17236490e-01] [ 3.03357467e-01 -3.15177067e-02 9.52355439e-01 3.24344025e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.603201008 meters Centerline goodness [0,1] 0.8419975203990427 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51462649e-01 -4.15958179e-02 -3.04940346e-01 4.19686536e+00] [ 4.92503029e-02 9.98634042e-01 1.74487370e-02 -3.17715559e-01] [ 3.03798016e-01 -3.16202259e-02 9.52211598e-01 3.36295118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.63320100800001 meters Centerline goodness [0,1] 0.8456772334293948 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51182670e-01 -4.29515835e-02 -3.05625079e-01 4.20075086e+00] [ 5.05289640e-02 9.98579230e-01 1.69217647e-02 -3.18600406e-01] [ 3.04464040e-01 -3.15386080e-02 9.52001557e-01 2.84759617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.66320100800002 meters Centerline goodness [0,1] 0.8489022071111623 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.51034644e-01 -4.31953054e-02 -3.06051094e-01 4.20206654e+00] [ 5.08750330e-02 9.98557644e-01 1.71569933e-02 -3.19648738e-01] [ 3.04868558e-01 -3.18872546e-02 9.51860476e-01 3.35893469e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.69320100800002 meters Centerline goodness [0,1] 0.8501512314561429 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 9.50902227e-01 -4.33707564e-02 -3.06437486e-01 4.20336200e+00] [ 5.11517064e-02 9.98539256e-01 1.74027947e-02 -3.20985497e-01] [ 3.05235087e-01 -3.22231566e-02 9.51731690e-01 3.76454022e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.72320100800002 meters Centerline goodness [0,1] 0.8498813176634054 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 0.95074294 -0.04353397 -0.30690822 4.20442997] [ 0.05137671 0.9985257 0.01751748 -0.32200378] [ 0.30569313 -0.03242255 0.95157789 0.00445366] [ 0. 0. 0. 1. ]] SLAMing on 139.753201008 meters Centerline goodness [0,1] 0.8591895803183791 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.32, Z:0.00 [[ 0.95066644 -0.04350723 -0.30714888 4.20484485] [ 0.05141964 0.99852007 0.01771156 -0.32263554] [ 0.30592373 -0.03263127 0.95149665 0.00492636] [ 0. 0. 0. 1. ]] SLAMing on 139.783201008 meters Centerline goodness [0,1] 0.8580180909169726 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.95051497 -0.04387263 -0.3075654 4.20622691] [ 0.0518178 0.99849952 0.01770938 -0.32279671] [ 0.30632695 -0.03277039 0.95136213 0.00533615] [ 0. 0. 0. 1. ]] SLAMing on 139.813201008 meters Centerline goodness [0,1] 0.8595577167998147 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.95048064 -0.04398842 -0.30765496 4.20682999] [ 0.05187762 0.99849998 0.01750742 -0.32229883] [ 0.30642335 -0.03260087 0.95133691 0.0050086 ] [ 0. 0. 0. 1. ]] SLAMing on 139.843201008 meters Centerline goodness [0,1] 0.8616563087151322 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.00 [[ 0.95045142 -0.04412494 -0.30772566 4.20738691] [ 0.05196306 0.99849881 0.01731953 -0.32139142] [ 0.30649948 -0.03245174 0.95131748 0.00471822] [ 0. 0. 0. 1. ]] SLAMing on 139.873201008 meters Centerline goodness [0,1] 0.865690606139363 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.00 [[ 9.50250060e-01 -4.50353027e-02 -3.08215256e-01 4.21004052e+00] [ 5.27532146e-02 9.98467100e-01 1.67495837e-02 -3.20862044e-01] [ 3.06988471e-01 -3.21756385e-02 9.51169179e-01 4.16809288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.903201008 meters Centerline goodness [0,1] 0.8636678800485353 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.00 [[ 0.95003807 -0.04549711 -0.30880039 4.21189709] [ 0.05327254 0.99843884 0.01679033 -0.32166596] [ 0.30755439 -0.03240203 0.95097866 0.00466499] [ 0. 0. 0. 1. ]] SLAMing on 139.933201008 meters Centerline goodness [0,1] 0.8677803602556653 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.94981226 -0.04593598 -0.3094294 4.21365322] [ 0.05383817 0.99840423 0.01704259 -0.32301924] [ 0.30815275 -0.03284637 0.95076969 0.00557265] [ 0. 0. 0. 1. ]] SLAMing on 139.963201008 meters Centerline goodness [0,1] 0.8701449950503698 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 0.94955404 -0.04645589 -0.31014348 4.21561978] [ 0.05453135 0.9983602 0.01741373 -0.32481005] [ 0.30882594 -0.03344782 0.95053026 0.00676458] [ 0. 0. 0. 1. ]] SLAMing on 139.993201008 meters Centerline goodness [0,1] 0.8718775653805559 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94928586 -0.05195136 -0.31009259 4.21707673] [ 0.05891368 0.99817682 0.0131228 -0.32505184] [ 0.30884549 -0.03072598 0.95061579 0.00613352] [ 0. 0. 0. 1. ]] SLAMing on 140.023201008 meters Centerline goodness [0,1] 0.8718775653805559 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94928586 -0.05195136 -0.31009259 4.21707673] [ 0.05891368 0.99817682 0.0131228 -0.32505184] [ 0.30884549 -0.03072598 0.95061579 0.00613352] [ 0. 0. 0. 1. ]] SLAMing on 140.053201008 meters Centerline goodness [0,1] 0.8755830668583331 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.9490509 -0.05224078 -0.31076244 4.21866076] [ 0.05940017 0.99814144 0.01361197 -0.3268127 ] [ 0.30947377 -0.03137779 0.95039014 0.00741833] [ 0. 0. 0. 1. ]] SLAMing on 140.083201008 meters Centerline goodness [0,1] 0.8781148748159058 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94900275 -0.05201763 -0.31094685 4.21867429] [ 0.05934737 0.99813709 0.01415062 -0.32836596] [ 0.3096315 -0.03188286 0.95032195 0.00825989] [ 0. 0. 0. 1. ]] SLAMing on 140.113201008 meters Centerline goodness [0,1] 0.8772306335440248 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94892266 -0.0518263 -0.3112231 4.21894572] [ 0.0592827 0.99813534 0.01453954 -0.32904203] [ 0.30988924 -0.03224705 0.95022565 0.00900398] [ 0. 0. 0. 1. ]] SLAMing on 140.143201008 meters Centerline goodness [0,1] 0.8745775661935408 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94894154 -0.05153013 -0.31121472 4.21860246] [ 0.05906494 0.99814401 0.01482798 -0.32870274] [ 0.30987302 -0.03245276 0.95022394 0.00933482] [ 0. 0. 0. 1. ]] SLAMing on 140.173201008 meters Centerline goodness [0,1] 0.8697968795996467 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94910095 -0.05033034 -0.31092482 4.21613424] [ 0.05798751 0.99819812 0.01542608 -0.32768327] [ 0.30958817 -0.03267066 0.95030931 0.0099379 ] [ 0. 0. 0. 1. ]] SLAMing on 140.203201008 meters Centerline goodness [0,1] 0.8713548084257466 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 0.94908841 -0.05011536 -0.31099782 4.2155999 ] [ 0.05778823 0.99820853 0.01550027 -0.32703132] [ 0.30966388 -0.03268314 0.95028422 0.01045283] [ 0. 0. 0. 1. ]] SLAMing on 140.233201008 meters Centerline goodness [0,1] 0.8709866760579914 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:0.01 [[ 0.94911284 -0.04969989 -0.31098993 4.21473596] [ 0.05743222 0.99822517 0.01574962 -0.32657657] [ 0.30965522 -0.03280901 0.9502827 0.0110173 ] [ 0. 0. 0. 1. ]] SLAMing on 140.263201008 meters Centerline goodness [0,1] 0.8693574862234729 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.33, Z:0.01 [[ 0.94920187 -0.04894531 -0.31083784 4.21291494] [ 0.05673004 0.99826058 0.01604722 -0.32529915] [ 0.30951173 -0.0328659 0.95032748 0.01165767] [ 0. 0. 0. 1. ]] SLAMing on 140.293201008 meters Centerline goodness [0,1] 0.8719322907514789 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.94916823 -0.04902024 -0.31092875 4.21300955] [ 0.05672972 0.99826464 0.01579419 -0.32418841] [ 0.30961494 -0.03263025 0.95030198 0.0116646 ] [ 0. 0. 0. 1. ]] SLAMing on 140.323201008 meters Centerline goodness [0,1] 0.8701344243132672 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.94912196 -0.04906784 -0.31106246 4.21315579] [ 0.05676228 0.99826387 0.01572572 -0.32329403] [ 0.30975079 -0.03258224 0.95025936 0.01194975] [ 0. 0. 0. 1. ]] SLAMing on 140.353201008 meters Centerline goodness [0,1] 0.8714665731240316 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.94906768 -0.04898597 -0.31124092 4.2131369 ] [ 0.05670101 0.99826646 0.01578213 -0.32279641] [ 0.30992827 -0.03262598 0.95019999 0.0123884 ] [ 0. 0. 0. 1. ]] SLAMing on 140.38320100800001 meters Centerline goodness [0,1] 0.8714264898732333 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.01 [[ 0.94882372 -0.04934058 -0.31192795 4.21432364] [ 0.05719434 0.99823366 0.01607396 -0.32326992] [ 0.31058388 -0.03309186 0.94996978 0.0139307 ] [ 0. 0. 0. 1. ]] SLAMing on 140.41320100800002 meters Centerline goodness [0,1] 0.8765479083111333 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 0.94867554 -0.04958405 -0.3123398 4.21526588] [ 0.05751666 0.99821262 0.01622984 -0.32394422] [ 0.31097678 -0.03336159 0.9498318 0.01462861] [ 0. 0. 0. 1. ]] SLAMing on 140.44320100800002 meters Centerline goodness [0,1] 0.8746338605741066 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94850454 -0.04999182 -0.31279379 4.21656693] [ 0.05798298 0.99818462 0.01629206 -0.32454934] [ 0.31141148 -0.03358981 0.94968132 0.01524935] [ 0. 0. 0. 1. ]] SLAMing on 140.47320100800002 meters Centerline goodness [0,1] 0.8761818075048446 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.9482812 -0.0506698 -0.31336135 4.21866579] [ 0.05870315 0.99814325 0.01624764 -0.32506112] [ 0.31195625 -0.03380263 0.94949496 0.01570851] [ 0. 0. 0. 1. ]] SLAMing on 140.503201008 meters Centerline goodness [0,1] 0.8772316832848025 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.9480785 -0.05127212 -0.31387629 4.22060773] [ 0.05935656 0.99810461 0.01624763 -0.32571417] [ 0.31244832 -0.03403464 0.94932486 0.01613241] [ 0. 0. 0. 1. ]] SLAMing on 140.533201008 meters Centerline goodness [0,1] 0.8733627019089574 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.94776578 -0.05246767 -0.31462226 4.223596 ] [ 0.06055381 0.99803709 0.0159752 -0.32571119] [ 0.3131665 -0.03419233 0.94908252 0.01669068] [ 0. 0. 0. 1. ]] SLAMing on 140.563201008 meters Centerline goodness [0,1] 0.87321135350692 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.94765645 -0.0525549 -0.31493688 4.22408834] [ 0.06072243 0.99802368 0.0161714 -0.32588606] [ 0.31346458 -0.03444867 0.94897484 0.01743107] [ 0. 0. 0. 1. ]] SLAMing on 140.593201008 meters Centerline goodness [0,1] 0.8740421034087906 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.94755579 -0.05250335 -0.3152482 4.22428281] [ 0.0607784 0.99801541 0.01646883 -0.32632255] [ 0.31375789 -0.03476542 0.94886635 0.01833628] [ 0. 0. 0. 1. ]] SLAMing on 140.623201008 meters Centerline goodness [0,1] 0.8781117895725693 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.94746325 -0.05228351 -0.31556272 4.22417698] [ 0.06072713 0.99801002 0.01697682 -0.32709962] [ 0.31404715 -0.03524813 0.94875284 0.0195307 ] [ 0. 0. 0. 1. ]] SLAMing on 140.653201008 meters Centerline goodness [0,1] 0.8812052069621179 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 0.94742319 -0.05215889 -0.31570357 4.22395494] [ 0.06065015 0.99801219 0.01712414 -0.32637286] [ 0.31418284 -0.03537128 0.94870333 0.02012111] [ 0. 0. 0. 1. ]] SLAMing on 140.683201008 meters Centerline goodness [0,1] 0.876745952895798 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94745374 -0.05198676 -0.31564029 4.22336569] [ 0.0604551 0.9980246 0.01709016 -0.3249678 ] [ 0.31412832 -0.0352742 0.948725 0.0202501 ] [ 0. 0. 0. 1. ]] SLAMing on 140.713201008 meters Centerline goodness [0,1] 0.874719706456216 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94755046 -0.05156121 -0.31541966 4.22196381] [ 0.06002514 0.99804916 0.01717152 -0.32334385] [ 0.31391894 -0.03520399 0.94879691 0.02047056] [ 0. 0. 0. 1. ]] SLAMing on 140.743201008 meters Centerline goodness [0,1] 0.8731456163825703 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94764051 -0.05097493 -0.31524437 4.22031433] [ 0.05950113 0.99807527 0.01747491 -0.32221029] [ 0.31374683 -0.03531733 0.94884963 0.02108648] [ 0. 0. 0. 1. ]] SLAMing on 140.773201008 meters Centerline goodness [0,1] 0.870562645011601 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.9478262 -0.04977283 -0.314878 4.21704234] [ 0.05843571 0.99812661 0.01812546 -0.32138842] [ 0.31338595 -0.03557991 0.94895907 0.02226278] [ 0. 0. 0. 1. ]] SLAMing on 140.803201008 meters Centerline goodness [0,1] 0.867867260218535 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94776142 -0.04971497 -0.31508208 4.21695694] [ 0.05837321 0.9981308 0.01809635 -0.32053362] [ 0.31359346 -0.03554338 0.94889188 0.02278964] [ 0. 0. 0. 1. ]] SLAMing on 140.833201008 meters Centerline goodness [0,1] 0.8675731855187944 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94785717 -0.0494058 -0.31484258 4.21598772] [ 0.05799094 0.99815567 0.01795324 -0.31907998] [ 0.31337491 -0.03527513 0.94897409 0.0225514 ] [ 0. 0. 0. 1. ]] SLAMing on 140.863201008 meters Centerline goodness [0,1] 0.8664099100393757 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94799615 -0.04435549 -0.31517597 4.21625514] [ 0.05395155 0.99830593 0.02178312 -0.31731613] [ 0.31367584 -0.03765455 0.94878322 0.0226211 ] [ 0. 0. 0. 1. ]] SLAMing on 140.893201008 meters Centerline goodness [0,1] 0.8674926862846326 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94810136 -0.04416688 -0.31488585 4.21586706] [ 0.05358876 0.99833541 0.02132269 -0.31519094] [ 0.31341994 -0.03709042 0.94889001 0.02161218] [ 0. 0. 0. 1. ]] SLAMing on 140.923201008 meters Centerline goodness [0,1] 0.8671687091971138 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:0.02 [[ 0.9482127 -0.04390437 -0.31458716 4.21539571] [ 0.05320613 0.99836191 0.02103796 -0.31377085] [ 0.31314818 -0.03668642 0.94899543 0.02078538] [ 0. 0. 0. 1. ]] SLAMing on 140.953201008 meters Centerline goodness [0,1] 0.861876715462031 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:0.02 [[ 0.94826457 -0.03862858 -0.31512242 4.21590318] [ 0.04903248 0.99848045 0.02515178 -0.31417139] [ 0.313672 -0.03930177 0.94871769 0.02135169] [ 0. 0. 0. 1. ]] SLAMing on 140.983201008 meters Centerline goodness [0,1] 0.8673588726930428 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94834641 -0.03814433 -0.31493505 4.21497915] [ 0.04844615 0.99851425 0.02494509 -0.31272097] [ 0.31351563 -0.03891398 0.94878536 0.02093735] [ 0. 0. 0. 1. ]] SLAMing on 141.013201008 meters Centerline goodness [0,1] 0.8691812432340038 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94847081 -0.03755502 -0.31463113 4.21376109] [ 0.04773486 0.99855437 0.02470956 -0.31128941] [ 0.31324832 -0.03845517 0.94889235 0.02030371] [ 0. 0. 0. 1. ]] SLAMing on 141.043201008 meters Centerline goodness [0,1] 0.871461057418988 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94859033 -0.0370574 -0.31432966 4.2128214 ] [ 0.04713373 0.99858774 0.02451419 -0.30999707] [ 0.31297731 -0.03806946 0.94899732 0.01965011] [ 0. 0. 0. 1. ]] SLAMing on 141.073201008 meters Centerline goodness [0,1] 0.874033212010919 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94875013 -0.03641646 -0.31392202 4.21165666] [ 0.04645529 0.99861853 0.02455486 -0.30945219] [ 0.31259415 -0.03787976 0.94913119 0.01904735] [ 0. 0. 0. 1. ]] SLAMing on 141.103201008 meters Centerline goodness [0,1] 0.8732406380619295 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94896753 -0.03552749 -0.31336627 4.21023678] [ 0.04545383 0.99866779 0.02442527 -0.30930009] [ 0.31208103 -0.03742248 0.94931817 0.01783252] [ 0. 0. 0. 1. ]] SLAMing on 141.13320100800001 meters Centerline goodness [0,1] 0.8737676506520442 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94902383 -0.03527151 -0.31322467 4.2098142 ] [ 0.04520071 0.99867763 0.02449257 -0.30929933] [ 0.31194658 -0.03740201 0.94936317 0.01769412] [ 0. 0. 0. 1. ]] SLAMing on 141.16320100800002 meters Centerline goodness [0,1] 0.8747042895824426 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94909708 -0.03488019 -0.31304648 4.20908276] [ 0.04487827 0.99868491 0.02478711 -0.3098519 ] [ 0.31177022 -0.03757436 0.94941429 0.01778505] [ 0. 0. 0. 1. ]] SLAMing on 141.19320100800002 meters Centerline goodness [0,1] 0.8740218198434911 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94909063 -0.03473858 -0.3130818 4.20940229] [ 0.04491135 0.99866962 0.02533706 -0.31203609] [ 0.3117851 -0.03810809 0.94938813 0.01827436] [ 0. 0. 0. 1. ]] SLAMing on 141.22320100800002 meters Centerline goodness [0,1] 0.87286679647234 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94919892 -0.03916072 -0.31223045 4.20793625] [ 0.04818638 0.99861248 0.02124099 -0.31149843] [ 0.31096542 -0.03520718 0.9497689 0.0170098 ] [ 0. 0. 0. 1. ]] SLAMing on 141.253201008 meters Centerline goodness [0,1] 0.8730099538165859 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94904424 -0.03937328 -0.31267358 4.20921542] [ 0.04856241 0.99858542 0.02165293 -0.3141006 ] [ 0.31137873 -0.03573377 0.94961381 0.01785549] [ 0. 0. 0. 1. ]] SLAMing on 141.283201008 meters Centerline goodness [0,1] 0.8709872629819607 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94911338 -0.04390246 -0.31185953 4.20791876] [ 0.05199944 0.9984904 0.01769122 -0.31416331] [ 0.31061206 -0.03300749 0.9499635 0.01686785] [ 0. 0. 0. 1. ]] SLAMing on 141.313201008 meters Centerline goodness [0,1] 0.8674771686208983 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.02 [[ 0.94898137 -0.04430564 -0.31220405 4.20953202] [ 0.05255553 0.99845476 0.01805566 -0.31644971] [ 0.31092165 -0.03354254 0.94984347 0.01737099] [ 0. 0. 0. 1. ]] SLAMing on 141.343201008 meters Centerline goodness [0,1] 0.8580510319602891 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.32, Z:0.02 [[ 0.94881526 -0.05030597 -0.31179948 4.21213258] [ 0.05731659 0.99826672 0.013355 -0.31679193] [ 0.31058721 -0.03054271 0.95005407 0.01519611] [ 0. 0. 0. 1. ]] SLAMing on 141.373201008 meters Centerline goodness [0,1] 0.8576913009336009 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94856738 -0.05126351 -0.31239715 4.21519956] [ 0.05832279 0.99820933 0.01328879 -0.31861141] [ 0.31115652 -0.03082518 0.94985864 0.01530921] [ 0. 0. 0. 1. ]] SLAMing on 141.403201008 meters Centerline goodness [0,1] 0.8519157144109653 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 0.94846055 -0.05671786 -0.31177825 4.2160536 ] [ 0.0625236 0.99800601 0.00864847 -0.31809376] [ 0.31066604 -0.02769623 0.95011553 0.01347684] [ 0. 0. 0. 1. ]] SLAMing on 141.433201008 meters Centerline goodness [0,1] 0.8504450515554772 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 0.94831588 -0.06181845 -0.31124824 4.21624295] [ 0.06652277 0.99777471 0.00450996 -0.31850655] [ 0.31027682 -0.02498196 0.95031794 0.01257163] [ 0. 0. 0. 1. ]] SLAMing on 141.463201008 meters Centerline goodness [0,1] 0.8533866650980854 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.48170702e-01 -6.68273230e-02 -3.10654839e-01 4.21596757e+00] [ 7.04623419e-02 9.97514325e-01 4.80006099e-04 -3.18847819e-01] [ 3.09850575e-01 -2.23445952e-02 9.50522667e-01 1.19228724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.493201008 meters Centerline goodness [0,1] 0.8488516633124186 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.47853487e-01 -7.23396826e-02 -3.10388043e-01 4.21714216e+00] [ 7.51875353e-02 9.97165491e-01 -2.79607276e-03 -3.21964970e-01] [ 3.09710513e-01 -2.06870447e-02 9.50605830e-01 1.25781642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.523201008 meters Centerline goodness [0,1] 0.8489671319759343 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.47635660e-01 -7.29838145e-02 -3.10901945e-01 4.21917711e+00] [ 7.60658894e-02 9.97100327e-01 -2.21753540e-03 -3.24423665e-01] [ 3.10162275e-01 -2.15476173e-02 9.50439405e-01 1.37359009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.553201008 meters Centerline goodness [0,1] 0.8512890659847155 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.01 [[ 9.47407650e-01 -7.37084106e-02 -3.11425457e-01 4.22149573e+00] [ 7.69587812e-02 9.97032546e-01 -1.85709336e-03 -3.26900950e-01] [ 3.10638199e-01 -2.22074991e-02 9.50268770e-01 1.45585412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.583201008 meters Centerline goodness [0,1] 0.8518860891605785 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.33, Z:0.02 [[ 9.47214091e-01 -7.42093721e-02 -3.11894912e-01 4.22333346e+00] [ 7.76764947e-02 9.96977755e-01 -1.31077163e-03 -3.29284557e-01] [ 3.11049560e-01 -2.29853221e-02 9.50115701e-01 1.55360489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.613201008 meters Centerline goodness [0,1] 0.8589260057471264 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.01 [[ 0.94682203 -0.08010359 -0.31162713 4.22537638] [ 0.08244568 0.99657941 -0.00567408 -0.3292358 ] [ 0.31101569 -0.02031997 0.95018753 0.01474271] [ 0. 0. 0. 1. ]] SLAMing on 141.643201008 meters Centerline goodness [0,1] 0.8638213815395666 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.02 [[ 0.94662476 -0.08056784 -0.31210637 4.2270067 ] [ 0.08296095 0.99653692 -0.00562609 -0.32980368] [ 0.3114788 -0.02056685 0.95003051 0.01524974] [ 0. 0. 0. 1. ]] SLAMing on 141.673201008 meters Centerline goodness [0,1] 0.8596160182106808 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.02 [[ 0.94654927 -0.08082001 -0.31227009 4.22788978] [ 0.08323759 0.99651398 -0.00560343 -0.32997445] [ 0.31163438 -0.02068869 0.94997684 0.01537609] [ 0. 0. 0. 1. ]] SLAMing on 141.703201008 meters Centerline goodness [0,1] 0.8675771794028869 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.02 [[ 0.94656891 -0.08094439 -0.31217833 4.22811015] [ 0.08333104 0.99650555 -0.00571137 -0.32913595] [ 0.31154975 -0.02060794 0.95000635 0.01513939] [ 0. 0. 0. 1. ]] SLAMing on 141.733201008 meters Centerline goodness [0,1] 0.8634411168118363 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.01 [[ 0.94661683 -0.08095915 -0.31202916 4.22807573] [ 0.08331506 0.99650639 -0.00579714 -0.32809613] [ 0.31140838 -0.02050906 0.95005484 0.01485244] [ 0. 0. 0. 1. ]] SLAMing on 141.763201008 meters Centerline goodness [0,1] 0.8666269723131884 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.01 [[ 0.94664776 -0.08102859 -0.31191728 4.22824222] [ 0.08333476 0.99650383 -0.00595235 -0.32707082] [ 0.31130908 -0.02035877 0.95009062 0.0144674 ] [ 0. 0. 0. 1. ]] SLAMing on 141.793201008 meters Centerline goodness [0,1] 0.8630909954858637 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.01 [[ 0.94673616 -0.08090359 -0.31168133 4.22769194] [ 0.08318953 0.99651581 -0.00597783 -0.32582549] [ 0.311079 -0.0202692 0.95016789 0.01427093] [ 0. 0. 0. 1. ]] SLAMing on 141.823201008 meters Centerline goodness [0,1] 0.8624417188845663 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94686005 -0.08069289 -0.31135944 4.22685683] [ 0.08292781 0.99653702 -0.00607794 -0.32414166] [ 0.31077166 -0.0200654 0.95027278 0.01388037] [ 0. 0. 0. 1. ]] SLAMing on 141.853201008 meters Centerline goodness [0,1] 0.8588023704926733 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.02 [[ 9.47228833e-01 -7.51304826e-02 -3.11629505e-01 4.22550288e+00] [ 7.85894388e-02 9.96905994e-01 -1.46278193e-03 -3.23158227e-01] [ 3.10775221e-01 -2.31051987e-02 9.50202564e-01 1.51700078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.88320100800001 meters Centerline goodness [0,1] 0.8531653765782735 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.47440101e-01 -7.44342364e-02 -3.11153981e-01 4.22361513e+00] [ 7.78095141e-02 9.96967007e-01 -1.57036075e-03 -3.21009107e-01] [ 3.10327142e-01 -2.27229173e-02 9.50358214e-01 1.46810739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.91320100800002 meters Centerline goodness [0,1] 0.8503013376451566 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.47670536e-01 -7.35232023e-02 -3.10668462e-01 4.22146319e+00] [ 7.68540499e-02 9.97041190e-01 -1.52362548e-03 -3.18809207e-01] [ 3.09861275e-01 -2.24322345e-02 9.50517115e-01 1.43119956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.94320100800002 meters Centerline goodness [0,1] 0.8503013376451566 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 9.47670536e-01 -7.35232023e-02 -3.10668462e-01 4.22146319e+00] [ 7.68540499e-02 9.97041190e-01 -1.52362548e-03 -3.18809207e-01] [ 3.09861275e-01 -2.24322345e-02 9.50517115e-01 1.43119956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.97320100800002 meters Centerline goodness [0,1] 0.8479080782387509 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 9.47931246e-01 -6.79175860e-02 -3.11148765e-01 4.22073705e+00] [ 7.25319077e-02 9.97360737e-01 3.26830143e-03 -3.19245195e-01] [ 3.10105587e-01 -2.56663386e-02 9.50355599e-01 1.57938757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.003201008 meters Centerline goodness [0,1] 0.8445687456526779 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.94853824 -0.06166433 -0.31060057 4.21724947] [ 0.06745886 0.99769048 0.0079375 -0.31725335] [ 0.30939378 -0.02848179 0.95050738 0.01628547] [ 0. 0. 0. 1. ]] SLAMing on 142.033201008 meters Centerline goodness [0,1] 0.8436401360152153 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.02 [[ 0.9488011 -0.0609333 -0.30994129 4.21501474] [ 0.06668369 0.99774224 0.00798161 -0.31500684] [ 0.30875517 -0.02824098 0.95072219 0.01582534] [ 0. 0. 0. 1. ]] SLAMing on 142.063201008 meters Centerline goodness [0,1] 0.8407835692095271 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.02 [[ 0.94908909 -0.06029416 -0.30918361 4.21282216] [ 0.06597868 0.99778934 0.00795249 -0.31270925] [ 0.30802062 -0.02794715 0.95096911 0.01511208] [ 0. 0. 0. 1. ]] SLAMing on 142.093201008 meters Centerline goodness [0,1] 0.8389706515190636 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.94929379 -0.05978009 -0.30865456 4.21109033] [ 0.06539315 0.9978286 0.00786325 -0.3102958 ] [ 0.30751428 -0.02764843 0.9511417 0.01463422] [ 0. 0. 0. 1. ]] SLAMing on 142.123201008 meters Centerline goodness [0,1] 0.832569989122345 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.94957887 -0.05478874 -0.30870401 4.21108792] [ 0.0613757 0.99804663 0.01165956 -0.30917188] [ 0.30746218 -0.0300186 0.95108669 0.01426892] [ 0. 0. 0. 1. ]] SLAMing on 142.153201008 meters Centerline goodness [0,1] 0.8343714285714285 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.94974338 -0.05420662 -0.30830043 4.20964339] [ 0.06079727 0.99808033 0.01180419 -0.30826065] [ 0.30706873 -0.02995478 0.9512158 0.01403366] [ 0. 0. 0. 1. ]] SLAMing on 142.183201008 meters Centerline goodness [0,1] 0.8345883963717269 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.94992859 -0.05351923 -0.30784958 4.20799667] [ 0.06015174 0.99811604 0.01208852 -0.3079766 ] [ 0.30662264 -0.03000092 0.95135824 0.01390133] [ 0. 0. 0. 1. ]] SLAMing on 142.213201008 meters Centerline goodness [0,1] 0.8353911806543386 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95006309 -0.05319701 -0.30749017 4.20731125] [ 0.05977978 0.9981392 0.01202163 -0.3073075 ] [ 0.30627848 -0.029803 0.95147532 0.01323036] [ 0. 0. 0. 1. ]] SLAMing on 142.243201008 meters Centerline goodness [0,1] 0.8348657594703935 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95013668 -0.05318859 -0.30726416 4.20755579] [ 0.05964761 0.99815138 0.01166135 -0.30588982] [ 0.30607589 -0.02940745 0.95155281 0.01214223] [ 0. 0. 0. 1. ]] SLAMing on 142.273201008 meters Centerline goodness [0,1] 0.836285940683722 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95021102 -0.04873225 -0.30777296 4.21022891] [ 0.05619544 0.99830059 0.01542726 -0.3061891 ] [ 0.30649812 -0.03195459 0.95133475 0.01129223] [ 0. 0. 0. 1. ]] SLAMing on 142.303201008 meters Centerline goodness [0,1] 0.8371738393764825 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95024487 -0.04870059 -0.30767344 4.21083551] [ 0.05610398 0.99830835 0.01525745 -0.30595802] [ 0.30640992 -0.03176001 0.95136968 0.01041479] [ 0. 0. 0. 1. ]] SLAMing on 142.333201008 meters Centerline goodness [0,1] 0.8352006807545029 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95030719 -0.04841705 -0.30752566 4.21079081] [ 0.05585392 0.99831984 0.01542207 -0.30667731] [ 0.30626227 -0.03183221 0.9514148 0.01000878] [ 0. 0. 0. 1. ]] SLAMing on 142.363201008 meters Centerline goodness [0,1] 0.836024246544301 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95040794 -0.04778087 -0.30731373 4.2099093 ] [ 0.0553425 0.9983403 0.01593287 -0.30783189] [ 0.30604239 -0.03215024 0.95147486 0.01008189] [ 0. 0. 0. 1. ]] SLAMing on 142.393201008 meters Centerline goodness [0,1] 0.8370613352939513 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95070755 -0.04635979 -0.30660385 4.20727275] [ 0.05412987 0.99839116 0.01688325 -0.3092435 ] [ 0.30532787 -0.03264746 0.95168747 0.01006436] [ 0. 0. 0. 1. ]] SLAMing on 142.423201008 meters Centerline goodness [0,1] 0.8414761649100003 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95091553 -0.04562873 -0.3060681 4.20583607] [ 0.05348056 0.9984188 0.01731283 -0.30966116] [ 0.30479418 -0.03283173 0.95185219 0.00969525] [ 0. 0. 0. 1. ]] SLAMing on 142.453201008 meters Centerline goodness [0,1] 0.8405621243333239 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.01 [[ 0.9510269 -0.04502542 -0.30581128 4.2048558 ] [ 0.0529432 0.99844167 0.01764209 -0.31013921] [ 0.30454039 -0.03296873 0.95192868 0.00958387] [ 0. 0. 0. 1. ]] SLAMing on 142.483201008 meters Centerline goodness [0,1] 0.8430485667439362 Centerline is valid? [False, False] Translation: X:4.20, Y:-0.31, Z:0.01 [[ 0.95125791 -0.0442752 -0.30520173 4.2040969 ] [ 0.052139 0.99848369 0.01765903 -0.31081571] [ 0.3039571 -0.0327112 0.95212397 0.00801633] [ 0. 0. 0. 1. ]] SLAMing on 142.513201008 meters Centerline goodness [0,1] 0.8450859222890037 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95124869 -0.04447456 -0.30520148 4.20511216] [ 0.05229063 0.99847894 0.01747858 -0.3111856 ] [ 0.3039599 -0.03258566 0.95212738 0.00727527] [ 0. 0. 0. 1. ]] SLAMing on 142.543201008 meters Centerline goodness [0,1] 0.8421424733463421 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95112773 -0.04500497 -0.30550057 4.20683556] [ 0.05278777 0.99845661 0.01725826 -0.31144402] [ 0.30425235 -0.03254151 0.95203548 0.0069881 ] [ 0. 0. 0. 1. ]] SLAMing on 142.573201008 meters Centerline goodness [0,1] 0.8422997714898299 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95097845 -0.04543322 -0.30590165 4.20854874] [ 0.0532283 0.99843449 0.01718486 -0.31198429] [ 0.30464199 -0.03262506 0.95190801 0.00697036] [ 0. 0. 0. 1. ]] SLAMing on 142.603201008 meters Centerline goodness [0,1] 0.8418325683552502 Centerline is valid? [False, False] Translation: X:4.21, Y:-0.31, Z:0.01 [[ 0.95072072 -0.04669886 -0.30651154 4.21253594] [ 0.05437247 0.99838373 0.01653984 -0.31236326] [ 0.30524374 -0.03239056 0.95172323 0.00602098] [ 0. 0. 0. 1. ]] SLAMing on 142.63320100800001 meters Centerline goodness [0,1] 0.8412514811262202 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:0.01 [[ 0.95046733 -0.04752807 -0.30716923 4.2155791 ] [ 0.05514749 0.99834731 0.01616819 -0.31285822] [ 0.30589313 -0.03230695 0.95151755 0.00572275] [ 0. 0. 0. 1. ]] SLAMing on 142.66320100800002 meters Centerline goodness [0,1] 0.8427055327578887 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:0.01 [[ 0.95023433 -0.04820964 -0.30778327 4.21819406] [ 0.05584187 0.99831089 0.0160329 -0.31409763] [ 0.30649045 -0.03242221 0.9513214 0.00579746] [ 0. 0. 0. 1. ]] SLAMing on 142.69320100800002 meters Centerline goodness [0,1] 0.8426660621174337 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.31, Z:0.01 [[ 0.94999656 -0.04867766 -0.3084429 4.22014878] [ 0.05635952 0.99828169 0.01603973 -0.31497363] [ 0.30713213 -0.03262138 0.95110762 0.00636976] [ 0. 0. 0. 1. ]] SLAMing on 142.72320100800002 meters Centerline goodness [0,1] 0.8443528910356585 Centerline is valid? [False, False] Translation: X:4.22, Y:-0.32, Z:0.01 [[ 0.94985286 -0.04898885 -0.30883593 4.22172273] [ 0.056672 0.99826542 0.01595083 -0.31550145] [ 0.30751882 -0.0326533 0.95098157 0.00639904] [ 0. 0. 0. 1. ]] SLAMing on 142.753201008 meters Centerline goodness [0,1] 0.8492070247113229 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94961472 -0.04993264 -0.30941657 4.22502504] [ 0.05745688 0.99823156 0.01524663 -0.31538545] [ 0.30810808 -0.03225654 0.95080436 0.00556396] [ 0. 0. 0. 1. ]] SLAMing on 142.783201008 meters Centerline goodness [0,1] 0.8493353028064993 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.9495727 -0.04992414 -0.30954686 4.22554887] [ 0.057504 0.99822641 0.01540522 -0.31573565] [ 0.30822876 -0.03242856 0.95075939 0.00568022] [ 0. 0. 0. 1. ]] SLAMing on 142.813201008 meters Centerline goodness [0,1] 0.8448040109389243 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94958396 -0.04989994 -0.30951623 4.22593346] [ 0.05753254 0.99822213 0.01557511 -0.31619825] [ 0.30818875 -0.03259713 0.9507666 0.00552832] [ 0. 0. 0. 1. ]] SLAMing on 142.843201008 meters Centerline goodness [0,1] 0.8437892095357591 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94948738 -0.05009955 -0.30978017 4.2272425 ] [ 0.05780573 0.99820375 0.01574101 -0.31715481] [ 0.3084351 -0.03285296 0.9506779 0.00562892] [ 0. 0. 0. 1. ]] SLAMing on 142.873201008 meters Centerline goodness [0,1] 0.8457216200798631 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94932887 -0.05044531 -0.31020956 4.22896818] [ 0.05824779 0.99817498 0.01593458 -0.3185485 ] [ 0.30883959 -0.03319618 0.95053465 0.00599787] [ 0. 0. 0. 1. ]] SLAMing on 142.903201008 meters Centerline goodness [0,1] 0.8423666532697939 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94895321 -0.05646782 -0.3103211 4.23164131] [ 0.06324539 0.99792808 0.01181385 -0.32024946] [ 0.30901104 -0.03083717 0.95055839 0.00568759] [ 0. 0. 0. 1. ]] SLAMing on 142.933201008 meters Centerline goodness [0,1] 0.8446657838678104 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.94874615 -0.06173669 -0.30995051 4.23209957] [ 0.06740325 0.99769691 0.00759497 -0.32018067] [ 0.30876777 -0.02809737 0.95072236 0.00502119] [ 0. 0. 0. 1. ]] SLAMing on 142.963201008 meters Centerline goodness [0,1] 0.8458268263057436 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.32, Z:0.01 [[ 0.9485842 -0.0621429 -0.31036475 4.23354015] [ 0.06806281 0.99764676 0.00826975 -0.32294962] [ 0.30912048 -0.02896885 0.95058158 0.00622435] [ 0. 0. 0. 1. ]] SLAMing on 142.993201008 meters Centerline goodness [0,1] 0.847198494281164 Centerline is valid? [False, False] Translation: X:4.23, Y:-0.33, Z:0.01 [[ 0.94839854 -0.06216154 -0.31092788 4.2343796 ] [ 0.06844093 0.99761169 0.0093147 -0.32577563] [ 0.30960627 -0.03011424 0.95038786 0.00820678] [ 0. 0. 0. 1. ]] SLAMing on 143.023201008 meters Centerline goodness [0,1] 0.8477418979122383 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94805453 -0.06237225 -0.31193318 4.23577145] [ 0.06938795 0.99752426 0.01143107 -0.33068371] [ 0.31044794 -0.03248168 0.95003527 0.01265851] [ 0. 0. 0. 1. ]] SLAMing on 143.053201008 meters Centerline goodness [0,1] 0.8478051906440244 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94790729 -0.06235614 -0.31238355 4.23645449] [ 0.06960596 0.99750118 0.01209945 -0.33190558] [ 0.31084849 -0.03321291 0.949879 0.01407893] [ 0. 0. 0. 1. ]] SLAMing on 143.083201008 meters Centerline goodness [0,1] 0.8482861140258832 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94783719 -0.0622662 -0.3126141 4.2370112 ] [ 0.06961614 0.99749686 0.01239366 -0.332516 ] [ 0.31105988 -0.03351016 0.94979936 0.01449779] [ 0. 0. 0. 1. ]] SLAMing on 143.113201008 meters Centerline goodness [0,1] 0.8507236669675878 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94776051 -0.06240098 -0.31281964 4.23821113] [ 0.06973886 0.9974893 0.01231196 -0.33279824] [ 0.31126597 -0.03348447 0.94973275 0.01416712] [ 0. 0. 0. 1. ]] SLAMing on 143.143201008 meters Centerline goodness [0,1] 0.8504378283712785 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94771766 -0.06228876 -0.31297178 4.23905003] [ 0.06960492 0.99749946 0.01224648 -0.33296219] [ 0.31142637 -0.03339058 0.94968347 0.01366723] [ 0. 0. 0. 1. ]] SLAMing on 143.173201008 meters Centerline goodness [0,1] 0.8494733463659441 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94768006 -0.0621745 -0.31310836 4.23936316] [ 0.06953298 0.99750285 0.01237837 -0.33287363] [ 0.31155686 -0.03350209 0.94963674 0.01384221] [ 0. 0. 0. 1. ]] SLAMing on 143.203201008 meters Centerline goodness [0,1] 0.8510446371413607 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94764791 -0.06198557 -0.31324307 4.23958634] [ 0.06940459 0.9975093 0.01257787 -0.33294031] [ 0.31168323 -0.03365989 0.94958969 0.01406371] [ 0. 0. 0. 1. ]] SLAMing on 143.233201008 meters Centerline goodness [0,1] 0.8518323996265172 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.01 [[ 0.94770574 -0.06162624 -0.313139 4.23912858] [ 0.06906177 0.99753157 0.01269762 -0.33283771] [ 0.31158353 -0.03365954 0.94962242 0.01398555] [ 0. 0. 0. 1. ]] SLAMing on 143.263201008 meters Centerline goodness [0,1] 0.853365105195862 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94764317 -0.05661347 -0.31427272 4.23997965] [ 0.06542705 0.99770287 0.01755825 -0.33435534] [ 0.31255676 -0.03720089 0.94917036 0.01672459] [ 0. 0. 0. 1. ]] SLAMing on 143.293201008 meters Centerline goodness [0,1] 0.8558760248880619 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94753155 -0.0568988 -0.31455762 4.24096985] [ 0.06565535 0.99769232 0.01730373 -0.33321845] [ 0.31284716 -0.03704822 0.94908065 0.01679022] [ 0. 0. 0. 1. ]] SLAMing on 143.323201008 meters Centerline goodness [0,1] 0.8519972091400663 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94743476 -0.05722237 -0.31479037 4.24182814] [ 0.06590808 0.99768074 0.01700798 -0.33186443] [ 0.31308705 -0.03686118 0.94900883 0.01677298] [ 0. 0. 0. 1. ]] SLAMing on 143.353201008 meters Centerline goodness [0,1] 0.8528736300473851 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.9473173 -0.0576681 -0.31506241 4.24293452] [ 0.06625261 0.99766485 0.01659611 -0.33039774] [ 0.31336962 -0.03659549 0.94892584 0.01666041] [ 0. 0. 0. 1. ]] SLAMing on 143.38320100800001 meters Centerline goodness [0,1] 0.8532477714219344 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94723463 -0.05781268 -0.31528439 4.24329285] [ 0.06639999 0.99765576 0.016554 -0.32886425] [ 0.31358826 -0.0366154 0.94885284 0.01709752] [ 0. 0. 0. 1. ]] SLAMing on 143.41320100800002 meters Centerline goodness [0,1] 0.8539815298832549 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94708275 -0.05814865 -0.31567863 4.24431587] [ 0.06674811 0.99763362 0.01648808 -0.32832991] [ 0.31397286 -0.03668653 0.9487229 0.01761815] [ 0. 0. 0. 1. ]] SLAMing on 143.44320100800002 meters Centerline goodness [0,1] 0.8540330305053261 Centerline is valid? [False, False] Translation: X:4.24, Y:-0.33, Z:0.02 [[ 0.94692972 -0.05831525 -0.3161067 4.24494268] [ 0.06701257 0.9976123 0.0167038 -0.32805201] [ 0.31437784 -0.03700044 0.94857659 0.01870332] [ 0. 0. 0. 1. ]] SLAMing on 143.47320100800002 meters Centerline goodness [0,1] 0.8542440780306549 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.02 [[ 0.94675396 -0.05857822 -0.31658417 4.24571545] [ 0.0673916 0.99758258 0.01695174 -0.3281572 ] [ 0.31482585 -0.03738424 0.94841294 0.01994026] [ 0. 0. 0. 1. ]] SLAMing on 143.503201008 meters Centerline goodness [0,1] 0.8513317472291534 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.02 [[ 0.94653285 -0.05881156 -0.31720144 4.246675 ] [ 0.06778695 0.9975494 0.01732381 -0.32839726] [ 0.31540527 -0.03789967 0.94819994 0.02150523] [ 0. 0. 0. 1. ]] SLAMing on 143.533201008 meters Centerline goodness [0,1] 0.8534177362216157 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.33, Z:0.02 [[ 0.94637084 -0.0592069 -0.31761104 4.24785612] [ 0.06819963 0.99752238 0.01725988 -0.3279967 ] [ 0.31580222 -0.0379952 0.94806399 0.02200696] [ 0. 0. 0. 1. ]] SLAMing on 143.563201008 meters Centerline goodness [0,1] 0.850091407678245 Centerline is valid? [False, False] Translation: X:4.25, Y:-0.32, Z:0.02 [[ 0.94598308 -0.06114126 -0.31839874 4.25249729] [ 0.06974212 0.99744194 0.0156722 -0.32435984] [ 0.31662603 -0.03703144 0.94782732 0.02069885] [ 0. 0. 0. 1. ]] SLAMing on 143.593201008 meters Centerline goodness [0,1] 0.8492455020313407 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.02 [[ 0.94576555 -0.062185 -0.31884252 4.25527571] [ 0.07057961 0.99739589 0.01483084 -0.32230271] [ 0.31708996 -0.03653027 0.94769167 0.01993163] [ 0. 0. 0. 1. ]] SLAMing on 143.623201008 meters Centerline goodness [0,1] 0.848556856381129 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.02 [[ 0.94536212 -0.05954345 -0.32053867 4.2609444 ] [ 0.06904918 0.99744429 0.01836036 -0.3224471 ] [ 0.31862622 -0.03949012 0.94705748 0.0216433 ] [ 0. 0. 0. 1. ]] SLAMing on 143.653201008 meters Centerline goodness [0,1] 0.8473895582329317 Centerline is valid? [False, False] Translation: X:4.26, Y:-0.32, Z:0.02 [[ 0.94494506 -0.06100403 -0.32149236 4.26446698] [ 0.07032233 0.99737184 0.01744066 -0.32021089] [ 0.31958347 -0.03908856 0.94675154 0.02193483] [ 0. 0. 0. 1. ]] SLAMing on 143.683201008 meters Centerline goodness [0,1] 0.8510460251046025 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:0.02 [[ 0.94476634 -0.06119261 -0.32198142 4.26505188] [ 0.07062472 0.99734621 0.01768315 -0.32021372] [ 0.32004487 -0.03944629 0.94658083 0.02323835] [ 0. 0. 0. 1. ]] SLAMing on 143.713201008 meters Centerline goodness [0,1] 0.8511221369641724 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:0.02 [[ 0.94447595 -0.06177273 -0.32272172 4.26659118] [ 0.07129789 0.99729684 0.01776574 -0.31991431] [ 0.32075192 -0.03978869 0.94632715 0.02468519] [ 0. 0. 0. 1. ]] SLAMing on 143.743201008 meters Centerline goodness [0,1] 0.8544623872191254 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:0.03 [[ 0.9441924 -0.06242661 -0.32342484 4.26841383] [ 0.0719883 0.99724889 0.01767317 -0.31903061] [ 0.32143178 -0.03996968 0.94608881 0.02573703] [ 0. 0. 0. 1. ]] SLAMing on 143.773201008 meters Centerline goodness [0,1] 0.8592110544120177 Centerline is valid? [False, False] Translation: X:4.27, Y:-0.32, Z:0.02 [[ 0.94396944 -0.06351956 -0.32386258 4.27077082] [ 0.07276648 0.99721235 0.01650961 -0.3151111 ] [ 0.32191108 -0.03915091 0.94596007 0.02490696] [ 0. 0. 0. 1. ]] SLAMing on 143.803201008 meters Centerline goodness [0,1] 0.8516950364754685 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:0.03 [[ 0.94361034 -0.06003472 -0.32556929 4.27530275] [ 0.07055833 0.99729489 0.02060161 -0.31516046] [ 0.32345178 -0.04241151 0.94529372 0.02715436] [ 0. 0. 0. 1. ]] SLAMing on 143.833201008 meters Centerline goodness [0,1] 0.8516950364754685 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.32, Z:0.03 [[ 0.94361034 -0.06003472 -0.32556929 4.27530275] [ 0.07055833 0.99729489 0.02060161 -0.31516046] [ 0.32345178 -0.04241151 0.94529372 0.02715436] [ 0. 0. 0. 1. ]] SLAMing on 143.863201008 meters Centerline goodness [0,1] 0.8525260029717682 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94351475 -0.06058918 -0.32574357 4.27667104] [ 0.07091663 0.99728348 0.01991228 -0.31274212] [ 0.32365221 -0.04188817 0.94524845 0.02646267] [ 0. 0. 0. 1. ]] SLAMing on 143.893201008 meters Centerline goodness [0,1] 0.8513784031114162 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94310746 -0.05668348 -0.32762068 4.28059893] [ 0.06845741 0.99735297 0.02450779 -0.31387122] [ 0.32536427 -0.04554154 0.94449143 0.02965563] [ 0. 0. 0. 1. ]] SLAMing on 143.923201008 meters Centerline goodness [0,1] 0.8563990212257441 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.9429015 -0.05722775 -0.3281185 4.28183738] [ 0.06892362 0.99733039 0.02411694 -0.31261906] [ 0.32586239 -0.04535501 0.94432866 0.03014236] [ 0. 0. 0. 1. ]] SLAMing on 143.953201008 meters Centerline goodness [0,1] 0.8591481122942884 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94277641 -0.05725987 -0.32847214 4.28209226] [ 0.06900572 0.9973226 0.02420419 -0.31220034] [ 0.32620676 -0.04548559 0.94420348 0.03101423] [ 0. 0. 0. 1. ]] SLAMing on 143.983201008 meters Centerline goodness [0,1] 0.8542335331042122 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94267364 -0.05739007 -0.32874427 4.28195243] [ 0.06909994 0.99732009 0.02403821 -0.31023271] [ 0.32648371 -0.04537639 0.94411301 0.03185442] [ 0. 0. 0. 1. ]] SLAMing on 144.013201008 meters Centerline goodness [0,1] 0.8586333994896512 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94260919 -0.05772879 -0.32886975 4.28264326] [ 0.06929391 0.99731841 0.02354457 -0.30847291] [ 0.32662865 -0.044982 0.94408175 0.03151483] [ 0. 0. 0. 1. ]] SLAMing on 144.043201008 meters Centerline goodness [0,1] 0.8545290264287327 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94262724 -0.05282402 -0.32964148 4.28343393] [ 0.06558221 0.99746275 0.0276955 -0.30738086] [ 0.3273421 -0.04772515 0.94369988 0.03279673] [ 0. 0. 0. 1. ]] SLAMing on 144.073201008 meters Centerline goodness [0,1] 0.8540640913822694 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94263919 -0.05271977 -0.32962402 4.28325676] [ 0.0653313 0.99749031 0.02729287 -0.30500941] [ 0.32735789 -0.04726209 0.94371771 0.0323545 ] [ 0. 0. 0. 1. ]] SLAMing on 144.103201008 meters Centerline goodness [0,1] 0.8506590225669561 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.31, Z:0.03 [[ 0.94255411 -0.047895 -0.33060221 4.28468644] [ 0.06185205 0.99757796 0.03182045 -0.30592633] [ 0.32827744 -0.05044092 0.94323361 0.03422239] [ 0. 0. 0. 1. ]] SLAMing on 144.13320100800001 meters Centerline goodness [0,1] 0.8505446255171831 Centerline is valid? [False, False] Translation: X:4.28, Y:-0.30, Z:0.03 [[ 0.94260841 -0.04783011 -0.33045676 4.28423135] [ 0.06164079 0.99760328 0.03143421 -0.30433697] [ 0.32816124 -0.04999977 0.94329753 0.03375519] [ 0. 0. 0. 1. ]] SLAMing on 144.16320100800002 meters Centerline goodness [0,1] 0.8523158160829144 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:0.03 [[ 0.9445221 -0.04991296 -0.32463319 4.29854349] [ 0.06041567 0.99792312 0.0223472 -0.30068995] [ 0.32284355 -0.04072035 0.94557596 0.03364226] [ 0. 0. 0. 1. ]] SLAMing on 144.19320100800002 meters Centerline goodness [0,1] 0.8530217476379494 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:0.04 [[ 0.9444758 -0.04956456 -0.3248212 4.29690293] [ 0.06020839 0.99792556 0.02279291 -0.29954634] [ 0.32301766 -0.04108432 0.94550075 0.03565927] [ 0. 0. 0. 1. ]] SLAMing on 144.22320100800002 meters Centerline goodness [0,1] 0.8538394781781025 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:0.04 [[ 0.9443727 -0.04997678 -0.32505774 4.2978497 ] [ 0.06045452 0.99792389 0.02220707 -0.29751901] [ 0.32327305 -0.04062296 0.9454334 0.03534094] [ 0. 0. 0. 1. ]] SLAMing on 144.253201008 meters Centerline goodness [0,1] 0.8571308630919064 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.30, Z:0.03 [[ 0.94436272 -0.05030109 -0.32503671 4.29873979] [ 0.06057554 0.99793071 0.02156151 -0.29543351] [ 0.32327955 -0.04005116 0.94545557 0.03432096] [ 0. 0. 0. 1. ]] SLAMing on 144.283201008 meters Centerline goodness [0,1] 0.8588442014837954 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94432945 -0.05068355 -0.32507393 4.29994372] [ 0.06071164 0.99793917 0.02077276 -0.29298741] [ 0.32335117 -0.0393521 0.94546043 0.03305251] [ 0. 0. 0. 1. ]] SLAMing on 144.313201008 meters Centerline goodness [0,1] 0.8554649447521501 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94432851 -0.05110489 -0.32501069 4.3009266 ] [ 0.06089089 0.99794398 0.02000299 -0.29023674] [ 0.32332021 -0.03867959 0.94549877 0.03181513] [ 0. 0. 0. 1. ]] SLAMing on 144.343201008 meters Centerline goodness [0,1] 0.8528362419448516 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94440688 -0.05069732 -0.32484678 4.30005524] [ 0.06037991 0.99797929 0.01978879 -0.28670494] [ 0.32318712 -0.03830289 0.94555961 0.03135981] [ 0. 0. 0. 1. ]] SLAMing on 144.373201008 meters Centerline goodness [0,1] 0.8503202296819787 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94438564 -0.05050627 -0.32493826 4.29956618] [ 0.06023408 0.99798507 0.01994131 -0.28608984] [ 0.32327637 -0.03840465 0.94552497 0.03198886] [ 0. 0. 0. 1. ]] SLAMing on 144.403201008 meters Centerline goodness [0,1] 0.8548449612403101 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94441422 -0.05015429 -0.32490971 4.29868769] [ 0.05996555 0.99799508 0.02024743 -0.28603402] [ 0.3232428 -0.03860535 0.94552828 0.03262093] [ 0. 0. 0. 1. ]] SLAMing on 144.433201008 meters Centerline goodness [0,1] 0.8549394659737962 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.29, Z:0.03 [[ 0.94428713 -0.0502622 -0.32526225 4.29897706] [ 0.06010299 0.99798632 0.02027131 -0.28567456] [ 0.3235884 -0.03869117 0.94540655 0.03352722] [ 0. 0. 0. 1. ]] SLAMing on 144.463201008 meters Centerline goodness [0,1] 0.8564045875362719 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94419703 -0.05063438 -0.32546602 4.30001541] [ 0.06035115 0.99798038 0.01982161 -0.28427838] [ 0.32380504 -0.03835775 0.94534596 0.03319045] [ 0. 0. 0. 1. ]] SLAMing on 144.493201008 meters Centerline goodness [0,1] 0.8624164779943675 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94417355 -0.05075401 -0.32551549 4.30029 ] [ 0.0603717 0.99798535 0.01950632 -0.28274429] [ 0.32386967 -0.03806928 0.94533548 0.03291972] [ 0. 0. 0. 1. ]] SLAMing on 144.523201008 meters Centerline goodness [0,1] 0.8598066488555925 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.9441407 -0.05101994 -0.32556919 4.30090899] [ 0.06049437 0.99798698 0.01903729 -0.28091323] [ 0.32394253 -0.03766898 0.94532655 0.0324038 ] [ 0. 0. 0. 1. ]] SLAMing on 144.553201008 meters Centerline goodness [0,1] 0.859597675948257 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94407616 -0.05133022 -0.32570754 4.30169323] [ 0.06059102 0.99799407 0.01834552 -0.2780421 ] [ 0.32411252 -0.03705452 0.94529257 0.03171807] [ 0. 0. 0. 1. ]] SLAMing on 144.583201008 meters Centerline goodness [0,1] 0.8649138712601995 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94400112 -0.05139166 -0.3259153 4.30221423] [ 0.06067232 0.99798872 0.0183681 -0.27806398] [ 0.32431583 -0.03711354 0.94522052 0.03196933] [ 0. 0. 0. 1. ]] SLAMing on 144.613201008 meters Centerline goodness [0,1] 0.8656638577036041 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94390539 -0.05155177 -0.32616717 4.30305023] [ 0.06088104 0.99797445 0.01845247 -0.2788739 ] [ 0.32455525 -0.03727478 0.94513199 0.03231463] [ 0. 0. 0. 1. ]] SLAMing on 144.643201008 meters Centerline goodness [0,1] 0.8666354057483312 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94383441 -0.05151859 -0.32637777 4.30317147] [ 0.06096883 0.9979629 0.01878447 -0.27961488] [ 0.32474515 -0.03762829 0.94505275 0.03311366] [ 0. 0. 0. 1. ]] SLAMing on 144.673201008 meters Centerline goodness [0,1] 0.8669729849424269 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.28, Z:0.03 [[ 0.94371183 -0.05180147 -0.32668729 4.30419087] [ 0.06129539 0.99794211 0.0188263 -0.2798837 ] [ 0.32503977 -0.03779102 0.94494496 0.0334842 ] [ 0. 0. 0. 1. ]] SLAMing on 144.703201008 meters Centerline goodness [0,1] 0.87125230151969 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.03 [[ 0.94348009 -0.05282518 -0.32719234 4.30686453] [ 0.06223197 0.99789319 0.01834009 -0.27866868] [ 0.32553419 -0.03766534 0.94477977 0.03329711] [ 0. 0. 0. 1. ]] SLAMing on 144.733201008 meters Centerline goodness [0,1] 0.8718146505413372 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.03 [[ 0.94333775 -0.05330334 -0.32752504 4.30840993] [ 0.06268411 0.99786848 0.01814383 -0.27843186] [ 0.32585979 -0.03764638 0.94466827 0.03326557] [ 0. 0. 0. 1. ]] SLAMing on 144.763201008 meters Centerline goodness [0,1] 0.8678323405890588 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.03 [[ 0.94316607 -0.05374576 -0.32794689 4.30976688] [ 0.06316668 0.99783822 0.01813434 -0.27858432] [ 0.3262633 -0.03781901 0.94452209 0.0338167 ] [ 0. 0. 0. 1. ]] SLAMing on 144.793201008 meters Centerline goodness [0,1] 0.8666501322751323 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.03 [[ 0.94322194 -0.05319176 -0.3278765 4.30856693] [ 0.06280077 0.99784936 0.01878056 -0.27935915] [ 0.32617239 -0.03830514 0.9445339 0.03474612] [ 0. 0. 0. 1. ]] SLAMing on 144.823201008 meters Centerline goodness [0,1] 0.8665893271461718 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.03 [[ 0.94327264 -0.05291133 -0.32777601 4.3080772 ] [ 0.0625749 0.99785944 0.0189981 -0.27921192] [ 0.32606917 -0.03843094 0.94456443 0.03485449] [ 0. 0. 0. 1. ]] SLAMing on 144.853201008 meters Centerline goodness [0,1] 0.8685067623516423 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.04 [[ 0.94330521 -0.05274992 -0.32770831 4.30757838] [ 0.06242059 0.99786803 0.01905418 -0.27856716] [ 0.32600454 -0.03842965 0.94458679 0.03502113] [ 0. 0. 0. 1. ]] SLAMing on 144.88320100800001 meters Centerline goodness [0,1] 0.8667237285327738 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.28, Z:0.04 [[ 0.94338236 -0.05226688 -0.32756356 4.30625143] [ 0.0620146 0.99788714 0.0193765 -0.27803654] [ 0.32585872 -0.03859317 0.94463044 0.0355822 ] [ 0. 0. 0. 1. ]] SLAMing on 144.91320100800002 meters Centerline goodness [0,1] 0.8664229162084891 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94541958 -0.05155884 -0.32175067 4.31910336] [ 0.05883712 0.99818384 0.012931 -0.27433665] [ 0.32049962 -0.0311561 0.94673613 0.03707182] [ 0. 0. 0. 1. ]] SLAMing on 144.94320100800002 meters Centerline goodness [0,1] 0.8672379226058059 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94547962 -0.05102668 -0.32165907 4.31780123] [ 0.05840072 0.99820447 0.01331109 -0.27415892] [ 0.3204023 -0.03137049 0.94676199 0.03774145] [ 0. 0. 0. 1. ]] SLAMing on 144.97320100800002 meters Centerline goodness [0,1] 0.8667965855131337 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94545825 -0.05104263 -0.32171936 4.31788456] [ 0.05838386 0.99820687 0.01320529 -0.27325415] [ 0.32046844 -0.03126826 0.94674298 0.03777234] [ 0. 0. 0. 1. ]] SLAMing on 145.003201008 meters Centerline goodness [0,1] 0.8633269283557508 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94538567 -0.05141029 -0.32187406 4.31877824] [ 0.05862504 0.99819858 0.0127553 -0.27171825] [ 0.32063848 -0.03092856 0.94669657 0.03739871] [ 0. 0. 0. 1. ]] SLAMing on 145.033201008 meters Centerline goodness [0,1] 0.865407223118353 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94533896 -0.05182206 -0.32194522 4.31986174] [ 0.05885369 0.9981928 0.01213959 -0.26993761] [ 0.3207343 -0.03042369 0.94668047 0.03650914] [ 0. 0. 0. 1. ]] SLAMing on 145.063201008 meters Centerline goodness [0,1] 0.8633654161653724 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94529499 -0.05220827 -0.32201192 4.32074214] [ 0.05907614 0.99818624 0.01158591 -0.26763001] [ 0.32082299 -0.02997532 0.94666472 0.03580874] [ 0. 0. 0. 1. ]] SLAMing on 145.093201008 meters Centerline goodness [0,1] 0.866484268125855 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.9452551 -0.05228576 -0.32211642 4.32120273] [ 0.05914853 0.9981824 0.01154774 -0.26740837] [ 0.32092716 -0.02996827 0.94662963 0.03579013] [ 0. 0. 0. 1. ]] SLAMing on 145.123201008 meters Centerline goodness [0,1] 0.8663651315789473 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94513116 -0.05253619 -0.32243921 4.32227458] [ 0.05937986 0.99817015 0.01141828 -0.26731041] [ 0.32124932 -0.02993817 0.9465213 0.03588084] [ 0. 0. 0. 1. ]] SLAMing on 145.153201008 meters Centerline goodness [0,1] 0.8712971581886875 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.27, Z:0.04 [[ 0.94489956 -0.05334197 -0.32298521 4.32460668] [ 0.0600814 0.9981337 0.01092456 -0.26682647] [ 0.32179969 -0.02972802 0.94634096 0.03577275] [ 0. 0. 0. 1. ]] SLAMing on 145.183201008 meters Centerline goodness [0,1] 0.8733196440793977 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94474585 -0.05376625 -0.32336428 4.32608244] [ 0.0604528 0.99811411 0.01066191 -0.26636264] [ 0.3221812 -0.02962107 0.94621449 0.03575101] [ 0. 0. 0. 1. ]] SLAMing on 145.213201008 meters Centerline goodness [0,1] 0.8758275428133719 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94470839 -0.05382284 -0.32346431 4.32651938] [ 0.06050989 0.99811084 0.01064428 -0.2661217 ] [ 0.32228033 -0.02962853 0.9461805 0.03575246] [ 0. 0. 0. 1. ]] SLAMing on 145.243201008 meters Centerline goodness [0,1] 0.879770783066462 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94463266 -0.053808 -0.32368788 4.32685291] [ 0.06055724 0.99810622 0.01080747 -0.26624971] [ 0.32249336 -0.02981073 0.94610219 0.03621955] [ 0. 0. 0. 1. ]] SLAMing on 145.273201008 meters Centerline goodness [0,1] 0.8786840301576422 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94462295 -0.05383945 -0.32371098 4.32724345] [ 0.0605841 0.99810481 0.01078654 -0.26616278] [ 0.32251674 -0.02980096 0.94609453 0.03607318] [ 0. 0. 0. 1. ]] SLAMing on 145.303201008 meters Centerline goodness [0,1] 0.8777476663655526 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94456541 -0.05382467 -0.3238813 4.32759533] [ 0.06061703 0.99810145 0.01091224 -0.26605846] [ 0.32267905 -0.02994005 0.94603479 0.03635986] [ 0. 0. 0. 1. ]] SLAMing on 145.333201008 meters Centerline goodness [0,1] 0.8782408926813259 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94455636 -0.05377497 -0.32391594 4.32770188] [ 0.06061777 0.99809972 0.01106497 -0.26613418] [ 0.32270539 -0.03008655 0.94602116 0.03651871] [ 0. 0. 0. 1. ]] SLAMing on 145.363201008 meters Centerline goodness [0,1] 0.8765570673748186 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94458614 -0.05337259 -0.32389563 4.32698772] [ 0.06033993 0.99811165 0.01149897 -0.2664738 ] [ 0.32267028 -0.03040561 0.94602293 0.03708705] [ 0. 0. 0. 1. ]] SLAMing on 145.393201008 meters Centerline goodness [0,1] 0.8719672131147541 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94467375 -0.05246904 -0.32378776 4.32519433] [ 0.05973042 0.998136 0.01252213 -0.26785541] [ 0.32252719 -0.03116931 0.94604687 0.03848923] [ 0. 0. 0. 1. ]] SLAMing on 145.423201008 meters Centerline goodness [0,1] 0.8715403128760529 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94460156 -0.05237743 -0.32401312 4.32558202] [ 0.05974055 0.99813171 0.01281256 -0.26846091] [ 0.32273668 -0.03145949 0.94596582 0.03900391] [ 0. 0. 0. 1. ]] SLAMing on 145.453201008 meters Centerline goodness [0,1] 0.8683534619378108 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94456145 -0.05233409 -0.32413701 4.32608046] [ 0.05976233 0.99812801 0.01299781 -0.26901033] [ 0.32285 -0.03164841 0.94592085 0.03914291] [ 0. 0. 0. 1. ]] SLAMing on 145.483201008 meters Centerline goodness [0,1] 0.8679456086328583 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94454763 -0.05216842 -0.32420401 4.32651723] [ 0.05972979 0.99812453 0.01340837 -0.27038661] [ 0.32289648 -0.03202948 0.94589216 0.03935716] [ 0. 0. 0. 1. ]] SLAMing on 145.513201008 meters Centerline goodness [0,1] 0.8705604654992589 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94452247 -0.05210825 -0.32428697 4.32705581] [ 0.05971637 0.99812346 0.01354661 -0.27102325] [ 0.32297254 -0.03216032 0.94586175 0.03928808] [ 0. 0. 0. 1. ]] SLAMing on 145.543201008 meters Centerline goodness [0,1] 0.8704302548643463 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94449186 -0.05207464 -0.32438149 4.32767418] [ 0.059663 0.9981275 0.01348442 -0.27084563] [ 0.32307189 -0.0320895 0.94583023 0.03899233] [ 0. 0. 0. 1. ]] SLAMing on 145.573201008 meters Centerline goodness [0,1] 0.8715664235977849 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94446626 -0.0521374 -0.32444594 4.32839623] [ 0.05963401 0.99813305 0.01319865 -0.2698874 ] [ 0.32315207 -0.03181369 0.94581215 0.03841299] [ 0. 0. 0. 1. ]] SLAMing on 145.603201008 meters Centerline goodness [0,1] 0.872696358051777 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.9445639 -0.05138398 -0.32428185 4.32860823] [ 0.05874686 0.99818892 0.01294936 -0.26911767] [ 0.32302916 -0.03128204 0.94587187 0.03678293] [ 0. 0. 0. 1. ]] SLAMing on 145.63320100800001 meters Centerline goodness [0,1] 0.8674539598645635 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94454306 -0.05127775 -0.32435936 4.32933743] [ 0.05856597 0.99820224 0.01274054 -0.26832736] [ 0.32312294 -0.03103041 0.94584813 0.03613609] [ 0. 0. 0. 1. ]] SLAMing on 145.66320100800002 meters Centerline goodness [0,1] 0.8746262925477934 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94458203 -0.05107956 -0.32427716 4.32956228] [ 0.05829858 0.99821994 0.01257921 -0.26743452] [ 0.32305738 -0.030787 0.94587847 0.03543104] [ 0. 0. 0. 1. ]] SLAMing on 145.69320100800002 meters Centerline goodness [0,1] 0.8739359657312318 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.03 [[ 0.94468126 -0.05070354 -0.32404702 4.32908081] [ 0.05789439 0.99824342 0.01258236 -0.26659227] [ 0.32283983 -0.03064682 0.9459573 0.03493242] [ 0. 0. 0. 1. ]] SLAMing on 145.72320100800002 meters Centerline goodness [0,1] 0.8784114332829462 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94467843 -0.04990226 -0.32417962 4.32828764] [ 0.05724945 0.99827317 0.01316009 -0.26750958] [ 0.3229631 -0.03099116 0.945904 0.03569837] [ 0. 0. 0. 1. ]] SLAMing on 145.753201008 meters Centerline goodness [0,1] 0.8784114332829462 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94467843 -0.04990226 -0.32417962 4.32828764] [ 0.05724945 0.99827317 0.01316009 -0.26750958] [ 0.3229631 -0.03099116 0.945904 0.03569837] [ 0. 0. 0. 1. ]] SLAMing on 145.783201008 meters Centerline goodness [0,1] 0.8766839664310954 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94470837 -0.04925783 -0.32419093 4.32740734] [ 0.05680751 0.99828895 0.01385909 -0.26923005] [ 0.32295356 -0.03150928 0.94589014 0.03652454] [ 0. 0. 0. 1. ]] SLAMing on 145.813201008 meters Centerline goodness [0,1] 0.8793231735883374 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.9446166 -0.04903637 -0.32449177 4.32759724] [ 0.05676356 0.99828402 0.01438426 -0.27021649] [ 0.3232296 -0.03200691 0.94577914 0.0374991 ] [ 0. 0. 0. 1. ]] SLAMing on 145.843201008 meters Centerline goodness [0,1] 0.8798573876513184 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94460461 -0.04901498 -0.3245299 4.32804307] [ 0.05677489 0.998282 0.01447957 -0.27059795] [ 0.32326264 -0.03210262 0.9457646 0.03737157] [ 0. 0. 0. 1. ]] SLAMing on 145.873201008 meters Centerline goodness [0,1] 0.8783152188943278 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94454191 -0.04919429 -0.32468522 4.32910433] [ 0.05697899 0.99826999 0.01450593 -0.27081297] [ 0.32340991 -0.0322017 0.94571089 0.0372079 ] [ 0. 0. 0. 1. ]] SLAMing on 145.903201008 meters Centerline goodness [0,1] 0.8747608617295589 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94440067 -0.04963991 -0.32502809 4.33053622] [ 0.05761078 0.99822733 0.01493947 -0.27279648] [ 0.32371033 -0.03283397 0.94558636 0.03800622] [ 0. 0. 0. 1. ]] SLAMing on 145.933201008 meters Centerline goodness [0,1] 0.8706345030049575 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.27, Z:0.04 [[ 0.94422316 -0.04992431 -0.32549991 4.33158671] [ 0.05813292 0.99818797 0.0155349 -0.27451047] [ 0.32413453 -0.03359067 0.94541445 0.0393935 ] [ 0. 0. 0. 1. ]] SLAMing on 145.963201008 meters Centerline goodness [0,1] 0.868594903680675 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.04 [[ 0.94404568 -0.05027829 -0.32595989 4.33273515] [ 0.05871641 0.99814497 0.01609386 -0.2766472 ] [ 0.32454605 -0.03433253 0.9452466 0.04071694] [ 0. 0. 0. 1. ]] SLAMing on 145.993201008 meters Centerline goodness [0,1] 0.8688772086781481 Centerline is valid? [False, False] Translation: X:4.33, Y:-0.28, Z:0.04 [[ 0.94373217 -0.05589689 -0.32595265 4.33394873] [ 0.06335936 0.9979148 0.01231445 -0.27829506] [ 0.32458464 -0.03227369 0.94530589 0.04117192] [ 0. 0. 0. 1. ]] SLAMing on 146.023201008 meters Centerline goodness [0,1] 0.8704939171385323 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.04 [[ 0.94347758 -0.0566627 -0.32655687 4.3362608 ] [ 0.0642544 0.99785528 0.0124983 -0.27988966] [ 0.32514831 -0.03277458 0.94509492 0.04196908] [ 0. 0. 0. 1. ]] SLAMing on 146.053201008 meters Centerline goodness [0,1] 0.8662112394928453 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.04 [[ 0.94322698 -0.05763226 -0.32711066 4.33885741] [ 0.06528239 0.99778921 0.01244614 -0.28115606] [ 0.32567019 -0.0330941 0.94490407 0.04239703] [ 0. 0. 0. 1. ]] SLAMing on 146.083201008 meters Centerline goodness [0,1] 0.8647307583873696 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.04 [[ 0.94294772 -0.05840889 -0.32777738 4.34117393] [ 0.06620582 0.99772556 0.0126689 -0.28227329] [ 0.32629189 -0.03364688 0.94467004 0.04337052] [ 0. 0. 0. 1. ]] SLAMing on 146.113201008 meters Centerline goodness [0,1] 0.865641748942172 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.04 [[ 0.94276896 -0.05883762 -0.32821461 4.34280982] [ 0.06674093 0.9976875 0.01285658 -0.28336565] [ 0.32669916 -0.03402614 0.94451569 0.04392809] [ 0. 0. 0. 1. ]] SLAMing on 146.143201008 meters Centerline goodness [0,1] 0.8627955651091752 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.04 [[ 0.94251076 -0.0597232 -0.3287957 4.34520748] [ 0.06772217 0.99762057 0.0129192 -0.28460689] [ 0.32724178 -0.03444325 0.9443127 0.04464366] [ 0. 0. 0. 1. ]] SLAMing on 146.173201008 meters Centerline goodness [0,1] 0.8626418725764908 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.29, Z:0.05 [[ 0.94249464 -0.05953437 -0.32887615 4.34511054] [ 0.06767479 0.99761811 0.0133502 -0.28511412] [ 0.32729801 -0.03483911 0.94427869 0.0452569 ] [ 0. 0. 0. 1. ]] SLAMing on 146.203201008 meters Centerline goodness [0,1] 0.8575430851515409 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94243858 -0.05959226 -0.32902626 4.34545697] [ 0.06777156 0.99761039 0.01343563 -0.28461287] [ 0.32743936 -0.03496088 0.94422519 0.04556554] [ 0. 0. 0. 1. ]] SLAMing on 146.233201008 meters Centerline goodness [0,1] 0.8597555812706387 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94240722 -0.0596535 -0.329105 4.34569598] [ 0.06772555 0.99761789 0.01310719 -0.28231729] [ 0.32753914 -0.03464113 0.94420236 0.04531866] [ 0. 0. 0. 1. ]] SLAMing on 146.263201008 meters Centerline goodness [0,1] 0.8577461220123308 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94234968 -0.0549566 -0.33008613 4.34726305] [ 0.06435121 0.99777222 0.0175929 -0.2839893 ] [ 0.32838392 -0.0378201 0.94378686 0.04704571] [ 0. 0. 0. 1. ]] SLAMing on 146.293201008 meters Centerline goodness [0,1] 0.8641263051248136 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94243481 -0.05461357 -0.32989996 4.34634613] [ 0.06396698 0.9977976 0.0175551 -0.28263351] [ 0.32821464 -0.03764724 0.94385265 0.04694453] [ 0. 0. 0. 1. ]] SLAMing on 146.323201008 meters Centerline goodness [0,1] 0.8628630589288713 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94251822 -0.04941893 -0.33048023 4.34616116] [ 0.05999257 0.99795932 0.02186518 -0.28219121] [ 0.32872527 -0.04043469 0.94355961 0.04845042] [ 0. 0. 0. 1. ]] SLAMing on 146.353201008 meters Centerline goodness [0,1] 0.8613474878535119 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.9426297 -0.04900267 -0.33022413 4.34507755] [ 0.05955302 0.99798484 0.02190185 -0.28095397] [ 0.32848543 -0.04031118 0.94364841 0.04835903] [ 0. 0. 0. 1. ]] SLAMing on 146.38320100800001 meters Centerline goodness [0,1] 0.8621579907394415 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.05 [[ 0.94272677 -0.04851226 -0.3300194 4.34399883] [ 0.05904973 0.99801316 0.0219741 -0.27966399] [ 0.32829769 -0.04020313 0.94371836 0.04832274] [ 0. 0. 0. 1. ]] SLAMing on 146.41320100800002 meters Centerline goodness [0,1] 0.8626888133325902 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.05 [[ 0.94280102 -0.04327668 -0.33053496 4.34385493] [ 0.05507359 0.99813311 0.02640431 -0.27956126] [ 0.3287752 -0.04309776 0.94342432 0.0497324 ] [ 0. 0. 0. 1. ]] SLAMing on 146.44320100800002 meters Centerline goodness [0,1] 0.8575447000501308 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.05 [[ 0.9428712 -0.04319623 -0.33034525 4.34341168] [ 0.05488818 0.99815021 0.02614283 -0.2776914 ] [ 0.32860491 -0.04278137 0.94349805 0.04931332] [ 0. 0. 0. 1. ]] SLAMing on 146.47320100800002 meters Centerline goodness [0,1] 0.860494928101661 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.05 [[ 0.94297891 -0.04306269 -0.33005511 4.34278106] [ 0.05465503 0.99816884 0.02591903 -0.2761714 ] [ 0.32833458 -0.04248027 0.94360576 0.04878481] [ 0. 0. 0. 1. ]] SLAMing on 146.503201008 meters Centerline goodness [0,1] 0.8579577072899276 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.28, Z:0.05 [[ 0.94302085 -0.04300796 -0.32994241 4.34275796] [ 0.05452733 0.99818061 0.0257339 -0.27515896] [ 0.32823535 -0.04225848 0.94365024 0.04834627] [ 0. 0. 0. 1. ]] SLAMing on 146.533201008 meters Centerline goodness [0,1] 0.8602353463587922 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.05 [[ 0.94301545 -0.04319744 -0.3299331 4.34325716] [ 0.05459053 0.99818723 0.02534023 -0.27408764] [ 0.32824038 -0.04190745 0.94366415 0.04779225] [ 0. 0. 0. 1. ]] SLAMing on 146.563201008 meters Centerline goodness [0,1] 0.8593312057721659 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.05 [[ 0.94310512 -0.04270287 -0.32974112 4.34176031] [ 0.05417037 0.99820187 0.02566335 -0.27342892] [ 0.3280523 -0.04206543 0.94372252 0.04838815] [ 0. 0. 0. 1. ]] SLAMing on 146.593201008 meters Centerline goodness [0,1] 0.8556723913103793 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.05 [[ 0.94308272 -0.04267284 -0.32980904 4.34181113] [ 0.05418672 0.99819765 0.02579258 -0.27352134] [ 0.32811396 -0.0421958 0.94369526 0.04866559] [ 0. 0. 0. 1. ]] SLAMing on 146.623201008 meters Centerline goodness [0,1] 0.85825 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.05 [[ 0.94302987 -0.04290509 -0.32993003 4.34254437] [ 0.05439302 0.99818978 0.02566247 -0.27348586] [ 0.32823173 -0.04214637 0.94365651 0.04857313] [ 0. 0. 0. 1. ]] SLAMing on 146.653201008 meters Centerline goodness [0,1] 0.856143967462462 Centerline is valid? [False, False] Translation: X:4.34, Y:-0.27, Z:0.05 [[ 0.94291889 -0.04317608 -0.33021174 4.34358682] [ 0.05468658 0.99817423 0.02564342 -0.27369505] [ 0.32850166 -0.04223782 0.94355849 0.04877722] [ 0. 0. 0. 1. ]] SLAMing on 146.683201008 meters Centerline goodness [0,1] 0.8607866640648956 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94273041 -0.0436198 -0.33069124 4.34520083] [ 0.05524308 0.99813886 0.02582686 -0.27513869] [ 0.32894921 -0.04261617 0.94338554 0.04945873] [ 0. 0. 0. 1. ]] SLAMing on 146.713201008 meters Centerline goodness [0,1] 0.8625101034031049 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94263075 -0.04396347 -0.33092972 4.34644169] [ 0.05559973 0.99812043 0.02577339 -0.27544617] [ 0.32917463 -0.04269439 0.94330337 0.04945335] [ 0. 0. 0. 1. ]] SLAMing on 146.743201008 meters Centerline goodness [0,1] 0.8613941093190461 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94246696 -0.04461109 -0.33130934 4.34841232] [ 0.05618151 0.99809683 0.02542347 -0.275322 ] [ 0.32954464 -0.04257424 0.9431796 0.04924606] [ 0. 0. 0. 1. ]] SLAMing on 146.773201008 meters Centerline goodness [0,1] 0.8625650443832262 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94234309 -0.04506327 -0.33160037 4.34983772] [ 0.05662169 0.99807578 0.02527291 -0.27562512] [ 0.32982342 -0.04259153 0.94308137 0.04923582] [ 0. 0. 0. 1. ]] SLAMing on 146.803201008 meters Centerline goodness [0,1] 0.8619848612279226 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94214089 -0.04585919 -0.33206546 4.35220957] [ 0.05741446 0.99803572 0.02506553 -0.27647678] [ 0.33026371 -0.04268062 0.94292325 0.0492498 ] [ 0. 0. 0. 1. ]] SLAMing on 146.833201008 meters Centerline goodness [0,1] 0.8606869161492421 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94202009 -0.04621053 -0.33235934 4.35344528] [ 0.05773003 0.99802256 0.02486374 -0.27639963] [ 0.33055316 -0.04260926 0.94282504 0.04921155] [ 0. 0. 0. 1. ]] SLAMing on 146.863201008 meters Centerline goodness [0,1] 0.8689006466784245 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.28, Z:0.05 [[ 0.94193028 -0.04632379 -0.33259803 4.35428702] [ 0.05788306 0.99801216 0.02492531 -0.27696389] [ 0.33078224 -0.0427297 0.94273924 0.04940065] [ 0. 0. 0. 1. ]] SLAMing on 146.893201008 meters Centerline goodness [0,1] 0.8659438561102706 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.28, Z:0.05 [[ 0.94182727 -0.04663116 -0.33284669 4.3555412 ] [ 0.05813568 0.9980035 0.02468316 -0.27688649] [ 0.33103116 -0.04259754 0.94265785 0.04914636] [ 0. 0. 0. 1. ]] SLAMing on 146.923201008 meters Centerline goodness [0,1] 0.877179236043095 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94172427 -0.04740653 -0.33302857 4.35796831] [ 0.05860439 0.99800101 0.02365388 -0.27484037] [ 0.3312415 -0.04179237 0.94262 0.04748865] [ 0. 0. 0. 1. ]] SLAMing on 146.953201008 meters Centerline goodness [0,1] 0.8706021317883961 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94169858 -0.04759422 -0.33307444 4.35887258] [ 0.05865617 0.99800795 0.0232291 -0.27386845] [ 0.33130536 -0.04141169 0.94261436 0.0466717 ] [ 0. 0. 0. 1. ]] SLAMing on 146.983201008 meters Centerline goodness [0,1] 0.8728050553629347 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94155069 -0.04806605 -0.33342458 4.36054298] [ 0.05898478 0.99800086 0.02269538 -0.27304227] [ 0.33166714 -0.04103582 0.94250357 0.04626209] [ 0. 0. 0. 1. ]] SLAMing on 147.013201008 meters Centerline goodness [0,1] 0.8698153448953247 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94160701 -0.04785702 -0.33329558 4.36038744] [ 0.05874213 0.99801615 0.02265233 -0.27284645] [ 0.3315503 -0.04090809 0.94255023 0.04584374] [ 0. 0. 0. 1. ]] SLAMing on 147.043201008 meters Centerline goodness [0,1] 0.8729963353568131 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.9417763 -0.04660186 -0.33299499 4.35811017] [ 0.05759915 0.99806962 0.02322442 -0.27131371] [ 0.33126989 -0.04105244 0.94264254 0.04610475] [ 0. 0. 0. 1. ]] SLAMing on 147.073201008 meters Centerline goodness [0,1] 0.8733760802899359 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94172903 -0.04648421 -0.3331451 4.35811577] [ 0.0574799 0.99807659 0.02322017 -0.27021485] [ 0.33142496 -0.04101626 0.94258961 0.04636093] [ 0. 0. 0. 1. ]] SLAMing on 147.103201008 meters Centerline goodness [0,1] 0.8721704023388557 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94167044 -0.0466098 -0.33329313 4.35862486] [ 0.05755222 0.99807688 0.02302798 -0.26940235] [ 0.33157884 -0.04086653 0.94254199 0.04634244] [ 0. 0. 0. 1. ]] SLAMing on 147.13320100800001 meters Centerline goodness [0,1] 0.8730211817168338 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94170091 -0.04634608 -0.33324382 4.35814229] [ 0.05731175 0.998088 0.02314541 -0.26947831] [ 0.33153396 -0.04089484 0.94255655 0.04651424] [ 0. 0. 0. 1. ]] SLAMing on 147.16320100800002 meters Centerline goodness [0,1] 0.877966573816156 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94177494 -0.04534748 -0.33317197 4.35606676] [ 0.05652664 0.99811423 0.0239318 -0.27006009] [ 0.33145844 -0.04137146 0.94256231 0.04781294] [ 0. 0. 0. 1. ]] SLAMing on 147.19320100800002 meters Centerline goodness [0,1] 0.8764372604565905 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.9416833 -0.04541333 -0.33342195 4.35622811] [ 0.05656995 0.99811436 0.0238235 -0.26939262] [ 0.33171133 -0.04129586 0.94247666 0.04826456] [ 0. 0. 0. 1. ]] SLAMing on 147.22320100800002 meters Centerline goodness [0,1] 0.8815419324290449 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.05 [[ 0.9417729 -0.0448443 -0.33324584 4.35495439] [ 0.05610812 0.9981302 0.02424836 -0.26969256] [ 0.33153533 -0.04153424 0.94252811 0.04869778] [ 0. 0. 0. 1. ]] SLAMing on 147.253201008 meters Centerline goodness [0,1] 0.8829436115462073 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.05 [[ 0.94178255 -0.04414119 -0.33331244 4.3533528 ] [ 0.05559974 0.99814229 0.02491258 -0.26991165] [ 0.33159357 -0.04199432 0.94248723 0.05002627] [ 0. 0. 0. 1. ]] SLAMing on 147.283201008 meters Centerline goodness [0,1] 0.882993006993007 Centerline is valid? [False, False] Translation: X:4.35, Y:-0.27, Z:0.05 [[ 0.94166841 -0.04438753 -0.33360209 4.35436506] [ 0.05584646 0.9981305 0.02483286 -0.27006924] [ 0.33187615 -0.04201482 0.94238685 0.05020161] [ 0. 0. 0. 1. ]] SLAMing on 147.313201008 meters Centerline goodness [0,1] 0.8843371467025571 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94156265 -0.04455382 -0.33387832 4.35521204] [ 0.05606049 0.99811676 0.02490292 -0.27078693] [ 0.33214003 -0.04216504 0.94228717 0.05051488] [ 0. 0. 0. 1. ]] SLAMing on 147.343201008 meters Centerline goodness [0,1] 0.8851953584842199 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94141063 -0.04501164 -0.33424538 4.35674351] [ 0.05651444 0.9980946 0.02476449 -0.27118902] [ 0.33249382 -0.04220324 0.94216068 0.05063923] [ 0. 0. 0. 1. ]] SLAMing on 147.373201008 meters Centerline goodness [0,1] 0.8780542795141335 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94119128 -0.04574903 -0.3347626 4.35925743] [ 0.05726982 0.99805512 0.02461984 -0.27221052] [ 0.3329852 -0.04234377 0.94198082 0.05068183] [ 0. 0. 0. 1. ]] SLAMing on 147.403201008 meters Centerline goodness [0,1] 0.8825336000676228 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94097271 -0.04629207 -0.33530196 4.36121294] [ 0.05781766 0.99802728 0.02446777 -0.272954 ] [ 0.33350784 -0.04240988 0.94179293 0.0509644 ] [ 0. 0. 0. 1. ]] SLAMing on 147.433201008 meters Centerline goodness [0,1] 0.8846381384342339 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94077965 -0.04646678 -0.33581913 4.36231777] [ 0.05812531 0.99800262 0.0247429 -0.27444038] [ 0.33399865 -0.04279721 0.94160146 0.05191957] [ 0. 0. 0. 1. ]] SLAMing on 147.463201008 meters Centerline goodness [0,1] 0.8885021365707332 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.27, Z:0.05 [[ 0.94072667 -0.05079477 -0.33534046 4.36103683] [ 0.06129437 0.99790311 0.02079375 -0.27392229] [ 0.33358107 -0.04011572 0.94186751 0.05136913] [ 0. 0. 0. 1. ]] SLAMing on 147.493201008 meters Centerline goodness [0,1] 0.8840091683409265 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.28, Z:0.05 [[ 0.94044483 -0.05119105 -0.33606992 4.36312831] [ 0.06186615 0.99786083 0.02112704 -0.27602324] [ 0.33426949 -0.04066017 0.94160005 0.05248087] [ 0. 0. 0. 1. ]] SLAMing on 147.523201008 meters Centerline goodness [0,1] 0.8841077308417528 Centerline is valid? [False, False] Translation: X:4.36, Y:-0.28, Z:0.05 [[ 0.94035322 -0.05162275 -0.33626019 4.36470104] [ 0.06224439 0.99784255 0.0208777 -0.27549329] [ 0.33445696 -0.04056272 0.94153768 0.05203685] [ 0. 0. 0. 1. ]] SLAMing on 147.553201008 meters Centerline goodness [0,1] 0.8838605988834376 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.05 [[ 0.94031564 -0.05185339 -0.33632979 4.36559692] [ 0.06245442 0.99783165 0.02077102 -0.27507353] [ 0.33452346 -0.0405366 0.94151518 0.05170868] [ 0. 0. 0. 1. ]] SLAMing on 147.583201008 meters Centerline goodness [0,1] 0.889553924336533 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.05 [[ 0.94025425 -0.05208232 -0.33646601 4.36637877] [ 0.0626956 0.997817 0.02074852 -0.27515201] [ 0.33465088 -0.04060382 0.941467 0.05168838] [ 0. 0. 0. 1. ]] SLAMing on 147.613201008 meters Centerline goodness [0,1] 0.8906453623434756 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.05 [[ 0.94002991 -0.05687486 -0.33631685 4.36583565] [ 0.06643672 0.99764611 0.01698255 -0.27540479] [ 0.33455931 -0.03830789 0.94159576 0.05215529] [ 0. 0. 0. 1. ]] SLAMing on 147.643201008 meters Centerline goodness [0,1] 0.8829476075535994 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.05 [[ 0.93977455 -0.05681802 -0.33703932 4.36640935] [ 0.06673746 0.99760984 0.01790873 -0.27805613] [ 0.33521621 -0.03932332 0.94132023 0.05452955] [ 0. 0. 0. 1. ]] SLAMing on 147.673201008 meters Centerline goodness [0,1] 0.8829476075535994 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.05 [[ 0.93977455 -0.05681802 -0.33703932 4.36640935] [ 0.06673746 0.99760984 0.01790873 -0.27805613] [ 0.33521621 -0.03932332 0.94132023 0.05452955] [ 0. 0. 0. 1. ]] SLAMing on 147.703201008 meters Centerline goodness [0,1] 0.8828385186871993 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93960253 -0.05675667 -0.33752892 4.36650174] [ 0.06695863 0.99758143 0.01865053 -0.28032654] [ 0.33565404 -0.04012456 0.94113038 0.05644752] [ 0. 0. 0. 1. ]] SLAMing on 147.733201008 meters Centerline goodness [0,1] 0.8838383838383839 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93937307 -0.05695079 -0.33813437 4.36720801] [ 0.06738716 0.99754222 0.01919611 -0.28145743] [ 0.33621007 -0.04081823 0.94090205 0.05824351] [ 0. 0. 0. 1. ]] SLAMing on 147.763201008 meters Centerline goodness [0,1] 0.8825859023306171 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93926093 -0.05699869 -0.33843768 4.36726625] [ 0.06760981 0.99751857 0.0196373 -0.28190291] [ 0.33647857 -0.04132626 0.94078388 0.05954462] [ 0. 0. 0. 1. ]] SLAMing on 147.793201008 meters Centerline goodness [0,1] 0.8833342855510484 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93923188 -0.05703017 -0.33851298 4.36754194] [ 0.06765472 0.99751508 0.01965956 -0.28174453] [ 0.33655061 -0.04136688 0.94075633 0.05960045] [ 0. 0. 0. 1. ]] SLAMing on 147.823201008 meters Centerline goodness [0,1] 0.8836380229871945 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93914579 -0.05708857 -0.33874191 4.36844812] [ 0.06771587 0.99751157 0.01962723 -0.28158126] [ 0.33677848 -0.04137103 0.94067459 0.05952297] [ 0. 0. 0. 1. ]] SLAMing on 147.853201008 meters Centerline goodness [0,1] 0.8872079772079772 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93897574 -0.05769485 -0.33911039 4.37038929] [ 0.06816899 0.99749196 0.01904656 -0.2805166 ] [ 0.337161 -0.04100107 0.94055376 0.05902641] [ 0. 0. 0. 1. ]] SLAMing on 147.88320100800001 meters Centerline goodness [0,1] 0.8891423357664233 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93880669 -0.05805672 -0.33951644 4.37191432] [ 0.06834204 0.99749216 0.01840512 -0.27888933] [ 0.33759645 -0.0404821 0.94042003 0.05855695] [ 0. 0. 0. 1. ]] SLAMing on 147.91320100800002 meters Centerline goodness [0,1] 0.8919528417687191 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93870625 -0.05820238 -0.33976912 4.37267954] [ 0.06842119 0.99749119 0.01816244 -0.27851038] [ 0.33785961 -0.0402966 0.94033349 0.05852418] [ 0. 0. 0. 1. ]] SLAMing on 147.94320100800002 meters Centerline goodness [0,1] 0.88835465498984 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93851481 -0.05842536 -0.34025935 4.37393301] [ 0.06860663 0.99748217 0.01795714 -0.27857182] [ 0.33835348 -0.04019709 0.94016015 0.0588278 ] [ 0. 0. 0. 1. ]] SLAMing on 147.97320100800002 meters Centerline goodness [0,1] 0.8881573297455129 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.28, Z:0.06 [[ 0.93835738 -0.05871936 -0.34064273 4.37505791] [ 0.06884136 0.99747072 0.01769289 -0.27823565] [ 0.33874223 -0.04005257 0.94002633 0.05905079] [ 0. 0. 0. 1. ]] SLAMing on 148.003201008 meters Centerline goodness [0,1] 0.8908919220533952 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93843731 -0.05811025 -0.34052696 4.37409154] [ 0.06824301 0.99750914 0.01784375 -0.27714235] [ 0.33864186 -0.03998382 0.94006542 0.05906599] [ 0. 0. 0. 1. ]] SLAMing on 148.033201008 meters Centerline goodness [0,1] 0.8896457377376237 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.28, Z:0.06 [[ 0.93838925 -0.05817517 -0.34064831 4.37430762] [ 0.06823639 0.9975136 0.01761869 -0.27564878] [ 0.33877635 -0.0397778 0.9400257 0.05905583] [ 0. 0. 0. 1. ]] SLAMing on 148.063201008 meters Centerline goodness [0,1] 0.8896152089518155 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93843005 -0.05796774 -0.34057126 4.37384482] [ 0.06800068 0.99753027 0.01758604 -0.27473533] [ 0.33871072 -0.03966235 0.94005423 0.05898989] [ 0. 0. 0. 1. ]] SLAMing on 148.093201008 meters Centerline goodness [0,1] 0.8917424393580937 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93843978 -0.05705699 -0.34069822 4.37199702] [ 0.06730361 0.99756429 0.0183223 -0.27497307] [ 0.33882296 -0.0401246 0.93999416 0.06058016] [ 0. 0. 0. 1. ]] SLAMing on 148.123201008 meters Centerline goodness [0,1] 0.8896274319621156 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93831353 -0.0571029 -0.34103808 4.37225491] [ 0.06735945 0.99756095 0.018299 -0.27451335] [ 0.33916135 -0.04014234 0.93987136 0.06129899] [ 0. 0. 0. 1. ]] SLAMing on 148.153201008 meters Centerline goodness [0,1] 0.8900776826110463 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93821891 -0.0571836 -0.3412848 4.37259753] [ 0.06739222 0.99756199 0.01812112 -0.27359213] [ 0.33941651 -0.04000152 0.93978525 0.061612 ] [ 0. 0. 0. 1. ]] SLAMing on 148.183201008 meters Centerline goodness [0,1] 0.8911526020089666 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93816345 -0.05733817 -0.34141129 4.37308136] [ 0.06743991 0.99756486 0.0177824 -0.27201805] [ 0.33956029 -0.03970754 0.93974577 0.06145615] [ 0. 0. 0. 1. ]] SLAMing on 148.213201008 meters Centerline goodness [0,1] 0.8969676378153402 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93825375 -0.05662886 -0.34128152 4.37142855] [ 0.06669494 0.9976142 0.01782407 -0.27059968] [ 0.33945793 -0.03948525 0.93979212 0.06170223] [ 0. 0. 0. 1. ]] SLAMing on 148.243201008 meters Centerline goodness [0,1] 0.8971342725133933 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93827607 -0.05631766 -0.34127165 4.37095959] [ 0.0664139 0.99763045 0.0179633 -0.27044908] [ 0.33945134 -0.03951971 0.93979305 0.06192226] [ 0. 0. 0. 1. ]] SLAMing on 148.273201008 meters Centerline goodness [0,1] 0.8993781797625777 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93812269 -0.05681344 -0.34161097 4.37238234] [ 0.06677649 0.99761507 0.01746606 -0.26920448] [ 0.33980395 -0.03919689 0.93967914 0.06175319] [ 0. 0. 0. 1. ]] SLAMing on 148.303201008 meters Centerline goodness [0,1] 0.8981520665820285 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93806953 -0.05704135 -0.34171894 4.37310676] [ 0.06688378 0.99761458 0.0170794 -0.26798154] [ 0.33992957 -0.03887712 0.93964699 0.06134007] [ 0. 0. 0. 1. ]] SLAMing on 148.333201008 meters Centerline goodness [0,1] 0.8957957619477006 Centerline is valid? [False, False] Translation: X:4.37, Y:-0.27, Z:0.06 [[ 0.93796748 -0.05738467 -0.34194152 4.37419221] [ 0.06708474 0.9976092 0.01659885 -0.26626282] [ 0.34017149 -0.03850824 0.93957462 0.0609234 ] [ 0. 0. 0. 1. ]] SLAMing on 148.363201008 meters Centerline goodness [0,1] 0.8955442752397067 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.06 [[ 0.93783549 -0.05766997 -0.3422554 4.37525461] [ 0.06735267 0.9975934 0.016463 -0.26621614] [ 0.34048231 -0.0384914 0.93946272 0.06107225] [ 0. 0. 0. 1. ]] SLAMing on 148.393201008 meters Centerline goodness [0,1] 0.8935006344283096 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.06 [[ 0.93767918 -0.05777786 -0.34266525 4.37626088] [ 0.06756254 0.99757567 0.01667574 -0.26721971] [ 0.34087103 -0.03878783 0.93930956 0.06171052] [ 0. 0. 0. 1. ]] SLAMing on 148.423201008 meters Centerline goodness [0,1] 0.8929329521976622 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.06 [[ 0.93749302 -0.0577997 -0.34317056 4.37711445] [ 0.06775622 0.99755564 0.01708352 -0.26889187] [ 0.3413443 -0.03926762 0.93911773 0.06280429] [ 0. 0. 0. 1. ]] SLAMing on 148.453201008 meters Centerline goodness [0,1] 0.8948024006341297 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.06 [[ 0.93728145 -0.0579514 -0.34372244 4.37811259] [ 0.06805533 0.99752991 0.01739411 -0.27050419] [ 0.3418654 -0.03969532 0.93891018 0.06392599] [ 0. 0. 0. 1. ]] SLAMing on 148.483201008 meters Centerline goodness [0,1] 0.8929389474874869 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93700008 -0.05824601 -0.34443904 4.37917349] [ 0.06860942 0.99748184 0.01796457 -0.27174826] [ 0.34252533 -0.04046457 0.93863679 0.06591578] [ 0. 0. 0. 1. ]] SLAMing on 148.513201008 meters Centerline goodness [0,1] 0.8923281320669381 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93690508 -0.05824553 -0.34469744 4.37944634] [ 0.06872153 0.99746912 0.01824044 -0.27231808] [ 0.34276262 -0.04077769 0.93853661 0.06671096] [ 0. 0. 0. 1. ]] SLAMing on 148.543201008 meters Centerline goodness [0,1] 0.891412429378531 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93681003 -0.05826355 -0.34495264 4.37987757] [ 0.06882797 0.99745798 0.01844686 -0.27304731] [ 0.34300099 -0.04102359 0.9384388 0.06730478] [ 0. 0. 0. 1. ]] SLAMing on 148.573201008 meters Centerline goodness [0,1] 0.8922755623289025 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93671383 -0.05825273 -0.3452156 4.38052127] [ 0.06890723 0.99744852 0.01866155 -0.27393606] [ 0.3432477 -0.04126838 0.93833786 0.06772794] [ 0. 0. 0. 1. ]] SLAMing on 148.603201008 meters Centerline goodness [0,1] 0.8930548919306333 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93661815 -0.05871131 -0.34539749 4.38195542] [ 0.0693004 0.99742654 0.01837823 -0.27383116] [ 0.34342961 -0.04114957 0.93827651 0.06741993] [ 0. 0. 0. 1. ]] SLAMing on 148.63320100800001 meters Centerline goodness [0,1] 0.8933591448531268 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.93652215 -0.05890502 -0.34562475 4.38267563] [ 0.06945092 0.99741939 0.01819694 -0.27356086] [ 0.34366093 -0.0410458 0.93819636 0.06748677] [ 0. 0. 0. 1. ]] SLAMing on 148.66320100800002 meters Centerline goodness [0,1] 0.8947486472089046 Centerline is valid? [False, False] Translation: X:4.38, Y:-0.27, Z:0.07 [[ 0.9364455 -0.058925 -0.34582895 4.38317583] [ 0.06949996 0.99741507 0.01824671 -0.27395132] [ 0.34385982 -0.04112215 0.93812014 0.06772173] [ 0. 0. 0. 1. ]] SLAMing on 148.69320100800002 meters Centerline goodness [0,1] 0.892622536634664 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93631041 -0.0594441 -0.34610577 4.38530748] [ 0.06985332 0.99740081 0.01766744 -0.27394921] [ 0.34415595 -0.04071885 0.93802913 0.06683506] [ 0. 0. 0. 1. ]] SLAMing on 148.72320100800002 meters Centerline goodness [0,1] 0.892723854420967 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93619427 -0.05993089 -0.34633592 4.38701383] [ 0.07021983 0.99738283 0.01722423 -0.27340169] [ 0.34439724 -0.04044488 0.93795243 0.06625209] [ 0. 0. 0. 1. ]] SLAMing on 148.753201008 meters Centerline goodness [0,1] 0.8905510480054091 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93616043 -0.05993829 -0.3464261 4.3875161 ] [ 0.07020544 0.99738508 0.01715228 -0.27347284] [ 0.34449215 -0.04037828 0.93792044 0.06606163] [ 0. 0. 0. 1. ]] SLAMing on 148.783201008 meters Centerline goodness [0,1] 0.8898423916091761 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93602235 -0.06013286 -0.34676535 4.38853708] [ 0.07037399 0.99737573 0.01700451 -0.27399195] [ 0.34483281 -0.04031986 0.93779776 0.06632978] [ 0. 0. 0. 1. ]] SLAMing on 148.813201008 meters Centerline goodness [0,1] 0.8901946382666177 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93604409 -0.05987474 -0.34675132 4.38817096] [ 0.07016439 0.99738742 0.01718422 -0.27440714] [ 0.3448165 -0.04041478 0.93779967 0.06650836] [ 0. 0. 0. 1. ]] SLAMing on 148.843201008 meters Centerline goodness [0,1] 0.8914499605988968 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.07 [[ 0.93598059 -0.06003865 -0.34689436 4.38900096] [ 0.07028965 0.99738121 0.01703205 -0.2745922 ] [ 0.34496334 -0.04032475 0.93774955 0.06636943] [ 0. 0. 0. 1. ]] SLAMing on 148.873201008 meters Centerline goodness [0,1] 0.8905542986425339 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93599776 -0.0596846 -0.34690914 4.38862059] [ 0.07002146 0.997395 0.01732677 -0.27535328] [ 0.3449713 -0.0405089 0.93773868 0.06664636] [ 0. 0. 0. 1. ]] SLAMing on 148.903201008 meters Centerline goodness [0,1] 0.8902314499659633 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93596641 -0.05943503 -0.34703655 4.38843409] [ 0.06988961 0.99739813 0.01767517 -0.27616159] [ 0.34508308 -0.04079762 0.93768503 0.06725609] [ 0. 0. 0. 1. ]] SLAMing on 148.933201008 meters Centerline goodness [0,1] 0.8870091837024822 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93587817 -0.05940604 -0.34727938 4.38869737] [ 0.07003177 0.99738028 0.0181145 -0.27753391] [ 0.34529349 -0.04127355 0.93758674 0.06823924] [ 0. 0. 0. 1. ]] SLAMing on 148.963201008 meters Centerline goodness [0,1] 0.8856637773722628 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93579309 -0.05940147 -0.34750938 4.3892788 ] [ 0.07016674 0.99736437 0.01846466 -0.27886475] [ 0.34549664 -0.0416627 0.93749469 0.06880141] [ 0. 0. 0. 1. ]] SLAMing on 148.993201008 meters Centerline goodness [0,1] 0.8834036007292616 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93560182 -0.05970646 -0.3479718 4.39068814] [ 0.07061412 0.99732772 0.01873656 -0.28032853] [ 0.34592323 -0.04210168 0.93731775 0.06957544] [ 0. 0. 0. 1. ]] SLAMing on 149.023201008 meters Centerline goodness [0,1] 0.8828379072288469 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93535011 -0.06538619 -0.34762741 4.39210681] [ 0.07506354 0.99707436 0.01442866 -0.28076034] [ 0.34566694 -0.03958999 0.93752173 0.06864544] [ 0. 0. 0. 1. ]] SLAMing on 149.053201008 meters Centerline goodness [0,1] 0.8813369994844475 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93525391 -0.07052892 -0.34688008 4.39185559] [ 0.0789063 0.99683121 0.01006688 -0.27962399] [ 0.34507088 -0.03678611 0.93785546 0.0673379 ] [ 0. 0. 0. 1. ]] SLAMing on 149.083201008 meters Centerline goodness [0,1] 0.8816292506251976 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93497077 -0.0713613 -0.34747263 4.39416057] [ 0.07983035 0.9967573 0.01009907 -0.28114518] [ 0.34562519 -0.0371812 0.93763574 0.06810181] [ 0. 0. 0. 1. ]] SLAMing on 149.113201008 meters Centerline goodness [0,1] 0.8814834024896265 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93479208 -0.07649621 -0.34686034 4.39402616] [ 0.08370565 0.99647349 0.00582636 -0.28038296] [ 0.34519144 -0.0344806 0.93789869 0.0671636 ] [ 0. 0. 0. 1. ]] SLAMing on 149.143201008 meters Centerline goodness [0,1] 0.8851187730627306 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 9.34423584e-01 -8.19706709e-02 -3.46602618e-01 4.39490616e+00] [ 8.81604584e-02 9.96104072e-01 2.10007758e-03 -2.81973942e-01] [ 3.45080134e-01 -3.25190077e-02 9.38009709e-01 6.74912120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.173201008 meters Centerline goodness [0,1] 0.8831412644773705 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 9.34243449e-01 -8.22563353e-02 -3.47020277e-01 4.39604904e+00] [ 8.86629318e-02 9.96058306e-01 2.59540229e-03 -2.83889591e-01] [ 3.45438941e-01 -3.31925728e-02 9.37854035e-01 6.85853792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.203201008 meters Centerline goodness [0,1] 0.8838458207016024 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 9.34044012e-01 -8.25730483e-02 -3.47481619e-01 4.39750088e+00] [ 8.91922869e-02 9.96009701e-01 3.06768547e-03 -2.85579533e-01] [ 3.45841755e-01 -3.38580335e-02 9.37681776e-01 6.96182832e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.233201008 meters Centerline goodness [0,1] 0.8843928963961358 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 9.33944747e-01 -8.27102369e-02 -3.47715726e-01 4.39826459e+00] [ 8.95036890e-02 9.95980374e-01 3.49057410e-03 -2.86817840e-01] [ 3.46029333e-01 -3.43818436e-02 9.37593510e-01 7.03251443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.263201008 meters Centerline goodness [0,1] 0.88252994618367 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 9.33916782e-01 -8.29914742e-02 -3.47723826e-01 4.39881556e+00] [ 8.99794903e-02 9.95935721e-01 3.96631528e-03 -2.88025686e-01] [ 3.45981409e-01 -3.49922210e-02 9.37588614e-01 7.10017259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.293201008 meters Centerline goodness [0,1] 0.8838084213572566 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.93395284 -0.08254394 -0.34773351 4.39812145] [ 0.08973727 0.99595484 0.00460223 -0.28897894] [ 0.34594699 -0.03550292 0.93758212 0.07183413] [ 0. 0. 0. 1. ]] SLAMing on 149.323201008 meters Centerline goodness [0,1] 0.8831549879185364 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.9338974 -0.08217888 -0.3479688 4.39766765] [ 0.08957244 0.99596682 0.00518447 -0.28953684] [ 0.34613932 -0.03601018 0.93749178 0.07305539] [ 0. 0. 0. 1. ]] SLAMing on 149.353201008 meters Centerline goodness [0,1] 0.8803146873373054 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.93396717 -0.08167362 -0.34790049 4.39668955] [ 0.08918462 0.99599936 0.00560111 -0.28954134] [ 0.3460512 -0.03625863 0.93751474 0.07362515] [ 0. 0. 0. 1. ]] SLAMing on 149.38320100800001 meters Centerline goodness [0,1] 0.8822984244670992 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.29, Z:0.07 [[ 0.9341882 -0.08072767 -0.34752763 4.39476018] [ 0.08819703 0.99608674 0.00569987 -0.28733613] [ 0.34570752 -0.03597566 0.93765242 0.07320841] [ 0. 0. 0. 1. ]] SLAMing on 149.41320100800002 meters Centerline goodness [0,1] 0.8785973816252379 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.9342684 -0.07558929 -0.34846637 4.39578839] [ 0.08448922 0.99637022 0.01039036 -0.28921363] [ 0.34641611 -0.03914904 0.93726369 0.07487587] [ 0. 0. 0. 1. ]] SLAMing on 149.44320100800002 meters Centerline goodness [0,1] 0.8767115390158831 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.29, Z:0.07 [[ 0.93436696 -0.0751821 -0.34829017 4.3949916 ] [ 0.08403786 0.99640865 0.01036522 -0.2881389 ] [ 0.34626006 -0.03895448 0.93732946 0.07462053] [ 0. 0. 0. 1. ]] SLAMing on 149.47320100800002 meters Centerline goodness [0,1] 0.8744076509951464 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.29, Z:0.07 [[ 0.93463455 -0.07395748 -0.34783408 4.39292337] [ 0.08276357 0.99651384 0.01050514 -0.28630535] [ 0.34584454 -0.03860646 0.93749725 0.0738963 ] [ 0. 0. 0. 1. ]] SLAMing on 149.503201008 meters Centerline goodness [0,1] 0.8740012645858481 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93477426 -0.07356557 -0.34754163 4.39189618] [ 0.08229827 0.99655336 0.0104111 -0.28477744] [ 0.34557788 -0.0383341 0.93760675 0.0735036 ] [ 0. 0. 0. 1. ]] SLAMing on 149.533201008 meters Centerline goodness [0,1] 0.8740012645858481 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93477426 -0.07356557 -0.34754163 4.39189618] [ 0.08229827 0.99655336 0.0104111 -0.28477744] [ 0.34557788 -0.0383341 0.93760675 0.0735036 ] [ 0. 0. 0. 1. ]] SLAMing on 149.563201008 meters Centerline goodness [0,1] 0.8730426334438222 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.9348843 -0.07318854 -0.34732518 4.39116682] [ 0.0818731 0.99658877 0.01037354 -0.28321225] [ 0.34538116 -0.03813465 0.93768737 0.07312827] [ 0. 0. 0. 1. ]] SLAMing on 149.593201008 meters Centerline goodness [0,1] 0.8715415019762845 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93504278 -0.07280154 -0.34697974 4.39036069] [ 0.08142959 0.99662556 0.01032991 -0.2821621 ] [ 0.34505684 -0.03791332 0.93781574 0.07249282] [ 0. 0. 0. 1. ]] SLAMing on 149.623201008 meters Centerline goodness [0,1] 0.8708765315739868 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93510762 -0.07258946 -0.3468494 4.39013147] [ 0.08120245 0.99664397 0.01034219 -0.2814961 ] [ 0.34493463 -0.03783608 0.93786381 0.07224553] [ 0. 0. 0. 1. ]] SLAMing on 149.653201008 meters Centerline goodness [0,1] 0.8691198351837015 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93519501 -0.07255584 -0.34662076 4.39006314] [ 0.08113368 0.99665022 0.0102793 -0.28086676] [ 0.34471383 -0.03773577 0.93794903 0.07177381] [ 0. 0. 0. 1. ]] SLAMing on 149.683201008 meters Centerline goodness [0,1] 0.8673381789045956 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93513621 -0.07249225 -0.34679265 4.39020804] [ 0.08121556 0.99663949 0.01066624 -0.28158358] [ 0.34485403 -0.03813935 0.93788117 0.07254665] [ 0. 0. 0. 1. ]] SLAMing on 149.713201008 meters Centerline goodness [0,1] 0.8665425379547408 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93494688 -0.07256938 -0.34728666 4.39115088] [ 0.08151679 0.99660901 0.01120275 -0.28295512] [ 0.34529603 -0.03878367 0.9376921 0.073831 ] [ 0. 0. 0. 1. ]] SLAMing on 149.743201008 meters Centerline goodness [0,1] 0.8667620137299771 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.08 [[ 0.93472338 -0.0727304 -0.34785412 4.39231978] [ 0.08191681 0.99656986 0.01175387 -0.2842677 ] [ 0.34580607 -0.03948171 0.93747499 0.07526746] [ 0. 0. 0. 1. ]] SLAMing on 149.773201008 meters Centerline goodness [0,1] 0.8661016949152542 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93451041 -0.07803765 -0.34727571 4.39287208] [ 0.08590269 0.9962769 0.00728486 -0.28318042] [ 0.34541428 -0.0366397 0.93773478 0.07393465] [ 0. 0. 0. 1. ]] SLAMing on 149.803201008 meters Centerline goodness [0,1] 0.8697882339456113 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93443672 -0.07812224 -0.34745493 4.39357106] [ 0.0860808 0.99625991 0.00750314 -0.28393905] [ 0.34556925 -0.0369204 0.93766667 0.07429879] [ 0. 0. 0. 1. ]] SLAMing on 149.833201008 meters Centerline goodness [0,1] 0.8670620070240083 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.07 [[ 0.93434014 -0.07814493 -0.34770947 4.39416821] [ 0.08624789 0.99624269 0.00786161 -0.28485295] [ 0.34578867 -0.03733462 0.93756937 0.07497992] [ 0. 0. 0. 1. ]] SLAMing on 149.863201008 meters Centerline goodness [0,1] 0.8656205010077742 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.29, Z:0.08 [[ 0.93434689 -0.0783724 -0.34764013 4.39433684] [ 0.08677308 0.99619067 0.00863624 -0.28698154] [ 0.34563901 -0.03823505 0.93758827 0.07612126] [ 0. 0. 0. 1. ]] SLAMing on 149.893201008 meters Centerline goodness [0,1] 0.8656647797477084 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.29, Z:0.08 [[ 0.93429858 -0.07825513 -0.34779635 4.39470911] [ 0.08689643 0.99617402 0.00929132 -0.28854153] [ 0.3457386 -0.03890313 0.93752406 0.07694106] [ 0. 0. 0. 1. ]] SLAMing on 149.923201008 meters Centerline goodness [0,1] 0.8686228166253531 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93417014 -0.07841867 -0.34810438 4.39560353] [ 0.08724851 0.996139 0.00973575 -0.28986668] [ 0.34599688 -0.03946644 0.93740523 0.07776031] [ 0. 0. 0. 1. ]] SLAMing on 149.953201008 meters Centerline goodness [0,1] 0.8705936786096411 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93384679 -0.08405537 -0.34765625 4.39651941] [ 0.0917096 0.99577011 0.00558853 -0.289967 ] [ 0.34571596 -0.03710224 0.93760541 0.0772697 ] [ 0. 0. 0. 1. ]] SLAMing on 149.983201008 meters Centerline goodness [0,1] 0.8742794241186524 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93365049 -0.084302 -0.34812346 4.39777197] [ 0.09219441 0.99572212 0.00613574 -0.29190163] [ 0.34611697 -0.03782368 0.93742862 0.07846052] [ 0. 0. 0. 1. ]] SLAMing on 150.013201008 meters Centerline goodness [0,1] 0.8767532166454155 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93350326 -0.08455297 -0.34845725 4.39890372] [ 0.09259244 0.9956832 0.0064495 -0.29331896] [ 0.34640771 -0.03828514 0.93730248 0.07916424] [ 0. 0. 0. 1. ]] SLAMing on 150.043201008 meters Centerline goodness [0,1] 0.878922207735767 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.9333352 -0.08495442 -0.34880963 4.40036489] [ 0.09306445 0.9956387 0.00652626 -0.29415025] [ 0.34673393 -0.03855297 0.93717088 0.07956165] [ 0. 0. 0. 1. ]] SLAMing on 150.073201008 meters Centerline goodness [0,1] 0.8794601482854495 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.9331297 -0.08565173 -0.34918871 4.40234979] [ 0.0937264 0.99557831 0.00625991 -0.29373195] [ 0.34710853 -0.03856951 0.93703151 0.07960939] [ 0. 0. 0. 1. ]] SLAMing on 150.103201008 meters Centerline goodness [0,1] 0.8805537855529166 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93309251 -0.08576345 -0.34926064 4.40291542] [ 0.09377596 0.99557486 0.00606343 -0.29250436] [ 0.34719509 -0.03840999 0.937006 0.07933162] [ 0. 0. 0. 1. ]] SLAMing on 150.13320100800001 meters Centerline goodness [0,1] 0.8818604382596645 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93305149 -0.08600211 -0.34931153 4.40372172] [ 0.09383355 0.99557256 0.0055257 -0.29044937] [ 0.34728975 -0.0379329 0.93699035 0.07858524] [ 0. 0. 0. 1. ]] SLAMing on 150.16320100800002 meters Centerline goodness [0,1] 0.8785541613905836 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93305743 -0.08612648 -0.34926502 4.40419043] [ 0.09379021 0.99557914 0.00505613 -0.28830916] [ 0.34728551 -0.0374753 0.93701034 0.07781324] [ 0. 0. 0. 1. ]] SLAMing on 150.19320100800002 meters Centerline goodness [0,1] 0.8704783795431691 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93319802 -0.08126997 -0.35005236 4.40492827] [ 0.09011477 0.9958905 0.00902419 -0.28713615] [ 0.34788042 -0.03996624 0.93668667 0.07874232] [ 0. 0. 0. 1. ]] SLAMing on 150.22320100800002 meters Centerline goodness [0,1] 0.8710212012114977 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.08 [[ 0.93322893 -0.08108922 -0.35001185 4.40443428] [ 0.08985949 0.99591503 0.00886113 -0.28526209] [ 0.34786352 -0.03972135 0.93670336 0.0786696 ] [ 0. 0. 0. 1. ]] SLAMing on 150.253201008 meters Centerline goodness [0,1] 0.8708563929936669 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93331268 -0.08086645 -0.34984005 4.40361072] [ 0.08955359 0.99594402 0.00869839 -0.28363296] [ 0.3477177 -0.03944775 0.93676906 0.07845418] [ 0. 0. 0. 1. ]] SLAMing on 150.283201008 meters Centerline goodness [0,1] 0.8635327635327635 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93351755 -0.0796304 -0.34957688 4.40040425] [ 0.08840568 0.99604215 0.00919117 -0.28121128] [ 0.34746141 -0.0394847 0.9368626 0.0793566 ] [ 0. 0. 0. 1. ]] SLAMing on 150.313201008 meters Centerline goodness [0,1] 0.8623056330808225 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93364404 -0.0790532 -0.34936999 4.39873423] [ 0.08784017 0.99609068 0.00935197 -0.2795956 ] [ 0.34726489 -0.03942013 0.93693818 0.0796513 ] [ 0. 0. 0. 1. ]] SLAMing on 150.343201008 meters Centerline goodness [0,1] 0.8581236347130415 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93400312 -0.07612687 -0.34905997 4.39693141] [ 0.08567379 0.99625134 0.01196956 -0.27851716] [ 0.34684026 -0.04108489 0.93702394 0.08030619] [ 0. 0. 0. 1. ]] SLAMing on 150.373201008 meters Centerline goodness [0,1] 0.8567183608784242 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93418797 -0.07083158 -0.34967945 4.39686453] [ 0.08171984 0.99651937 0.01646267 -0.27881636] [ 0.34729626 -0.04395498 0.93672475 0.08160548] [ 0. 0. 0. 1. ]] SLAMing on 150.403201008 meters Centerline goodness [0,1] 0.8540143933430788 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.08 [[ 0.93466881 -0.06440034 -0.34963812 4.39404146] [ 0.07645544 0.99685661 0.02077179 -0.27601296] [ 0.34720136 -0.04614648 0.93665453 0.08191489] [ 0. 0. 0. 1. ]] SLAMing on 150.433201008 meters Centerline goodness [0,1] 0.8502564390011491 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.28, Z:0.08 [[ 0.93489207 -0.05882254 -0.35002389 4.39353596] [ 0.07217516 0.99707321 0.02521428 -0.27600453] [ 0.34751628 -0.04883566 0.93640137 0.08278411] [ 0. 0. 0. 1. ]] SLAMing on 150.463201008 meters Centerline goodness [0,1] 0.8504699037816066 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93506125 -0.05753398 -0.34978609 4.39153136] [ 0.07088239 0.99715947 0.02546935 -0.27354196] [ 0.34732716 -0.04860908 0.93648332 0.0825618 ] [ 0. 0. 0. 1. ]] SLAMing on 150.493201008 meters Centerline goodness [0,1] 0.8507574704656011 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93513368 -0.05240847 -0.35039742 4.39213008] [ 0.06697155 0.99731676 0.02956501 -0.27369184] [ 0.34790776 -0.0511139 0.93613437 0.08333618] [ 0. 0. 0. 1. ]] SLAMing on 150.523201008 meters Centerline goodness [0,1] 0.8477556558580013 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93542944 -0.04637904 -0.35045791 4.39029834] [ 0.06215178 0.99749127 0.03388687 -0.27258449] [ 0.34800707 -0.05348035 0.93596524 0.08392291] [ 0. 0. 0. 1. ]] SLAMing on 150.553201008 meters Centerline goodness [0,1] 0.8489898571152199 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93555247 -0.0459649 -0.35018396 4.38940469] [ 0.06162495 0.99753021 0.03370227 -0.27112502] [ 0.34776996 -0.05311031 0.93607444 0.08332926] [ 0. 0. 0. 1. ]] SLAMing on 150.583201008 meters Centerline goodness [0,1] 0.8491441192711209 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93562068 -0.04577092 -0.3500271 4.38903994] [ 0.06132481 0.99755631 0.03347653 -0.27018044] [ 0.34763949 -0.05278668 0.9361412 0.08282067] [ 0. 0. 0. 1. ]] SLAMing on 150.613201008 meters Centerline goodness [0,1] 0.8484890185501184 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93559179 -0.04591188 -0.35008584 4.38930164] [ 0.06137508 0.99756254 0.03319771 -0.26896873] [ 0.34770835 -0.05254605 0.93612917 0.082637 ] [ 0. 0. 0. 1. ]] SLAMing on 150.643201008 meters Centerline goodness [0,1] 0.8494203177925261 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93551446 -0.04629951 -0.3502414 4.3905824 ] [ 0.06167775 0.99755456 0.03287486 -0.26832736] [ 0.34786282 -0.05235701 0.93608237 0.08214663] [ 0. 0. 0. 1. ]] SLAMing on 150.673201008 meters Centerline goodness [0,1] 0.8501308359730064 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93542522 -0.04678798 -0.35041481 4.39184483] [ 0.06209444 0.99753881 0.03256677 -0.26834908] [ 0.34802864 -0.05222259 0.93602824 0.08185939] [ 0. 0. 0. 1. ]] SLAMing on 150.703201008 meters Centerline goodness [0,1] 0.8514263727807398 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93519876 -0.04736135 -0.35094186 4.39365104] [ 0.06265398 0.99751111 0.03234285 -0.26875588] [ 0.3485366 -0.0522349 0.93583853 0.08219994] [ 0. 0. 0. 1. ]] SLAMing on 150.733201008 meters Centerline goodness [0,1] 0.8545169367931538 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93512917 -0.05211447 -0.35045329 4.3930339 ] [ 0.06611333 0.99741662 0.02809122 -0.2677362 ] [ 0.34808398 -0.04943856 0.93615884 0.08129369] [ 0. 0. 0. 1. ]] SLAMing on 150.763201008 meters Centerline goodness [0,1] 0.8564724608249403 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93507525 -0.05219271 -0.35058551 4.39352603] [ 0.06619854 0.9974114 0.02807594 -0.26762868] [ 0.34821262 -0.04946137 0.93610979 0.08135085] [ 0. 0. 0. 1. ]] SLAMing on 150.793201008 meters Centerline goodness [0,1] 0.8592354412290104 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93504655 -0.05225399 -0.35065291 4.39390557] [ 0.06627519 0.99740574 0.02809605 -0.26756062] [ 0.3482751 -0.04951071 0.93608394 0.0813704 ] [ 0. 0. 0. 1. ]] SLAMing on 150.823201008 meters Centerline goodness [0,1] 0.8577294020391293 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93502822 -0.05201673 -0.35073706 4.39368098] [ 0.06614742 0.99740504 0.02842002 -0.26820594] [ 0.3483486 -0.04977388 0.93604264 0.0818556 ] [ 0. 0. 0. 1. ]] SLAMing on 150.853201008 meters Centerline goodness [0,1] 0.8605777212107797 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93505054 -0.05150484 -0.35075311 4.39315492] [ 0.06578701 0.99741461 0.02891634 -0.26959402] [ 0.34835695 -0.05011324 0.93602142 0.0823741 ] [ 0. 0. 0. 1. ]] SLAMing on 150.88320100800001 meters Centerline goodness [0,1] 0.860983081721083 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93503883 -0.05155958 -0.35077627 4.39395732] [ 0.06576275 0.99742273 0.02869076 -0.26932472] [ 0.34839294 -0.04989499 0.93601969 0.08173889] [ 0. 0. 0. 1. ]] SLAMing on 150.91320100800002 meters Centerline goodness [0,1] 0.8662687886825817 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93509682 -0.05119724 -0.35067475 4.39361844] [ 0.06540394 0.99744373 0.02878064 -0.26894699] [ 0.34830485 -0.0498482 0.93605496 0.08149494] [ 0. 0. 0. 1. ]] SLAMing on 150.94320100800002 meters Centerline goodness [0,1] 0.8654781647318961 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93517679 -0.0507664 -0.3505241 4.39308017] [ 0.06498882 0.99746675 0.02892308 -0.26900374] [ 0.34816781 -0.04982834 0.936107 0.08127968] [ 0. 0. 0. 1. ]] SLAMing on 150.97320100800002 meters Centerline goodness [0,1] 0.8652682198822652 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93539764 -0.04948778 -0.35011742 4.39102157] [ 0.06380319 0.99752745 0.02946421 -0.2696721 ] [ 0.34779362 -0.04989936 0.9362423 0.0811344 ] [ 0. 0. 0. 1. ]] SLAMing on 151.003201008 meters Centerline goodness [0,1] 0.8672856513114393 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93543611 -0.04931695 -0.35003873 4.39126864] [ 0.06347749 0.99755922 0.02908982 -0.26875348] [ 0.34774974 -0.04943125 0.93628343 0.08024053] [ 0. 0. 0. 1. ]] SLAMing on 151.033201008 meters Centerline goodness [0,1] 0.8693744653845092 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93554356 -0.04880105 -0.34982382 4.39086109] [ 0.06289518 0.99759768 0.02903564 -0.2682805 ] [ 0.34756646 -0.04916634 0.93636543 0.07948424] [ 0. 0. 0. 1. ]] SLAMing on 151.063201008 meters Centerline goodness [0,1] 0.8774182834684896 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93561204 -0.0483314 -0.34970587 4.39049004] [ 0.06241551 0.99762563 0.02911032 -0.26833291] [ 0.34746859 -0.04906304 0.93640717 0.07914818] [ 0. 0. 0. 1. ]] SLAMing on 151.093201008 meters Centerline goodness [0,1] 0.8814925621208344 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93561528 -0.04769556 -0.34978449 4.39075252] [ 0.06186082 0.99765078 0.02943074 -0.27047814] [ 0.34755905 -0.04917381 0.93636779 0.07895287] [ 0. 0. 0. 1. ]] SLAMing on 151.123201008 meters Centerline goodness [0,1] 0.8832824215495696 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93561456 -0.04731481 -0.34983812 4.39087924] [ 0.06161236 0.99765378 0.029847 -0.27186137] [ 0.34760512 -0.04947964 0.93633458 0.07910943] [ 0. 0. 0. 1. ]] SLAMing on 151.153201008 meters Centerline goodness [0,1] 0.8865315190224937 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93555006 -0.04716083 -0.35003135 4.39154856] [ 0.06156084 0.99764873 0.03012103 -0.27307085] [ 0.34778779 -0.04972795 0.93625359 0.07926825] [ 0. 0. 0. 1. ]] SLAMing on 151.183201008 meters Centerline goodness [0,1] 0.8861698286158718 Centerline is valid? [False, False] Translation: X:4.39, Y:-0.27, Z:0.08 [[ 0.93542569 -0.04741536 -0.35032921 4.39322027] [ 0.06182729 0.99763403 0.0300622 -0.27413208] [ 0.34807493 -0.04978086 0.93614406 0.07900723] [ 0. 0. 0. 1. ]] SLAMing on 151.213201008 meters Centerline goodness [0,1] 0.8845820641086549 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.27, Z:0.08 [[ 0.93524262 -0.04855261 -0.35066206 4.39757705] [ 0.06275636 0.9976002 0.02924847 -0.27477018] [ 0.34840045 -0.0493607 0.93604522 0.07703412] [ 0. 0. 0. 1. ]] SLAMing on 151.243201008 meters Centerline goodness [0,1] 0.8820933869526363 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93508185 -0.04916614 -0.35100517 4.40003747] [ 0.06332243 0.99757287 0.02895924 -0.27551589] [ 0.34872942 -0.04930576 0.9359256 0.07644825] [ 0. 0. 0. 1. ]] SLAMing on 151.273201008 meters Centerline goodness [0,1] 0.8798641136504015 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.27, Z:0.07 [[ 0.93504941 -0.05411984 -0.35036217 4.39998534] [ 0.06691076 0.99745821 0.02449634 -0.27494193] [ 0.34814589 -0.04634828 0.93629391 0.07470845] [ 0. 0. 0. 1. ]] SLAMing on 151.303201008 meters Centerline goodness [0,1] 0.8783330041477385 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 0.93497486 -0.05877933 -0.34980996 4.39981123] [ 0.0705446 0.99728806 0.02097568 -0.27814816] [ 0.34762836 -0.04428893 0.93658583 0.07420785] [ 0. 0. 0. 1. ]] SLAMing on 151.333201008 meters Centerline goodness [0,1] 0.8763448451133764 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 0.93494065 -0.05850051 -0.34994809 4.40003914] [ 0.07048737 0.9972787 0.02160376 -0.28038088] [ 0.34773195 -0.04486515 0.93651995 0.07484772] [ 0. 0. 0. 1. ]] SLAMing on 151.363201008 meters Centerline goodness [0,1] 0.8752874378992193 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.08 [[ 0.93490822 -0.05833363 -0.35006258 4.40049366] [ 0.07045931 0.9972722 0.02199172 -0.28183353] [ 0.34782483 -0.04522541 0.93646813 0.07508321] [ 0. 0. 0. 1. ]] SLAMing on 151.393201008 meters Centerline goodness [0,1] 0.874323323266283 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 0.93502739 -0.05798886 -0.34980148 4.40071816] [ 0.07023778 0.99727825 0.02242193 -0.28381972] [ 0.34754918 -0.0455344 0.93655549 0.07450844] [ 0. 0. 0. 1. ]] SLAMing on 151.423201008 meters Centerline goodness [0,1] 0.8738461538461538 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 0.93505218 -0.05800082 -0.34973321 4.40141868] [ 0.0702306 0.99727975 0.0223777 -0.28436841] [ 0.34748393 -0.04548628 0.93658204 0.07386839] [ 0. 0. 0. 1. ]] SLAMing on 151.453201008 meters Centerline goodness [0,1] 0.872875071306332 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.93508645 -0.05780383 -0.34967419 4.40154561] [ 0.07011726 0.99728165 0.02264681 -0.28523463] [ 0.34741458 -0.04569492 0.93659761 0.07376325] [ 0. 0. 0. 1. ]] SLAMing on 151.483201008 meters Centerline goodness [0,1] 0.872875071306332 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.93508645 -0.05780383 -0.34967419 4.40154561] [ 0.07011726 0.99728165 0.02264681 -0.28523463] [ 0.34741458 -0.04569492 0.93659761 0.07376325] [ 0. 0. 0. 1. ]] SLAMing on 151.513201008 meters Centerline goodness [0,1] 0.8651537670058306 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.28, Z:0.07 [[ 0.93491255 -0.06317823 -0.34920915 4.40172631] [ 0.07421732 0.99707402 0.01830803 -0.28480806] [ 0.3470307 -0.04303377 0.93686594 0.07296633] [ 0. 0. 0. 1. ]] SLAMing on 151.543201008 meters Centerline goodness [0,1] 0.860420925344773 Centerline is valid? [False, False] Translation: X:4.40, Y:-0.29, Z:0.07 [[ 0.93442414 -0.06885512 -0.34944314 4.40310834] [ 0.07903816 0.99675953 0.01494711 -0.28806599] [ 0.34728159 -0.04158628 0.93683834 0.0746352 ] [ 0. 0. 0. 1. ]] SLAMing on 151.573201008 meters Centerline goodness [0,1] 0.8624895234241785 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.29, Z:0.08 [[ 0.9341083 -0.0697661 -0.35010624 4.40587676] [ 0.08007172 0.99667581 0.01502822 -0.2900149 ] [ 0.34789397 -0.04207159 0.93658944 0.07541559] [ 0. 0. 0. 1. ]] SLAMing on 151.603201008 meters Centerline goodness [0,1] 0.8584367856006019 Centerline is valid? [False, False] Translation: X:4.41, Y:-0.29, Z:0.08 [[ 0.93380743 -0.07091296 -0.35067798 4.40937644] [ 0.08117272 0.99659276 0.01462409 -0.29058275] [ 0.34844609 -0.04212157 0.93638192 0.07511224] [ 0. 0. 0. 1. ]] SLAMing on 151.63320100800001 meters Centerline goodness [0,1] 0.8571221267703738 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.29, Z:0.07 [[ 0.93334904 -0.07530898 -0.35098166 4.41658161] [ 0.08508038 0.99629595 0.01247831 -0.29036101] [ 0.34874188 -0.04150827 0.93629919 0.07353692] [ 0. 0. 0. 1. ]] SLAMing on 151.66320100800002 meters Centerline goodness [0,1] 0.8549051696425962 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.29, Z:0.07 [[ 0.93305131 -0.0761764 -0.35158556 4.41926337] [ 0.08608721 0.9962077 0.01261788 -0.29209228] [ 0.34929106 -0.04204015 0.93607071 0.07425287] [ 0. 0. 0. 1. ]] SLAMing on 151.69320100800002 meters Centerline goodness [0,1] 0.8550508156869636 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.29, Z:0.08 [[ 0.93274726 -0.07689715 -0.35223483 4.42172743] [ 0.08705391 0.99611797 0.01306137 -0.29460957] [ 0.34986306 -0.04284637 0.93582051 0.07545309] [ 0. 0. 0. 1. ]] SLAMing on 151.72320100800002 meters Centerline goodness [0,1] 0.8514740895329356 Centerline is valid? [False, False] Translation: X:4.42, Y:-0.30, Z:0.08 [[ 0.93240412 -0.07759854 -0.35298871 4.42414857] [ 0.08802785 0.99602568 0.01356245 -0.29705046] [ 0.35053339 -0.04371852 0.93552928 0.076956 ] [ 0. 0. 0. 1. ]] SLAMing on 151.753201008 meters Centerline goodness [0,1] 0.8557715028355387 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:0.08 [[ 0.93185817 -0.08327105 -0.35313778 4.42517006] [ 0.09277121 0.99563694 0.01002973 -0.29849568] [ 0.35076183 -0.0421073 0.93551757 0.07852362] [ 0. 0. 0. 1. ]] SLAMing on 151.783201008 meters Centerline goodness [0,1] 0.8518287614297589 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:0.08 [[ 0.93149243 -0.08342235 -0.35406576 4.4264628 ] [ 0.09337791 0.99556892 0.01109431 -0.30088541] [ 0.35157135 -0.04339619 0.93515472 0.0812865 ] [ 0. 0. 0. 1. ]] SLAMing on 151.813201008 meters Centerline goodness [0,1] 0.8536360390383242 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:0.08 [[ 0.93118409 -0.08385938 -0.35477287 4.42846225] [ 0.09402742 0.99550336 0.01148492 -0.30232319] [ 0.35221447 -0.04405295 0.93488197 0.08252542] [ 0. 0. 0. 1. ]] SLAMing on 151.843201008 meters Centerline goodness [0,1] 0.8560057027444458 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:0.08 [[ 0.93085443 -0.08482934 -0.35540683 4.43119879] [ 0.09494252 0.99542113 0.01107671 -0.30169909] [ 0.35283984 -0.04405402 0.93464608 0.08272974] [ 0. 0. 0. 1. ]] SLAMing on 151.873201008 meters Centerline goodness [0,1] 0.8555269313908382 Centerline is valid? [False, False] Translation: X:4.43, Y:-0.30, Z:0.08 [[ 0.9304594 -0.0865128 -0.35603489 4.43477143] [ 0.09633347 0.99529978 0.00990974 -0.29853819] [ 0.35350413 -0.04351869 0.93442012 0.08217214] [ 0. 0. 0. 1. ]] SLAMing on 151.903201008 meters Centerline goodness [0,1] 0.8550505499718344 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.30, Z:0.08 [[ 0.93031195 -0.08690299 -0.35632505 4.43562932] [ 0.09669987 0.99526596 0.00973678 -0.29760845] [ 0.35379204 -0.04351483 0.93431133 0.0824959 ] [ 0. 0. 0. 1. ]] SLAMing on 151.933201008 meters Centerline goodness [0,1] 0.8553138521723668 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.30, Z:0.08 [[ 0.93015708 -0.08703057 -0.35669803 4.4360954 ] [ 0.09692997 0.99524162 0.00993462 -0.29740962] [ 0.35413611 -0.04381549 0.93416691 0.08341774] [ 0. 0. 0. 1. ]] SLAMing on 151.963201008 meters Centerline goodness [0,1] 0.8545535186280308 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.30, Z:0.08 [[ 0.92985519 -0.08765129 -0.35733259 4.43743067] [ 0.09746891 0.99519303 0.00952059 -0.29610679] [ 0.35478042 -0.04368159 0.93392868 0.08417922] [ 0. 0. 0. 1. ]] SLAMing on 151.993201008 meters Centerline goodness [0,1] 0.8557272620030671 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.29, Z:0.08 [[ 0.92972735 -0.08796972 -0.3575869 4.4381545 ] [ 0.09767866 0.99517601 0.00914229 -0.29466341] [ 0.35505766 -0.04342845 0.93383512 0.08420254] [ 0. 0. 0. 1. ]] SLAMing on 152.023201008 meters Centerline goodness [0,1] 0.8577974914079253 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.29, Z:0.08 [[ 0.92954768 -0.08842157 -0.35794237 4.43916156] [ 0.09794556 0.99515525 0.00852616 -0.29235492] [ 0.35545433 -0.04298434 0.93370475 0.08409454] [ 0. 0. 0. 1. ]] SLAMing on 152.053201008 meters Centerline goodness [0,1] 0.8575152296157451 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.29, Z:0.08 [[ 0.92940749 -0.08910344 -0.35813724 4.44016057] [ 0.09830115 0.99512832 0.00751798 -0.28885702] [ 0.35572263 -0.04219257 0.93363869 0.08342156] [ 0. 0. 0. 1. ]] SLAMing on 152.083201008 meters Centerline goodness [0,1] 0.8459704616815908 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.08 [[ 0.92948383 -0.08480842 -0.35898098 4.44130682] [ 0.09493269 0.99542688 0.01063516 -0.28433858] [ 0.35643737 -0.04396424 0.93328428 0.08374944] [ 0. 0. 0. 1. ]] SLAMing on 152.113201008 meters Centerline goodness [0,1] 0.8466859623733719 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92952286 -0.07995565 -0.35999214 4.44224227] [ 0.09141026 0.99570217 0.01487785 -0.28420003] [ 0.35725539 -0.04673628 0.9328367 0.08536153] [ 0. 0. 0. 1. ]] SLAMing on 152.143201008 meters Centerline goodness [0,1] 0.8437653305630104 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92947796 -0.07982747 -0.3601365 4.44143057] [ 0.09117075 0.99572838 0.01459092 -0.28163341] [ 0.35743338 -0.04639585 0.93278551 0.08575133] [ 0. 0. 0. 1. ]] SLAMing on 152.173201008 meters Centerline goodness [0,1] 0.8456033302919708 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92942328 -0.07476579 -0.36136193 4.44088382] [ 0.0874987 0.99598385 0.01897768 -0.27932165] [ 0.35849177 -0.04925699 0.93223248 0.08892777] [ 0. 0. 0. 1. ]] SLAMing on 152.203201008 meters Centerline goodness [0,1] 0.8465870112051224 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92945597 -0.07480777 -0.36126915 4.44006443] [ 0.08731136 0.99601137 0.01838706 -0.27605364] [ 0.35845268 -0.04863286 0.93228028 0.08861752] [ 0. 0. 0. 1. ]] SLAMing on 152.233201008 meters Centerline goodness [0,1] 0.8421262307210745 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92932742 -0.07020877 -0.36252072 4.44154963] [ 0.08409828 0.9961999 0.0226549 -0.27569485] [ 0.35955253 -0.05154119 0.93170032 0.09081155] [ 0. 0. 0. 1. ]] SLAMing on 152.263201008 meters Centerline goodness [0,1] 0.8441584158415841 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.28, Z:0.09 [[ 0.92915115 -0.06570006 -0.3638154 4.44312759] [ 0.0809713 0.9963543 0.02686539 -0.27547425] [ 0.36072398 -0.05442061 0.93108357 0.09312403] [ 0. 0. 0. 1. ]] SLAMing on 152.293201008 meters Centerline goodness [0,1] 0.8385802469135802 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.27, Z:0.10 [[ 0.92901139 -0.06109887 -0.36497227 4.44345676] [ 0.07759785 0.99651205 0.0306969 -0.27248494] [ 0.36182372 -0.05683883 0.93051219 0.09546826] [ 0. 0. 0. 1. ]] SLAMing on 152.323201008 meters Centerline goodness [0,1] 0.8398296298371957 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.27, Z:0.10 [[ 0.92900981 -0.06122201 -0.36495566 4.44275982] [ 0.07753958 0.99653146 0.03021016 -0.26964314] [ 0.36184027 -0.05636405 0.93053464 0.09547668] [ 0. 0. 0. 1. ]] SLAMing on 152.353201008 meters Centerline goodness [0,1] 0.8398267188373393 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.27, Z:0.10 [[ 0.92889379 -0.06162637 -0.36518285 4.44286541] [ 0.07779151 0.99652702 0.02970488 -0.26711109] [ 0.36208397 -0.05600081 0.93046177 0.09578068] [ 0. 0. 0. 1. ]] SLAMing on 152.38320100800001 meters Centerline goodness [0,1] 0.8411436541143654 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.26, Z:0.10 [[ 0.92881003 -0.06208844 -0.36531761 4.44322682] [ 0.07806542 0.99652308 0.02911268 -0.2649583 ] [ 0.36223987 -0.05555882 0.93042759 0.09566173] [ 0. 0. 0. 1. ]] SLAMing on 152.41320100800002 meters Centerline goodness [0,1] 0.8424294553425266 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.26, Z:0.10 [[ 0.92863951 -0.06275244 -0.36563752 4.44326085] [ 0.07849991 0.99651103 0.02834672 -0.26087764] [ 0.362583 -0.0550264 0.93032557 0.09616353] [ 0. 0. 0. 1. ]] SLAMing on 152.44320100800002 meters Centerline goodness [0,1] 0.8450167168633086 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.26, Z:0.10 [[ 0.92846317 -0.06331035 -0.36598899 4.44398746] [ 0.0789621 0.99648601 0.02793943 -0.25933482] [ 0.36293405 -0.05484 0.93019968 0.09658677] [ 0. 0. 0. 1. ]] SLAMing on 152.47320100800002 meters Centerline goodness [0,1] 0.8443178361036591 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.26, Z:0.10 [[ 0.92829421 -0.06391122 -0.366313 4.44473289] [ 0.07947126 0.99645668 0.02753915 -0.25789113] [ 0.36325497 -0.05467579 0.93008407 0.09699422] [ 0. 0. 0. 1. ]] SLAMing on 152.503201008 meters Centerline goodness [0,1] 0.8458183825558929 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.26, Z:0.10 [[ 0.92811 -0.06476004 -0.36663057 4.44612812] [ 0.08015643 0.996419 0.02690951 -0.25607828] [ 0.363575 -0.05436278 0.92997737 0.09692988] [ 0. 0. 0. 1. ]] SLAMing on 152.533201008 meters Centerline goodness [0,1] 0.8506554307116105 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.25, Z:0.10 [[ 0.9277473 -0.06667975 -0.36720397 4.44858804] [ 0.08169461 0.99633162 0.02548123 -0.25151644] [ 0.36415784 -0.05363873 0.92979135 0.09690618] [ 0. 0. 0. 1. ]] SLAMing on 152.563201008 meters Centerline goodness [0,1] 0.8501416352685569 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.25, Z:0.10 [[ 0.92748146 -0.06768384 -0.3676915 4.45007627] [ 0.08251119 0.9962831 0.0247363 -0.2494375 ] [ 0.36465058 -0.05328112 0.92961878 0.09719747] [ 0. 0. 0. 1. ]] SLAMing on 152.593201008 meters Centerline goodness [0,1] 0.8517980086128865 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.25, Z:0.10 [[ 0.92724499 -0.06861355 -0.36811535 4.45149737] [ 0.08326491 0.9962373 0.0240457 -0.24766264] [ 0.36508038 -0.05294735 0.92946915 0.09741721] [ 0. 0. 0. 1. ]] SLAMing on 152.623201008 meters Centerline goodness [0,1] 0.8508346353095962 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.24, Z:0.10 [[ 0.92691431 -0.06990583 -0.36870454 4.45301867] [ 0.08422253 0.99618475 0.02285825 -0.24380806] [ 0.36569992 -0.05224087 0.92926555 0.09771688] [ 0. 0. 0. 1. ]] SLAMing on 152.653201008 meters Centerline goodness [0,1] 0.8536097721297108 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.24, Z:0.10 [[ 0.9267721 -0.07068969 -0.36891251 4.45378264] [ 0.08470168 0.99616558 0.02190362 -0.24051502] [ 0.36594958 -0.05154718 0.929206 0.09744241] [ 0. 0. 0. 1. ]] SLAMing on 152.683201008 meters Centerline goodness [0,1] 0.8534162846540057 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.24, Z:0.10 [[ 0.92668145 -0.07132879 -0.36901721 4.45435774] [ 0.08499036 0.99616304 0.02087675 -0.23659257] [ 0.36611219 -0.050709 0.92918806 0.09677542] [ 0. 0. 0. 1. ]] SLAMing on 152.713201008 meters Centerline goodness [0,1] 0.8529499850254567 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.23, Z:0.10 [[ 0.92664027 -0.0717559 -0.3690378 4.45447127] [ 0.08509644 0.99617242 0.01997774 -0.23244877] [ 0.36619175 -0.04991598 0.92919965 0.09616904] [ 0. 0. 0. 1. ]] SLAMing on 152.743201008 meters Centerline goodness [0,1] 0.8540441374844872 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.23, Z:0.10 [[ 0.92666403 -0.0674501 -0.36978949 4.45552128] [ 0.08162453 0.99640233 0.02279966 -0.22737959] [ 0.36692127 -0.05131151 0.92883578 0.09616056] [ 0. 0. 0. 1. ]] SLAMing on 152.773201008 meters Centerline goodness [0,1] 0.8502607667078875 Centerline is valid? [False, False] Translation: X:4.46, Y:-0.22, Z:0.10 [[ 0.92665882 -0.06750602 -0.36979232 4.45503642] [ 0.08143383 0.99643227 0.02216432 -0.22393382] [ 0.36697678 -0.05065237 0.92885003 0.09585574] [ 0. 0. 0. 1. ]] SLAMing on 152.803201008 meters Centerline goodness [0,1] 0.8539316790203029 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.22, Z:0.10 [[ 0.92660841 -0.06768743 -0.36988549 4.45477145] [ 0.08139148 0.99644921 0.02154976 -0.22085131] [ 0.36711345 -0.05007372 0.9288274 0.09576627] [ 0. 0. 0. 1. ]] SLAMing on 152.833201008 meters Centerline goodness [0,1] 0.855028635658085 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.22, Z:0.10 [[ 0.92652683 -0.06772821 -0.37008232 4.45453856] [ 0.08127761 0.99646766 0.0211221 -0.21844212] [ 0.3673445 -0.0496496 0.92875881 0.09594614] [ 0. 0. 0. 1. ]] SLAMing on 152.863201008 meters Centerline goodness [0,1] 0.8625395727473463 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.21, Z:0.10 [[ 0.92644254 -0.06751178 -0.37033279 4.45322508] [ 0.08088421 0.99650895 0.02067999 -0.2137646 ] [ 0.3676438 -0.0491129 0.92866892 0.09660232] [ 0. 0. 0. 1. ]] SLAMing on 152.893201008 meters Centerline goodness [0,1] 0.8637864975558198 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.21, Z:0.10 [[ 0.92639192 -0.06761363 -0.37044082 4.45254804] [ 0.08085549 0.99651878 0.02031531 -0.21068351] [ 0.36777765 -0.04877211 0.92863388 0.0969558 ] [ 0. 0. 0. 1. ]] SLAMing on 152.923201008 meters Centerline goodness [0,1] 0.8604271456034551 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.21, Z:0.10 [[ 0.92638835 -0.06764332 -0.37044434 4.45164372] [ 0.08074827 0.99653458 0.01996344 -0.20771735] [ 0.3678102 -0.04840664 0.92864011 0.09715471] [ 0. 0. 0. 1. ]] SLAMing on 152.953201008 meters Centerline goodness [0,1] 0.8615923332104681 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.21, Z:0.10 [[ 0.92641717 -0.06749469 -0.37039936 4.45023464] [ 0.08052839 0.99655527 0.01981832 -0.20522829] [ 0.36778581 -0.0481877 0.92866116 0.09765577] [ 0. 0. 0. 1. ]] SLAMing on 152.983201008 meters Centerline goodness [0,1] 0.863114305805141 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.20, Z:0.10 [[ 0.92640661 -0.06696371 -0.37052213 4.44736484] [ 0.08008295 0.99658515 0.02011847 -0.20247017] [ 0.36790965 -0.04831039 0.92860573 0.09963605] [ 0. 0. 0. 1. ]] SLAMing on 153.013201008 meters Centerline goodness [0,1] 0.8634156474773441 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.20, Z:0.10 [[ 0.92637879 -0.06689492 -0.37060412 4.44625771] [ 0.08002757 0.99658889 0.02015387 -0.2013484 ] [ 0.36799175 -0.04832867 0.92857224 0.10051108] [ 0. 0. 0. 1. ]] SLAMing on 153.043201008 meters Centerline goodness [0,1] 0.869753679237937 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.20, Z:0.10 [[ 0.92632952 -0.06693712 -0.37071963 4.44528871] [ 0.08008441 0.99658407 0.02016643 -0.20019588] [ 0.3681034 -0.04836962 0.92852586 0.10144815] [ 0. 0. 0. 1. ]] SLAMing on 153.073201008 meters Centerline goodness [0,1] 0.8727503431131367 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.20, Z:0.10 [[ 0.92630969 -0.06680718 -0.3707926 4.44409588] [ 0.08002621 0.99658477 0.02036187 -0.1994319 ] [ 0.36816593 -0.04853452 0.92849246 0.10245982] [ 0. 0. 0. 1. ]] SLAMing on 153.103201008 meters Centerline goodness [0,1] 0.8748810289389067 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.20, Z:0.10 [[ 0.92623595 -0.0673141 -0.37088514 4.44267721] [ 0.08041918 0.99656118 0.01996445 -0.19570721] [ 0.36826584 -0.04831807 0.92846413 0.10362222] [ 0. 0. 0. 1. ]] SLAMing on 153.13320100800001 meters Centerline goodness [0,1] 0.8651987798938815 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:0.10 [[ 0.92624841 -0.0674177 -0.37083519 4.44175185] [ 0.0804547 0.99656199 0.01977999 -0.19381771] [ 0.36822673 -0.04815662 0.92848803 0.10400742] [ 0. 0. 0. 1. ]] SLAMing on 153.16320100800002 meters Centerline goodness [0,1] 0.8698479902060804 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:0.10 [[ 0.92626277 -0.0674347 -0.37079622 4.44052861] [ 0.08043226 0.99656572 0.01968278 -0.19192705] [ 0.36819551 -0.04805541 0.92850565 0.10462319] [ 0. 0. 0. 1. ]] SLAMing on 153.19320100800002 meters Centerline goodness [0,1] 0.8713765810704197 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:0.11 [[ 0.926381 -0.06726465 -0.37053165 4.43782454] [ 0.08018534 0.99658807 0.01955846 -0.18874056] [ 0.36795183 -0.04782979 0.92861389 0.10555778] [ 0. 0. 0. 1. ]] SLAMing on 153.22320100800002 meters Centerline goodness [0,1] 0.8720918419181144 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.19, Z:0.11 [[ 0.92640917 -0.06755485 -0.37040841 4.43717989] [ 0.08030585 0.99658741 0.01909182 -0.18628062] [ 0.36785461 -0.0474328 0.92867277 0.10550291] [ 0. 0. 0. 1. ]] SLAMing on 153.253201008 meters Centerline goodness [0,1] 0.8723318158826505 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:0.11 [[ 0.92637965 -0.06785344 -0.37042767 4.4367413 ] [ 0.08044758 0.99658461 0.01863605 -0.18361286] [ 0.367898 -0.04706407 0.92867434 0.10560757] [ 0. 0. 0. 1. ]] SLAMing on 153.283201008 meters Centerline goodness [0,1] 0.8748644217429689 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:0.11 [[ 0.92633393 -0.06832611 -0.37045512 4.43688042] [ 0.08074159 0.99657088 0.01809087 -0.18130817] [ 0.36794871 -0.04666932 0.92867418 0.10547678] [ 0. 0. 0. 1. ]] SLAMing on 153.313201008 meters Centerline goodness [0,1] 0.8786031459321141 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:0.10 [[ 0.92600124 -0.07008238 -0.37095843 4.43941915] [ 0.08199171 0.9964979 0.01641012 -0.176725 ] [ 0.36850924 -0.04561131 0.92850447 0.10484614] [ 0. 0. 0. 1. ]] SLAMing on 153.343201008 meters Centerline goodness [0,1] 0.8786031459321141 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.18, Z:0.10 [[ 0.92600124 -0.07008238 -0.37095843 4.43941915] [ 0.08199171 0.9964979 0.01641012 -0.176725 ] [ 0.36850924 -0.04561131 0.92850447 0.10484614] [ 0. 0. 0. 1. ]] SLAMing on 153.373201008 meters Centerline goodness [0,1] 0.8808001393277436 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.17, Z:0.10 [[ 0.92578767 -0.07131321 -0.3712568 4.44153618] [ 0.08285014 0.99644614 0.01519666 -0.17352077] [ 0.36885369 -0.04482756 0.92840586 0.10403297] [ 0. 0. 0. 1. ]] SLAMing on 153.403201008 meters Centerline goodness [0,1] 0.882556260101952 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.17, Z:0.10 [[ 0.92556219 -0.07254555 -0.37158012 4.44353295] [ 0.08372357 0.99639046 0.01401493 -0.17034251] [ 0.36922216 -0.0440817 0.9282951 0.10339271] [ 0. 0. 0. 1. ]] SLAMing on 153.433201008 meters Centerline goodness [0,1] 0.8827401871009256 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.17, Z:0.10 [[ 0.92533005 -0.07365745 -0.37193935 4.44508751] [ 0.08455596 0.99633324 0.01305267 -0.1679148 ] [ 0.36961411 -0.04352771 0.92816526 0.1032234 ] [ 0. 0. 0. 1. ]] SLAMing on 153.463201008 meters Centerline goodness [0,1] 0.8834268280681036 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:0.10 [[ 0.92482659 -0.08044272 -0.37178588 4.44584869] [ 0.08954474 0.9959564 0.00725125 -0.16149623] [ 0.36969922 -0.03999762 0.92829019 0.10268064] [ 0. 0. 0. 1. ]] SLAMing on 153.493201008 meters Centerline goodness [0,1] 0.8768189092699742 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.16, Z:0.10 [[ 0.92458624 -0.08172491 -0.37210392 4.4473305 ] [ 0.09049085 0.99587846 0.00612334 -0.15832674] [ 0.37006985 -0.03933355 0.92817088 0.10245009] [ 0. 0. 0. 1. ]] SLAMing on 153.523201008 meters Centerline goodness [0,1] 0.8793303939144338 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:0.10 [[ 9.23676741e-01 -8.52896004e-02 -3.73559851e-01 4.45205058e+00] [ 9.35691031e-02 9.95604551e-01 4.04992668e-03 -1.50379370e-01] [ 3.71572471e-01 -3.86944833e-02 9.27597238e-01 1.03840668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.553201008 meters Centerline goodness [0,1] 0.8818673361011876 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:0.10 [[ 0.92356944 -0.08244193 -0.37446337 4.45485172] [ 0.09174906 0.99575712 0.00706209 -0.1495788 ] [ 0.37229236 -0.04087899 0.92721481 0.10467335] [ 0. 0. 0. 1. ]] SLAMing on 153.583201008 meters Centerline goodness [0,1] 0.8395874900838962 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.15, Z:0.10 [[ 0.92347771 -0.08308356 -0.37454779 4.45462765] [ 0.09219655 0.99571998 0.00644377 -0.14691871] [ 0.37240935 -0.0404827 0.92718522 0.10499546] [ 0. 0. 0. 1. ]] SLAMing on 153.613201008 meters Centerline goodness [0,1] 0.8422007832648772 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:0.11 [[ 0.92345043 -0.08345375 -0.37453273 4.45354056] [ 0.09238475 0.99570578 0.00592033 -0.14393015] [ 0.37243034 -0.04006824 0.92719479 0.10555191] [ 0. 0. 0. 1. ]] SLAMing on 153.643201008 meters Centerline goodness [0,1] 0.8772156440617151 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.14, Z:0.11 [[ 0.92348903 -0.08352838 -0.3744209 4.4519927 ] [ 0.09230749 0.99571514 0.0055405 -0.14063686] [ 0.37235377 -0.03967844 0.9272423 0.10611251] [ 0. 0. 0. 1. ]] SLAMing on 153.673201008 meters Centerline goodness [0,1] 0.8646852240318665 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:0.11 [[ 0.92369209 -0.08011629 -0.37466558 4.45063911] [ 0.08947262 0.99596018 0.00761351 -0.13222202] [ 0.37254204 -0.04055485 0.92712876 0.1066226 ] [ 0. 0. 0. 1. ]] SLAMing on 153.703201008 meters Centerline goodness [0,1] 0.8577666728937045 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.13, Z:0.11 [[ 0.92386516 -0.07595211 -0.37510591 4.45064222] [ 0.08620891 0.99622057 0.01061127 -0.12791961] [ 0.37288227 -0.04214086 0.92692123 0.10692542] [ 0. 0. 0. 1. ]] SLAMing on 153.733201008 meters Centerline goodness [0,1] 0.8642381802583069 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.12, Z:0.11 [[ 0.92400321 -0.0718326 -0.37557709 4.45082246] [ 0.08294335 0.99646314 0.0134763 -0.12336367] [ 0.37328069 -0.04360377 0.92669317 0.10710295] [ 0. 0. 0. 1. ]] SLAMing on 153.763201008 meters Centerline goodness [0,1] 0.854047471335677 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.12, Z:0.11 [[ 0.92414021 -0.06774524 -0.37599927 4.45104025] [ 0.07967065 0.99668896 0.01623915 -0.1191101 ] [ 0.3736542 -0.04496336 0.92647765 0.10718404] [ 0. 0. 0. 1. ]] SLAMing on 153.793201008 meters Centerline goodness [0,1] 0.8476688374608469 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.11, Z:0.11 [[ 0.92443248 -0.06415084 -0.37591124 4.44837763] [ 0.07637346 0.9969224 0.01768688 -0.10819385] [ 0.3736197 -0.04505997 0.92648687 0.10730822] [ 0. 0. 0. 1. ]] SLAMing on 153.823201008 meters Centerline goodness [0,1] 0.8656031859674244 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:0.11 [[ 0.92461485 -0.06004554 -0.37614082 4.44806559] [ 0.07300468 0.99712538 0.02028038 -0.1032288 ] [ 0.37384181 -0.04621159 0.92634054 0.10729081] [ 0. 0. 0. 1. ]] SLAMing on 153.853201008 meters Centerline goodness [0,1] 0.870234216782601 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.10, Z:0.11 [[ 0.92477021 -0.05592272 -0.37639436 4.44784328] [ 0.06959355 0.99731462 0.02280986 -0.09740475] [ 0.374108 -0.0472885 0.92617871 0.10717382] [ 0. 0. 0. 1. ]] SLAMing on 153.88320100800001 meters Centerline goodness [0,1] 0.8712418300653595 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.09, Z:0.11 [[ 0.92493243 -0.05167649 -0.37660262 4.44761314] [ 0.06604972 0.99749443 0.02534374 -0.09131742] [ 0.37434934 -0.04831575 0.92602816 0.10691447] [ 0. 0. 0. 1. ]] SLAMing on 153.91320100800002 meters Centerline goodness [0,1] 0.8761180394739637 Centerline is valid? [False, False] Translation: X:4.45, Y:-0.08, Z:0.11 [[ 0.92516781 -0.04352937 -0.37705401 4.44584402] [ 0.05929979 0.99777987 0.03031273 -0.07903972] [ 0.3748974 -0.05040358 0.9256951 0.10742675] [ 0. 0. 0. 1. ]] SLAMing on 153.94320100800002 meters Centerline goodness [0,1] 0.8714913479531549 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:0.11 [[ 0.92535609 -0.03926381 -0.37706029 4.44491672] [ 0.05577048 0.99789959 0.0329555 -0.07363362] [ 0.37497435 -0.0515244 0.92560222 0.10742244] [ 0. 0. 0. 1. ]] SLAMing on 153.97320100800002 meters Centerline goodness [0,1] 0.8710270609131752 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.07, Z:0.11 [[ 0.92545241 -0.0354003 -0.37720639 4.44472841] [ 0.05257662 0.99799161 0.03533333 -0.06815131] [ 0.375198 -0.05253155 0.92545497 0.10730945] [ 0. 0. 0. 1. ]] SLAMing on 154.003201008 meters Centerline goodness [0,1] 0.848431910822727 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.06, Z:0.11 [[ 0.9255881 -0.03238142 -0.37714467 4.44319053] [ 0.05001958 0.99806023 0.03706514 -0.06177725] [ 0.37521288 -0.05317167 0.92541238 0.10754017] [ 0. 0. 0. 1. ]] SLAMing on 154.033201008 meters Centerline goodness [0,1] 0.8652719491419787 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.05, Z:0.11 [[ 0.92587212 -0.02800755 -0.37679756 4.44175402] [ 0.04609991 0.998172 0.03908271 -0.04774155] [ 0.37501416 -0.05355593 0.92547077 0.10667062] [ 0. 0. 0. 1. ]] SLAMing on 154.063201008 meters Centerline goodness [0,1] 0.8608249563844812 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.04, Z:0.11 [[ 0.92590143 -0.0283806 -0.37669759 4.44100174] [ 0.04596015 0.99822934 0.0377603 -0.04026421] [ 0.37495893 -0.05227539 0.92556636 0.10624104] [ 0. 0. 0. 1. ]] SLAMing on 154.093201008 meters Centerline goodness [0,1] 0.8599709483295289 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.03, Z:0.11 [[ 0.92592392 -0.02876254 -0.37661335 4.44021502] [ 0.04579063 0.99828993 0.03633777 -0.03329393] [ 0.37492415 -0.05089138 0.92565758 0.10585414] [ 0. 0. 0. 1. ]] SLAMing on 154.123201008 meters Centerline goodness [0,1] 0.8574840102998588 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.02, Z:0.11 [[ 0.92612088 -0.02567025 -0.37635244 4.43743857] [ 0.04268297 0.99840574 0.03693418 -0.02048256] [ 0.37480433 -0.05026936 0.92574008 0.10585755] [ 0. 0. 0. 1. ]] SLAMing on 154.153201008 meters Centerline goodness [0,1] 0.8533169379546071 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.02, Z:0.11 [[ 0.92617227 -0.0216662 -0.37647776 4.43713218] [ 0.03937345 0.9984474 0.03940216 -0.01525321] [ 0.37503955 -0.05131642 0.92558736 0.10590453] [ 0. 0. 0. 1. ]] SLAMing on 154.183201008 meters Centerline goodness [0,1] 0.851063829787234 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.01, Z:0.11 [[ 0.92617011 -0.01791192 -0.37668035 4.43736904] [ 0.03619813 0.99848161 0.04152303 -0.00894446] [ 0.37536465 -0.05209252 0.92541221 0.10566395] [ 0. 0. 0. 1. ]] SLAMing on 154.213201008 meters Centerline goodness [0,1] 0.8503405611447854 Centerline is valid? [False, False] Translation: X:4.44, Y:-0.00, Z:0.11 [[ 9.26195078e-01 -1.40028963e-02 -3.76784549e-01 4.43720029e+00] [ 3.28835621e-02 9.98502304e-01 4.37243757e-02 -2.18871073e-03] [ 3.75607973e-01 -5.28873197e-02 9.25268384e-01 1.05435755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.243201008 meters Centerline goodness [0,1] 0.8505780587207852 Centerline is valid? [False, False] Translation: X:4.44, Y:0.01, Z:0.11 [[ 0.92618939 -0.00616816 -0.37700818 4.43621506] [ 0.02618761 0.99850407 0.0479983 0.01056354] [ 0.37614814 -0.05432847 0.9249654 0.10536601] [ 0. 0. 0. 1. ]] SLAMing on 154.273201008 meters Centerline goodness [0,1] 0.8495717233186754 Centerline is valid? [False, False] Translation: X:4.44, Y:0.02, Z:0.11 [[ 9.26111464e-01 -3.17413555e-03 -3.77236637e-01 4.43558784e+00] [ 2.36109636e-02 9.98491871e-01 4.95631488e-02 1.58417679e-02] [ 3.76510395e-01 -5.48079208e-02 9.24789713e-01 1.05739862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.303201008 meters Centerline goodness [0,1] 0.8489686322669275 Centerline is valid? [False, False] Translation: X:4.44, Y:0.02, Z:0.11 [[ 9.26093332e-01 -3.26159828e-03 -3.77280403e-01 4.43504633e+00] [ 2.32048164e-02 9.98561974e-01 4.83272325e-02 2.17046935e-02] [ 3.76580239e-01 -5.35102502e-02 9.24837270e-01 1.05526406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.333201008 meters Centerline goodness [0,1] 0.8477471307307557 Centerline is valid? [False, False] Translation: X:4.44, Y:0.03, Z:0.11 [[ 9.25998055e-01 -3.67139584e-03 -3.77510428e-01 4.43532679e+00] [ 2.30527260e-02 9.98636637e-01 4.68341739e-02 2.77472487e-02] [ 3.76823797e-01 -5.20709984e-02 9.24820219e-01 1.05155832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.363201008 meters Centerline goodness [0,1] 0.8463531411279458 Centerline is valid? [False, False] Translation: X:4.44, Y:0.04, Z:0.10 [[ 9.25795223e-01 4.30305629e-03 -3.78000912e-01 4.43642535e+00] [ 1.64836355e-02 9.98524623e-01 5.17384431e-02 3.72534861e-02] [ 3.77665851e-01 -5.41300327e-02 9.24358396e-01 1.04864496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.393201008 meters Centerline goodness [0,1] 0.846494510978044 Centerline is valid? [False, False] Translation: X:4.44, Y:0.04, Z:0.10 [[ 0.92570236 0.00816615 -0.37816458 4.43736085] [ 0.01326363 0.9984513 0.05402853 0.0428151 ] [ 0.37802012 -0.05503018 0.92416041 0.10434298] [ 0. 0. 0. 1. ]] SLAMing on 154.423201008 meters Centerline goodness [0,1] 0.8457828319577556 Centerline is valid? [False, False] Translation: X:4.44, Y:0.05, Z:0.10 [[ 0.92558359 0.01212821 -0.37834895 4.43789568] [ 0.01000152 0.99835418 0.05647031 0.04785013] [ 0.37841114 -0.05605206 0.92393895 0.10421494] [ 0. 0. 0. 1. ]] SLAMing on 154.453201008 meters Centerline goodness [0,1] 0.8479447222625692 Centerline is valid? [False, False] Translation: X:4.44, Y:0.06, Z:0.11 [[ 9.24563307e-01 1.61769794e-02 -3.80684906e-01 4.44010286e+00] [ 3.44331983e-03 9.98702808e-01 5.08020192e-02 5.61254503e-02] [ 3.81012908e-01 -4.82805027e-02 9.23308268e-01 1.11163528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.483201008 meters Centerline goodness [0,1] 0.8496433487673632 Centerline is valid? [False, False] Translation: X:4.44, Y:0.06, Z:0.11 [[ 9.24562061e-01 1.63087785e-02 -3.80682308e-01 4.43936846e+00] [ 3.09273540e-03 9.98729476e-01 5.02978028e-02 5.87075699e-02] [ 3.81018938e-01 -4.76807898e-02 9.23336944e-01 1.11433868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.513201008 meters Centerline goodness [0,1] 0.8516691641691642 Centerline is valid? [False, False] Translation: X:4.45, Y:0.06, Z:0.11 [[ 9.26673053e-01 1.50153745e-02 -3.75568359e-01 4.45189331e+00] [ 5.82361138e-04 9.99143185e-01 4.13830587e-02 6.37186081e-02] [ 3.75867948e-01 -3.85672818e-02 9.25870321e-01 1.11456904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.543201008 meters Centerline goodness [0,1] 0.8554869913275517 Centerline is valid? [False, False] Translation: X:4.45, Y:0.07, Z:0.11 [[ 9.26585262e-01 1.40461963e-02 -3.75822373e-01 4.45332911e+00] [ 1.14852825e-03 9.99191957e-01 4.01760428e-02 6.72965061e-02] [ 3.76083013e-01 -3.76581718e-02 9.25820409e-01 1.10965113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 7457.81 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%| | 0/5152 [00:00